diff --git a/.gitattributes b/.gitattributes index 08a421bfa7c1f1d07dfb5cd7e5f96ef513339fce..711e118bdf3a889788e3305287e420644fb4dccb 100644 --- a/.gitattributes +++ b/.gitattributes @@ -50378,3 +50378,262 @@ train/train1986/4/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text train/train1986/4/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text train/train1986/4/rgb_1_mask_Chair|2|4|5.png filter=lfs diff=lfs merge=lfs -text train/train1986/4/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train1986/0/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1986/0/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train1986/0/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1986/0/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1986/0/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1986/0/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train1986/0/rgb_0_mask_Dresser|2|1___1.png filter=lfs diff=lfs merge=lfs -text +train/train1986/0/rgb_0_mask_Box|2|3.png filter=lfs diff=lfs merge=lfs -text +train/train1986/1/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1986/1/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train1986/1/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1986/1/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1986/1/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1986/1/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train1986/1/rgb_0_mask_Dresser|2|1___1.png filter=lfs diff=lfs merge=lfs -text +train/train1986/1/rgb_0_mask_Box|2|3.png filter=lfs diff=lfs merge=lfs -text +train/train1986/2/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1986/2/rgb_1_mask_door|2|3.png filter=lfs diff=lfs merge=lfs -text +train/train1986/2/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train1986/2/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1986/2/rgb_1_mask_window|2|0.png filter=lfs diff=lfs merge=lfs -text +train/train1986/2/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1986/2/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1986/2/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train1843/3/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1843/3/rgb_0_mask_door|1|6.png filter=lfs diff=lfs merge=lfs -text +train/train1843/3/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train1843/3/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1843/3/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1843/3/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1843/3/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train1843/4/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1843/4/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train1843/4/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1843/4/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1843/4/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1843/4/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train1843/4/rgb_0_mask_Stool|6|4.png filter=lfs diff=lfs merge=lfs -text +train/train1843/0/rgb_1_mask_Pot|surface|6|28.png filter=lfs diff=lfs merge=lfs -text +train/train1843/0/rgb_0_mask_GarbageCan|6|3.png filter=lfs diff=lfs merge=lfs -text +train/train1843/0/rgb_1_mask_Toaster|surface|6|31.png filter=lfs diff=lfs merge=lfs -text +train/train1843/0/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1843/0/rgb_0_mask_Chair|6|2|1.png filter=lfs diff=lfs merge=lfs -text +train/train1843/0/rgb_0_mask_Toaster|surface|6|31.png filter=lfs diff=lfs merge=lfs -text +train/train1843/0/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train1843/0/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1843/0/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1843/0/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1843/0/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train1843/0/rgb_0_mask_Pot|surface|6|28.png filter=lfs diff=lfs merge=lfs -text +train/train1843/0/rgb_1_mask_GarbageCan|6|3.png filter=lfs diff=lfs merge=lfs -text +train/train1843/1/rgb_1_mask_Pot|surface|6|28.png filter=lfs diff=lfs merge=lfs -text +train/train1843/1/rgb_0_mask_GarbageCan|6|3.png filter=lfs diff=lfs merge=lfs -text +train/train1843/1/rgb_1_mask_Toaster|surface|6|31.png filter=lfs diff=lfs merge=lfs -text +train/train1843/1/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1843/1/rgb_0_mask_Chair|6|2|1.png filter=lfs diff=lfs merge=lfs -text +train/train1843/1/rgb_1_mask_Chair|6|2|1.png filter=lfs diff=lfs merge=lfs -text +train/train1843/1/rgb_0_mask_Toaster|surface|6|31.png filter=lfs diff=lfs merge=lfs -text +train/train1843/1/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train1843/1/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1843/1/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1843/1/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1843/1/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train1843/1/rgb_0_mask_Pot|surface|6|28.png filter=lfs diff=lfs merge=lfs -text +train/train1843/1/rgb_1_mask_GarbageCan|6|3.png filter=lfs diff=lfs merge=lfs -text +train/train1843/2/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1843/2/rgb_1_mask_Fridge|6|1.png filter=lfs diff=lfs merge=lfs -text +train/train1843/2/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train1843/2/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1843/2/rgb_1_mask_Stool|6|4.png filter=lfs diff=lfs merge=lfs -text +train/train1843/2/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1843/2/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1843/2/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train1843/2/rgb_0_mask_Stool|6|4.png filter=lfs diff=lfs merge=lfs -text +train/train1843/2/rgb_0_mask_Fridge|6|1.png filter=lfs diff=lfs merge=lfs -text +train/train1875/3/rgb_1_mask_Sofa|4|3.png filter=lfs diff=lfs merge=lfs -text +train/train1875/3/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1875/3/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train1875/3/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1875/3/rgb_1_mask_DogBed|4|2.png filter=lfs diff=lfs merge=lfs -text +train/train1875/3/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1875/3/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1875/3/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train1875/4/rgb_0_mask_DogBed|4|2.png filter=lfs diff=lfs merge=lfs -text +train/train1875/4/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1875/4/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train1875/4/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1875/4/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1875/4/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1875/4/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train1875/0/rgb_1_mask_SideTable|4|1.png filter=lfs diff=lfs merge=lfs -text +train/train1875/0/rgb_0_mask_SideTable|4|1.png filter=lfs diff=lfs merge=lfs -text +train/train1875/0/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1875/0/rgb_1_mask_DiningTable|3|0.png filter=lfs diff=lfs merge=lfs -text +train/train1875/0/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train1875/0/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1875/0/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1875/0/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1875/0/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train1875/1/rgb_1_mask_SideTable|4|1.png filter=lfs diff=lfs merge=lfs -text +train/train1875/1/rgb_0_mask_Chair|4|0|1.png filter=lfs diff=lfs merge=lfs -text +train/train1875/1/rgb_0_mask_SideTable|4|1.png filter=lfs diff=lfs merge=lfs -text +train/train1875/1/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1875/1/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train1875/1/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1875/1/rgb_1_mask_Chair|4|0|2.png filter=lfs diff=lfs merge=lfs -text +train/train1875/1/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1875/1/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1875/1/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train1875/1/rgb_0_mask_Chair|4|0|2.png filter=lfs diff=lfs merge=lfs -text +train/train1875/2/rgb_1_mask_Chair|4|0|3.png filter=lfs diff=lfs merge=lfs -text +train/train1875/2/rgb_0_mask_DogBed|4|2.png filter=lfs diff=lfs merge=lfs -text +train/train1875/2/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1875/2/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train1875/2/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1875/2/rgb_1_mask_DogBed|4|2.png filter=lfs diff=lfs merge=lfs -text +train/train1875/2/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1875/2/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1875/2/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train1875/2/rgb_0_mask_Chair|4|0|2.png filter=lfs diff=lfs merge=lfs -text +train/train1493/3/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1493/3/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train1493/3/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1493/3/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1493/3/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1493/3/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train1493/4/rgb_0_mask_Box|surface|2|9.png filter=lfs diff=lfs merge=lfs -text +train/train1493/4/rgb_1_mask_Box|surface|2|9.png filter=lfs diff=lfs merge=lfs -text +train/train1493/4/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1493/4/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train1493/4/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1493/4/rgb_1_mask_Chair|2|3|2.png filter=lfs diff=lfs merge=lfs -text +train/train1493/4/rgb_0_mask_BaseballBat|surface|2|11.png filter=lfs diff=lfs merge=lfs -text +train/train1493/4/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1493/4/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1493/4/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train1493/4/rgb_0_mask_Chair|2|3|2.png filter=lfs diff=lfs merge=lfs -text +train/train1493/0/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1493/0/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train1493/0/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1493/0/rgb_0_mask_BaseballBat|surface|2|11.png filter=lfs diff=lfs merge=lfs -text +train/train1493/0/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1493/0/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1493/0/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train1493/1/rgb_0_mask_Box|surface|2|9.png filter=lfs diff=lfs merge=lfs -text +train/train1493/1/rgb_1_mask_Box|surface|2|9.png filter=lfs diff=lfs merge=lfs -text +train/train1493/1/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1493/1/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train1493/1/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1493/1/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1493/1/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1493/1/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train1493/2/rgb_0_mask_Chair|2|3|1.png filter=lfs diff=lfs merge=lfs -text +train/train1493/2/rgb_0_mask_Box|surface|2|9.png filter=lfs diff=lfs merge=lfs -text +train/train1493/2/rgb_1_mask_Box|surface|2|9.png filter=lfs diff=lfs merge=lfs -text +train/train1493/2/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1493/2/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train1493/2/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1493/2/rgb_1_mask_Chair|2|3|2.png filter=lfs diff=lfs merge=lfs -text +train/train1493/2/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1493/2/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1493/2/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train1493/2/rgb_0_mask_Chair|2|3|2.png filter=lfs diff=lfs merge=lfs -text +train/train1493/2/rgb_1_mask_BaseballBat|surface|2|11.png filter=lfs diff=lfs merge=lfs -text +train/train534/top_down_image.png filter=lfs diff=lfs merge=lfs -text +train/train534/3/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train534/3/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train534/3/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train534/3/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train534/3/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train534/3/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train534/4/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train534/4/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train534/4/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train534/4/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train534/4/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train534/4/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train534/0/rgb_1_mask_Fridge|2|1.png filter=lfs diff=lfs merge=lfs -text +train/train534/0/rgb_0_mask_Chair|4|1|1.png filter=lfs diff=lfs merge=lfs -text +train/train534/0/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train534/0/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train534/0/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train534/0/rgb_1_mask_DiningTable|4|1|0.png filter=lfs diff=lfs merge=lfs -text +train/train534/0/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train534/0/rgb_1_mask_Chair|4|1|1.png filter=lfs diff=lfs merge=lfs -text +train/train534/0/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train534/0/rgb_0_mask_Fridge|2|1.png filter=lfs diff=lfs merge=lfs -text +train/train534/0/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train534/1/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train534/1/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train534/1/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train534/1/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train534/1/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train534/1/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train534/2/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train534/2/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train534/2/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train534/2/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train534/2/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train534/2/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train157/top_down_image.png filter=lfs diff=lfs merge=lfs -text +train/train157/3/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train157/3/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train157/3/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train157/3/rgb_0_mask_GarbageCan|7|2.png filter=lfs diff=lfs merge=lfs -text +train/train157/3/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train157/3/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train157/3/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train157/3/rgb_1_mask_GarbageCan|7|2.png filter=lfs diff=lfs merge=lfs -text +train/train157/4/rgb_0_mask_Painting|2|7.png filter=lfs diff=lfs merge=lfs -text +train/train157/4/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train157/4/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train157/4/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train157/4/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train157/4/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train157/4/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train157/4/rgb_1_mask_Painting|2|7.png filter=lfs diff=lfs merge=lfs -text +train/train157/0/rgb_0_mask_Pillow|surface|7|29.png filter=lfs diff=lfs merge=lfs -text +train/train157/0/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train157/0/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train157/0/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train157/0/rgb_1_mask_Pillow|surface|7|29.png filter=lfs diff=lfs merge=lfs -text +train/train157/0/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train157/0/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train157/0/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train157/0/rgb_0_mask_CounterTop|6|0.png filter=lfs diff=lfs merge=lfs -text +train/train157/1/rgb_0_mask_Pillow|surface|7|29.png filter=lfs diff=lfs merge=lfs -text +train/train157/1/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train157/1/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train157/1/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train157/1/rgb_1_mask_Pillow|surface|7|29.png filter=lfs diff=lfs merge=lfs -text +train/train157/1/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train157/1/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train157/1/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train157/2/rgb_0_mask_window|2|0.png filter=lfs diff=lfs merge=lfs -text +train/train157/2/rgb_1_mask_window|7|0.png filter=lfs diff=lfs merge=lfs -text +train/train157/2/rgb_0_mask_Painting|2|7.png filter=lfs diff=lfs merge=lfs -text +train/train157/2/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train157/2/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train157/2/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train157/2/rgb_1_mask_window|2|0.png filter=lfs diff=lfs merge=lfs -text +train/train157/2/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train157/2/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train157/2/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train157/2/rgb_1_mask_Painting|2|7.png filter=lfs diff=lfs merge=lfs -text +train/train135/3/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train135/3/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train135/3/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train135/3/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train135/3/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train135/3/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train135/4/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train135/4/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train135/4/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train135/4/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train135/4/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train135/4/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train135/0/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train135/0/rgb_1.png filter=lfs diff=lfs merge=lfs -text diff --git a/train/train135/0/0.json b/train/train135/0/0.json new file mode 100644 index 0000000000000000000000000000000000000000..2a2533681d491da38af132dbf1276ae06abed41d --- /dev/null +++ b/train/train135/0/0.json @@ -0,0 +1,821 @@ +{ + "object": [ + { + "objectId": "FloorLamp|2|3|1", + "object_info": { + "name": "FloorLamp|2|3|1", + "position": { + "x": 0.5163519978523254, + "y": 0.005106329917907715, + "z": 5.505467414855957 + }, + "rotation": { + "x": 0.043430812656879425, + "y": 192.27891540527344, + "z": 0.0035312804393470287 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 2.1902637481689453, + "objectType": "FloorLamp", + "objectId": "FloorLamp|2|3|1", + "assetId": "Floor_Lamp_18", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.7786393165588379, + 1.829486608505249, + 5.765649795532227 + ], + [ + 0.7786393165588379, + 1.829486608505249, + 5.243791580200195 + ], + [ + 0.7786393165588379, + -1.1920928955078125e-06, + 5.765649795532227 + ], + [ + 0.7786393165588379, + -1.1920928955078125e-06, + 5.243791580200195 + ], + [ + 0.25678157806396484, + 1.829486608505249, + 5.765649795532227 + ], + [ + 0.25678157806396484, + 1.829486608505249, + 5.243791580200195 + ], + [ + 0.25678157806396484, + -1.1920928955078125e-06, + 5.765649795532227 + ], + [ + 0.25678157806396484, + -1.1920928955078125e-06, + 5.243791580200195 + ] + ], + "center": { + "x": 0.5177104473114014, + "y": 0.9147427082061768, + "z": 5.504720687866211 + }, + "size": { + "x": 0.521857738494873, + "y": 1.8294878005981445, + "z": 0.5218582153320312 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.22444048523902893, + -7.430417463183403e-05, + 5.317267417907715 + ], + [ + 0.7063751220703125, + -0.00010470254346728325, + 5.212374687194824 + ], + [ + 0.8112684488296509, + 0.00026916246861219406, + 5.694310188293457 + ], + [ + 0.32933375239372253, + 0.0002995608374476433, + 5.799203395843506 + ], + [ + 0.22425577044487, + 1.829227328300476, + 5.315888404846191 + ], + [ + 0.7061904668807983, + 1.8291969299316406, + 5.210995674133301 + ], + [ + 0.8110836744308472, + 1.8295708894729614, + 5.692931175231934 + ], + [ + 0.3291490077972412, + 1.8296012878417969, + 5.797824382781982 + ] + ] + } + } + }, + { + "objectId": "Bed|2|0|0", + "object_info": { + "name": "Bed|2|0|0", + "position": { + "x": 1.0386500358581543, + "y": -0.0012215971946716309, + "z": 9.684488296508789 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "Book|surface|2|36", + "Book|surface|2|35", + "CellPhone|surface|2|38", + "Laptop|surface|2|34", + "Pillow|2|0|1", + "Pillow|2|0|2" + ], + "distance": 3.524533748626709, + "objectType": "Bed", + "objectId": "Bed|2|0|0", + "assetId": "Bed_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.0997321605682373, + 0.9101964235305786, + 10.417999267578125 + ], + [ + 2.0997321605682373, + 0.9101964235305786, + 8.95119857788086 + ], + [ + 2.0997321605682373, + 0.0, + 10.417999267578125 + ], + [ + 2.0997321605682373, + 0.0, + 8.95119857788086 + ], + [ + 0.024999618530273438, + 0.9101964235305786, + 10.417999267578125 + ], + [ + 0.024999618530273438, + 0.9101964235305786, + 8.95119857788086 + ], + [ + 0.024999618530273438, + 0.0, + 10.417999267578125 + ], + [ + 0.024999618530273438, + 0.0, + 8.95119857788086 + ] + ], + "center": { + "x": 1.0623658895492554, + "y": 0.4550982117652893, + "z": 9.684598922729492 + }, + "size": { + "x": 2.074732542037964, + "y": 0.9101964235305786, + "z": 1.4668006896972656 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.0997323989868164, + 0.0, + 8.951199531555176 + ], + [ + 2.0997323989868164, + 0.0, + 10.417999267578125 + ], + [ + 0.02499985694885254, + 0.0, + 10.417999267578125 + ], + [ + 0.02499985694885254, + 0.0, + 8.951199531555176 + ], + [ + 2.0997323989868164, + 0.9101961851119995, + 8.951199531555176 + ], + [ + 2.0997323989868164, + 0.9101961851119995, + 10.417999267578125 + ], + [ + 0.02499985694885254, + 0.9101961851119995, + 10.417999267578125 + ], + [ + 0.02499985694885254, + 0.9101961851119995, + 8.951199531555176 + ] + ] + } + } + }, + { + "objectId": "ArmChair|2|3|0", + "object_info": { + "name": "ArmChair|2|3|0", + "position": { + "x": 0.5419568419456482, + "y": 0.0015018582344055176, + "z": 6.691274166107178 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.9398695230484009, + "objectType": "ArmChair", + "objectId": "ArmChair|2|3|0", + "assetId": "Armchair_219_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.010707139968872, + 1.2705585956573486, + 7.391336441040039 + ], + [ + 1.010707139968872, + 1.2705585956573486, + 5.989198684692383 + ], + [ + 1.010707139968872, + 3.0994415283203125e-06, + 7.391336441040039 + ], + [ + 1.010707139968872, + 3.0994415283203125e-06, + 5.989198684692383 + ], + [ + 0.02499854564666748, + 1.2705585956573486, + 7.391336441040039 + ], + [ + 0.02499854564666748, + 1.2705585956573486, + 5.989198684692383 + ], + [ + 0.02499854564666748, + 3.0994415283203125e-06, + 7.391336441040039 + ], + [ + 0.02499854564666748, + 3.0994415283203125e-06, + 5.989198684692383 + ] + ], + "center": { + "x": 0.5178528428077698, + "y": 0.6352808475494385, + "z": 6.690267562866211 + }, + "size": { + "x": 0.9857085943222046, + "y": 1.2705554962158203, + "z": 1.4021377563476562 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.010706901550293, + 3.2782554626464844e-06, + 5.989198684692383 + ], + [ + 1.010706901550293, + 3.2782554626464844e-06, + 7.391336441040039 + ], + [ + 0.024998784065246582, + 3.2782554626464844e-06, + 7.391336441040039 + ], + [ + 0.02499866485595703, + 3.2782554626464844e-06, + 5.989198684692383 + ], + [ + 1.010706901550293, + 1.2705578804016113, + 5.989198684692383 + ], + [ + 1.010706901550293, + 1.2705578804016113, + 7.391336441040039 + ], + [ + 0.024998784065246582, + 1.2705578804016113, + 7.391336441040039 + ], + [ + 0.02499866485595703, + 1.2705578804016113, + 5.989198684692383 + ] + ] + } + } + }, + { + "objectId": "ArmChair|2|4|0", + "object_info": { + "name": "ArmChair|2|4|0", + "position": { + "x": 0.4147731065750122, + "y": 0.005728542804718018, + "z": 3.9566712379455566 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [], + "distance": 3.261608362197876, + "objectType": "ArmChair", + "objectId": "ArmChair|2|4|0", + "assetId": "Armchair_207_4", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.7930542230606079, + 0.7251989841461182, + 4.336551189422607 + ], + [ + 0.7930542230606079, + 0.7251989841461182, + 3.573791027069092 + ], + [ + 0.7930542230606079, + -8.940696716308594e-08, + 4.336551189422607 + ], + [ + 0.7930542230606079, + -8.940696716308594e-08, + 3.573791027069092 + ], + [ + 0.02499985694885254, + 0.7251989841461182, + 4.336551189422607 + ], + [ + 0.02499985694885254, + 0.7251989841461182, + 3.573791027069092 + ], + [ + 0.02499985694885254, + -8.940696716308594e-08, + 4.336551189422607 + ], + [ + 0.02499985694885254, + -8.940696716308594e-08, + 3.573791027069092 + ] + ], + "center": { + "x": 0.4090270400047302, + "y": 0.3625994622707367, + "z": 3.9551711082458496 + }, + "size": { + "x": 0.7680543661117554, + "y": 0.7251991033554077, + "z": 0.7627601623535156 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.7930541038513184, + -5.960464477539063e-08, + 3.573791027069092 + ], + [ + 0.7930542230606079, + -5.960464477539063e-08, + 4.336551189422607 + ], + [ + 0.025000005960464478, + -5.960464477539063e-08, + 4.336551189422607 + ], + [ + 0.024999886751174927, + -5.960464477539063e-08, + 3.573791265487671 + ], + [ + 0.7930541038513184, + 0.7251988053321838, + 3.573791027069092 + ], + [ + 0.7930542230606079, + 0.7251988053321838, + 4.336551189422607 + ], + [ + 0.025000005960464478, + 0.7251988053321838, + 4.336551189422607 + ], + [ + 0.024999886751174927, + 0.7251988053321838, + 3.573791265487671 + ] + ] + } + } + }, + { + "objectId": "FloorLamp|2|4|1", + "object_info": { + "name": "FloorLamp|2|4|1", + "position": { + "x": 0.4073215126991272, + "y": -0.00324857234954834, + "z": 4.8031086921691895 + }, + "rotation": { + "x": 359.98583984375, + "y": 290.60357666015625, + "z": 0.042536623775959015 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 2.6631877422332764, + "objectType": "FloorLamp", + "objectId": "FloorLamp|2|4|1", + "assetId": "Floor_Lamp_4", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.6394919157028198, + 1.8686199188232422, + 5.035041809082031 + ], + [ + 0.6394919157028198, + 1.8686199188232422, + 4.573705673217773 + ], + [ + 0.6394919157028198, + -4.76837158203125e-07, + 5.035041809082031 + ], + [ + 0.6394919157028198, + -4.76837158203125e-07, + 4.573705673217773 + ], + [ + 0.17847353219985962, + 1.8686199188232422, + 5.035041809082031 + ], + [ + 0.17847353219985962, + 1.8686199188232422, + 4.573705673217773 + ], + [ + 0.17847353219985962, + -4.76837158203125e-07, + 5.035041809082031 + ], + [ + 0.17847353219985962, + -4.76837158203125e-07, + 4.573705673217773 + ] + ], + "center": { + "x": 0.4089827239513397, + "y": 0.934309720993042, + "z": 4.804373741149902 + }, + "size": { + "x": 0.4610183835029602, + "y": 1.8686203956604004, + "z": 0.4613361358642578 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.2824229300022125, + 0.0003239985089749098, + 5.084815502166748 + ], + [ + 0.1298796534538269, + 2.1778978407382965e-06, + 4.679058074951172 + ], + [ + 0.5356394052505493, + -0.00010496261529624462, + 4.526514053344727 + ], + [ + 0.6881826519966125, + 0.00021685799583792686, + 4.932271480560303 + ], + [ + 0.2823670506477356, + 1.8686730861663818, + 5.083354949951172 + ], + [ + 0.12982380390167236, + 1.8683513402938843, + 4.6775970458984375 + ], + [ + 0.53558349609375, + 1.8682441711425781, + 4.525053024291992 + ], + [ + 0.688126802444458, + 1.8685659170150757, + 4.930810928344727 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 2.200000047683716, + "y": 0.9009997844696045, + "z": 6.5 + }, + "agent_rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "agent_cameraHorizon": 60.00001525878906, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 2.200000047683716, + "y": 1.5759997367858887, + "z": 6.5 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Bed|2|0|0", + "ArmChair|2|3|0" + ], + "different_object": [ + "FloorLamp|2|4|1", + "ArmChair|2|4|0", + "FloorLamp|2|3|1" + ] +} \ No newline at end of file diff --git a/train/train135/0/1_semantic_sensor_npy.npy b/train/train135/0/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..13f9bbdeb857d993f14fa8d82ccde21f2422a1d9 --- /dev/null +++ b/train/train135/0/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0b12762a97a5baf145330288dbb3047600e2b7204ec0ac454964d205c8cfcd0d +size 2359424 diff --git a/train/train135/0/depth_1.png b/train/train135/0/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..f6a1e2a986801f6b60b485273a92c5c7f6cc5805 Binary files /dev/null and b/train/train135/0/depth_1.png differ diff --git a/train/train135/0/rgb_1.png b/train/train135/0/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..c90ec7b4fe7d2807eabf9e64f822fc6d38c4c5e1 --- /dev/null +++ b/train/train135/0/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e5e4c24c249efc3b3f518aa7b97a13f9f30892d5cd8488d71c845e9ba128757a +size 724051 diff --git a/train/train135/0/semantic_1.png b/train/train135/0/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..dd53ec175d5bdb65eef147415f4409417c6eac2b Binary files /dev/null and b/train/train135/0/semantic_1.png differ diff --git a/train/train135/3/0.json b/train/train135/3/0.json new file mode 100644 index 0000000000000000000000000000000000000000..1c6058d6c61950972d5defcb19e74eb518897fa1 --- /dev/null +++ b/train/train135/3/0.json @@ -0,0 +1,978 @@ +{ + "object": [ + { + "objectId": "FloorLamp|2|3|1", + "object_info": { + "name": "FloorLamp|2|3|1", + "position": { + "x": 0.5163519978523254, + "y": 0.005106329917907715, + "z": 5.505467414855957 + }, + "rotation": { + "x": 0.043430812656879425, + "y": 192.27891540527344, + "z": 0.0035312804393470287 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 2.1902637481689453, + "objectType": "FloorLamp", + "objectId": "FloorLamp|2|3|1", + "assetId": "Floor_Lamp_18", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.7786393165588379, + 1.829486608505249, + 5.765649795532227 + ], + [ + 0.7786393165588379, + 1.829486608505249, + 5.243791580200195 + ], + [ + 0.7786393165588379, + -1.1920928955078125e-06, + 5.765649795532227 + ], + [ + 0.7786393165588379, + -1.1920928955078125e-06, + 5.243791580200195 + ], + [ + 0.25678157806396484, + 1.829486608505249, + 5.765649795532227 + ], + [ + 0.25678157806396484, + 1.829486608505249, + 5.243791580200195 + ], + [ + 0.25678157806396484, + -1.1920928955078125e-06, + 5.765649795532227 + ], + [ + 0.25678157806396484, + -1.1920928955078125e-06, + 5.243791580200195 + ] + ], + "center": { + "x": 0.5177104473114014, + "y": 0.9147427082061768, + "z": 5.504720687866211 + }, + "size": { + "x": 0.521857738494873, + "y": 1.8294878005981445, + "z": 0.5218582153320312 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.22444048523902893, + -7.430417463183403e-05, + 5.317267417907715 + ], + [ + 0.7063751220703125, + -0.00010470254346728325, + 5.212374687194824 + ], + [ + 0.8112684488296509, + 0.00026916246861219406, + 5.694310188293457 + ], + [ + 0.32933375239372253, + 0.0002995608374476433, + 5.799203395843506 + ], + [ + 0.22425577044487, + 1.829227328300476, + 5.315888404846191 + ], + [ + 0.7061904668807983, + 1.8291969299316406, + 5.210995674133301 + ], + [ + 0.8110836744308472, + 1.8295708894729614, + 5.692931175231934 + ], + [ + 0.3291490077972412, + 1.8296012878417969, + 5.797824382781982 + ] + ] + } + } + }, + { + "objectId": "Bed|2|0|0", + "object_info": { + "name": "Bed|2|0|0", + "position": { + "x": 1.0386500358581543, + "y": -0.0012215971946716309, + "z": 9.684488296508789 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "Book|surface|2|36", + "Book|surface|2|35", + "CellPhone|surface|2|38", + "Laptop|surface|2|34", + "Pillow|2|0|1", + "Pillow|2|0|2" + ], + "distance": 3.524533748626709, + "objectType": "Bed", + "objectId": "Bed|2|0|0", + "assetId": "Bed_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.0997321605682373, + 0.9101964235305786, + 10.417999267578125 + ], + [ + 2.0997321605682373, + 0.9101964235305786, + 8.95119857788086 + ], + [ + 2.0997321605682373, + 0.0, + 10.417999267578125 + ], + [ + 2.0997321605682373, + 0.0, + 8.95119857788086 + ], + [ + 0.024999618530273438, + 0.9101964235305786, + 10.417999267578125 + ], + [ + 0.024999618530273438, + 0.9101964235305786, + 8.95119857788086 + ], + [ + 0.024999618530273438, + 0.0, + 10.417999267578125 + ], + [ + 0.024999618530273438, + 0.0, + 8.95119857788086 + ] + ], + "center": { + "x": 1.0623658895492554, + "y": 0.4550982117652893, + "z": 9.684598922729492 + }, + "size": { + "x": 2.074732542037964, + "y": 0.9101964235305786, + "z": 1.4668006896972656 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.0997323989868164, + 0.0, + 8.951199531555176 + ], + [ + 2.0997323989868164, + 0.0, + 10.417999267578125 + ], + [ + 0.02499985694885254, + 0.0, + 10.417999267578125 + ], + [ + 0.02499985694885254, + 0.0, + 8.951199531555176 + ], + [ + 2.0997323989868164, + 0.9101961851119995, + 8.951199531555176 + ], + [ + 2.0997323989868164, + 0.9101961851119995, + 10.417999267578125 + ], + [ + 0.02499985694885254, + 0.9101961851119995, + 10.417999267578125 + ], + [ + 0.02499985694885254, + 0.9101961851119995, + 8.951199531555176 + ] + ] + } + } + }, + { + "objectId": "Pillow|2|0|2", + "object_info": { + "name": "Pillow|2|0|2", + "position": { + "x": 0.45088985562324524, + "y": 0.623221218585968, + "z": 9.41347885131836 + }, + "rotation": { + "x": -7.594248785380842e-08, + "y": 90.0, + "z": 1.4434591548706521e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 3.4354500770568848, + "objectType": "Pillow", + "objectId": "Pillow|2|0|2", + "assetId": "pillow_18", + "parentReceptacles": [ + "Bed|2|0|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.626780092716217, + 0.6983212232589722, + 9.634599685668945 + ], + [ + 0.626780092716217, + 0.6983212232589722, + 9.192358016967773 + ], + [ + 0.626780092716217, + 0.5491212606430054, + 9.634599685668945 + ], + [ + 0.626780092716217, + 0.5491212606430054, + 9.192358016967773 + ], + [ + 0.27499961853027344, + 0.6983212232589722, + 9.634599685668945 + ], + [ + 0.27499961853027344, + 0.6983212232589722, + 9.192358016967773 + ], + [ + 0.27499961853027344, + 0.5491212606430054, + 9.634599685668945 + ], + [ + 0.27499961853027344, + 0.5491212606430054, + 9.192358016967773 + ] + ], + "center": { + "x": 0.45088985562324524, + "y": 0.6237212419509888, + "z": 9.41347885131836 + }, + "size": { + "x": 0.3517804741859436, + "y": 0.1491999626159668, + "z": 0.4422416687011719 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.6267800331115723, + 0.5491212010383606, + 9.192358016967773 + ], + [ + 0.626780092716217, + 0.5491212010383606, + 9.634599685668945 + ], + [ + 0.2749996781349182, + 0.5491212010383606, + 9.634599685668945 + ], + [ + 0.27499961853027344, + 0.5491212010383606, + 9.192358016967773 + ], + [ + 0.6267800331115723, + 0.6983212232589722, + 9.192358016967773 + ], + [ + 0.626780092716217, + 0.6983212232589722, + 9.634599685668945 + ], + [ + 0.2749996781349182, + 0.6983212232589722, + 9.634599685668945 + ], + [ + 0.27499961853027344, + 0.6983212232589722, + 9.192358016967773 + ] + ] + } + } + }, + { + "objectId": "ArmChair|2|3|0", + "object_info": { + "name": "ArmChair|2|3|0", + "position": { + "x": 0.5419568419456482, + "y": 0.0015018582344055176, + "z": 6.691274166107178 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.9398695230484009, + "objectType": "ArmChair", + "objectId": "ArmChair|2|3|0", + "assetId": "Armchair_219_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.010707139968872, + 1.2705585956573486, + 7.391336441040039 + ], + [ + 1.010707139968872, + 1.2705585956573486, + 5.989198684692383 + ], + [ + 1.010707139968872, + 3.0994415283203125e-06, + 7.391336441040039 + ], + [ + 1.010707139968872, + 3.0994415283203125e-06, + 5.989198684692383 + ], + [ + 0.02499854564666748, + 1.2705585956573486, + 7.391336441040039 + ], + [ + 0.02499854564666748, + 1.2705585956573486, + 5.989198684692383 + ], + [ + 0.02499854564666748, + 3.0994415283203125e-06, + 7.391336441040039 + ], + [ + 0.02499854564666748, + 3.0994415283203125e-06, + 5.989198684692383 + ] + ], + "center": { + "x": 0.5178528428077698, + "y": 0.6352808475494385, + "z": 6.690267562866211 + }, + "size": { + "x": 0.9857085943222046, + "y": 1.2705554962158203, + "z": 1.4021377563476562 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.010706901550293, + 3.2782554626464844e-06, + 5.989198684692383 + ], + [ + 1.010706901550293, + 3.2782554626464844e-06, + 7.391336441040039 + ], + [ + 0.024998784065246582, + 3.2782554626464844e-06, + 7.391336441040039 + ], + [ + 0.02499866485595703, + 3.2782554626464844e-06, + 5.989198684692383 + ], + [ + 1.010706901550293, + 1.2705578804016113, + 5.989198684692383 + ], + [ + 1.010706901550293, + 1.2705578804016113, + 7.391336441040039 + ], + [ + 0.024998784065246582, + 1.2705578804016113, + 7.391336441040039 + ], + [ + 0.02499866485595703, + 1.2705578804016113, + 5.989198684692383 + ] + ] + } + } + }, + { + "objectId": "ArmChair|2|4|0", + "object_info": { + "name": "ArmChair|2|4|0", + "position": { + "x": 0.4147731065750122, + "y": 0.005728542804718018, + "z": 3.9566712379455566 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [], + "distance": 3.261608362197876, + "objectType": "ArmChair", + "objectId": "ArmChair|2|4|0", + "assetId": "Armchair_207_4", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.7930542230606079, + 0.7251989841461182, + 4.336551189422607 + ], + [ + 0.7930542230606079, + 0.7251989841461182, + 3.573791027069092 + ], + [ + 0.7930542230606079, + -8.940696716308594e-08, + 4.336551189422607 + ], + [ + 0.7930542230606079, + -8.940696716308594e-08, + 3.573791027069092 + ], + [ + 0.02499985694885254, + 0.7251989841461182, + 4.336551189422607 + ], + [ + 0.02499985694885254, + 0.7251989841461182, + 3.573791027069092 + ], + [ + 0.02499985694885254, + -8.940696716308594e-08, + 4.336551189422607 + ], + [ + 0.02499985694885254, + -8.940696716308594e-08, + 3.573791027069092 + ] + ], + "center": { + "x": 0.4090270400047302, + "y": 0.3625994622707367, + "z": 3.9551711082458496 + }, + "size": { + "x": 0.7680543661117554, + "y": 0.7251991033554077, + "z": 0.7627601623535156 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.7930541038513184, + -5.960464477539063e-08, + 3.573791027069092 + ], + [ + 0.7930542230606079, + -5.960464477539063e-08, + 4.336551189422607 + ], + [ + 0.025000005960464478, + -5.960464477539063e-08, + 4.336551189422607 + ], + [ + 0.024999886751174927, + -5.960464477539063e-08, + 3.573791265487671 + ], + [ + 0.7930541038513184, + 0.7251988053321838, + 3.573791027069092 + ], + [ + 0.7930542230606079, + 0.7251988053321838, + 4.336551189422607 + ], + [ + 0.025000005960464478, + 0.7251988053321838, + 4.336551189422607 + ], + [ + 0.024999886751174927, + 0.7251988053321838, + 3.573791265487671 + ] + ] + } + } + }, + { + "objectId": "FloorLamp|2|4|1", + "object_info": { + "name": "FloorLamp|2|4|1", + "position": { + "x": 0.4073215126991272, + "y": -0.00324857234954834, + "z": 4.8031086921691895 + }, + "rotation": { + "x": 359.98583984375, + "y": 290.60357666015625, + "z": 0.042536623775959015 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 2.6631877422332764, + "objectType": "FloorLamp", + "objectId": "FloorLamp|2|4|1", + "assetId": "Floor_Lamp_4", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.6394919157028198, + 1.8686199188232422, + 5.035041809082031 + ], + [ + 0.6394919157028198, + 1.8686199188232422, + 4.573705673217773 + ], + [ + 0.6394919157028198, + -4.76837158203125e-07, + 5.035041809082031 + ], + [ + 0.6394919157028198, + -4.76837158203125e-07, + 4.573705673217773 + ], + [ + 0.17847353219985962, + 1.8686199188232422, + 5.035041809082031 + ], + [ + 0.17847353219985962, + 1.8686199188232422, + 4.573705673217773 + ], + [ + 0.17847353219985962, + -4.76837158203125e-07, + 5.035041809082031 + ], + [ + 0.17847353219985962, + -4.76837158203125e-07, + 4.573705673217773 + ] + ], + "center": { + "x": 0.4089827239513397, + "y": 0.934309720993042, + "z": 4.804373741149902 + }, + "size": { + "x": 0.4610183835029602, + "y": 1.8686203956604004, + "z": 0.4613361358642578 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.2824229300022125, + 0.0003239985089749098, + 5.084815502166748 + ], + [ + 0.1298796534538269, + 2.1778978407382965e-06, + 4.679058074951172 + ], + [ + 0.5356394052505493, + -0.00010496261529624462, + 4.526514053344727 + ], + [ + 0.6881826519966125, + 0.00021685799583792686, + 4.932271480560303 + ], + [ + 0.2823670506477356, + 1.8686730861663818, + 5.083354949951172 + ], + [ + 0.12982380390167236, + 1.8683513402938843, + 4.6775970458984375 + ], + [ + 0.53558349609375, + 1.8682441711425781, + 4.525053024291992 + ], + [ + 0.688126802444458, + 1.8685659170150757, + 4.930810928344727 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 2.5, + "y": 0.9009997844696045, + "z": 6.800000190734863 + }, + "agent_rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "agent_cameraHorizon": 60.00001525878906, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 2.5, + "y": 1.5759997367858887, + "z": 6.800000190734863 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "FloorLamp|2|4|1", + "ArmChair|2|4|0", + "ArmChair|2|3|0", + "FloorLamp|2|3|1" + ], + "different_object": [ + "Pillow|2|0|2", + "Bed|2|0|0" + ] +} \ No newline at end of file diff --git a/train/train135/3/0_depth_npy.npy b/train/train135/3/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..8d60a8e803a2a474f80a709ac66f768986ee8ffd --- /dev/null +++ b/train/train135/3/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bda2daf6fd4e5c6ad179d2d6fb968659cee2b9184c8013579167514a9265f501 +size 3145856 diff --git a/train/train135/3/0_semantic_sensor_npy.npy b/train/train135/3/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..4915e6f62d1b665800f63c0f1cc00a541d139627 --- /dev/null +++ b/train/train135/3/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ac678d8f0cd7e9be547fe4add1cdfd961c3be9d7d6b8dae9b3d8638d97d82cde +size 2359424 diff --git a/train/train135/3/1.json b/train/train135/3/1.json new file mode 100644 index 0000000000000000000000000000000000000000..9bd67a97b853116c17c7282047742e13227afbc2 --- /dev/null +++ b/train/train135/3/1.json @@ -0,0 +1,2153 @@ +{ + "object": [ + { + "objectId": "FloorLamp|2|3|1", + "object_info": { + "name": "FloorLamp|2|3|1", + "position": { + "x": 0.5163519978523254, + "y": 0.005106329917907715, + "z": 5.505467414855957 + }, + "rotation": { + "x": 0.043430812656879425, + "y": 192.27891540527344, + "z": 0.0035312804393470287 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 2.1902637481689453, + "objectType": "FloorLamp", + "objectId": "FloorLamp|2|3|1", + "assetId": "Floor_Lamp_18", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.7786393165588379, + 1.829486608505249, + 5.765649795532227 + ], + [ + 0.7786393165588379, + 1.829486608505249, + 5.243791580200195 + ], + [ + 0.7786393165588379, + -1.1920928955078125e-06, + 5.765649795532227 + ], + [ + 0.7786393165588379, + -1.1920928955078125e-06, + 5.243791580200195 + ], + [ + 0.25678157806396484, + 1.829486608505249, + 5.765649795532227 + ], + [ + 0.25678157806396484, + 1.829486608505249, + 5.243791580200195 + ], + [ + 0.25678157806396484, + -1.1920928955078125e-06, + 5.765649795532227 + ], + [ + 0.25678157806396484, + -1.1920928955078125e-06, + 5.243791580200195 + ] + ], + "center": { + "x": 0.5177104473114014, + "y": 0.9147427082061768, + "z": 5.504720687866211 + }, + "size": { + "x": 0.521857738494873, + "y": 1.8294878005981445, + "z": 0.5218582153320312 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.22444048523902893, + -7.430417463183403e-05, + 5.317267417907715 + ], + [ + 0.7063751220703125, + -0.00010470254346728325, + 5.212374687194824 + ], + [ + 0.8112684488296509, + 0.00026916246861219406, + 5.694310188293457 + ], + [ + 0.32933375239372253, + 0.0002995608374476433, + 5.799203395843506 + ], + [ + 0.22425577044487, + 1.829227328300476, + 5.315888404846191 + ], + [ + 0.7061904668807983, + 1.8291969299316406, + 5.210995674133301 + ], + [ + 0.8110836744308472, + 1.8295708894729614, + 5.692931175231934 + ], + [ + 0.3291490077972412, + 1.8296012878417969, + 5.797824382781982 + ] + ] + } + } + }, + { + "objectId": "door|2|6", + "object_info": { + "name": "door|2|6", + "position": { + "x": 4.177000045776367, + "y": -0.0005974769592285156, + "z": 6.700064182281494 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1368744373321533, + "objectType": "Doorway", + "objectId": "door|2|6", + "assetId": "Doorway_Double_9", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.246621608734131, + 2.07534122467041, + 8.673722267150879 + ], + [ + 4.246621608734131, + 2.07534122467041, + 6.6243486404418945 + ], + [ + 4.246621608734131, + 0.0, + 8.673722267150879 + ], + [ + 4.246621608734131, + 0.0, + 6.6243486404418945 + ], + [ + 3.2620692253112793, + 2.07534122467041, + 8.673722267150879 + ], + [ + 3.2620692253112793, + 2.07534122467041, + 6.6243486404418945 + ], + [ + 3.2620692253112793, + 0.0, + 8.673722267150879 + ], + [ + 3.2620692253112793, + 0.0, + 6.6243486404418945 + ] + ], + "center": { + "x": 3.754345417022705, + "y": 1.037670612335205, + "z": 7.649035453796387 + }, + "size": { + "x": 0.9845523834228516, + "y": 2.07534122467041, + "z": 2.0493736267089844 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Chair|2|2|2", + "object_info": { + "name": "Chair|2|2|2", + "position": { + "x": 3.260423183441162, + "y": 0.0005855858325958252, + "z": 4.005089282989502 + }, + "rotation": { + "x": 0.0, + "y": 189.456298828125, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": [ + "DiningTable|2|2|0" + ], + "distance": 2.8383586406707764, + "objectType": "Chair", + "objectId": "Chair|2|2|2", + "assetId": "Chair_205_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.488131523132324, + 0.8749384880065918, + 4.289389610290527 + ], + [ + 3.488131523132324, + 0.8749384880065918, + 3.7740583419799805 + ], + [ + 3.488131523132324, + 0.0, + 4.289389610290527 + ], + [ + 3.488131523132324, + 0.0, + 3.7740583419799805 + ], + [ + 3.0241317749023438, + 0.8749384880065918, + 4.289389610290527 + ], + [ + 3.0241317749023438, + 0.8749384880065918, + 3.7740583419799805 + ], + [ + 3.0241317749023438, + 0.0, + 4.289389610290527 + ], + [ + 3.0241317749023438, + 0.0, + 3.7740583419799805 + ] + ], + "center": { + "x": 3.256131649017334, + "y": 0.4374692440032959, + "z": 4.031723976135254 + }, + "size": { + "x": 0.46399974822998047, + "y": 0.8749384880065918, + "z": 0.5153312683105469 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.0144550800323486, + 0.0, + 3.834961414337158 + ], + [ + 3.4257402420043945, + 0.0, + 3.766458511352539 + ], + [ + 3.5026261806488037, + 0.0, + 4.228074073791504 + ], + [ + 3.091341018676758, + 0.0, + 4.296576976776123 + ], + [ + 3.0144550800323486, + 0.8749383687973022, + 3.834961414337158 + ], + [ + 3.4257402420043945, + 0.8749383687973022, + 3.766458511352539 + ], + [ + 3.5026261806488037, + 0.8749383687973022, + 4.228074073791504 + ], + [ + 3.091341018676758, + 0.8749383687973022, + 4.296576976776123 + ] + ] + } + } + }, + { + "objectId": "Chair|2|2|3", + "object_info": { + "name": "Chair|2|2|3", + "position": { + "x": 3.248058795928955, + "y": 0.0005855858325958252, + "z": 1.9644885063171387 + }, + "rotation": { + "x": 0.0, + "y": 350.226318359375, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": [ + "DiningTable|2|2|0" + ], + "distance": 4.730510711669922, + "objectType": "Chair", + "objectId": "Chair|2|2|3", + "assetId": "Chair_205_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.4875340461730957, + 0.8749386072158813, + 2.197519063949585 + ], + [ + 3.4875340461730957, + 0.8749386072158813, + 1.6825165748596191 + ], + [ + 3.4875340461730957, + 5.960464477539063e-08, + 2.197519063949585 + ], + [ + 3.4875340461730957, + 5.960464477539063e-08, + 1.6825165748596191 + ], + [ + 3.0217666625976562, + 0.8749386072158813, + 2.197519063949585 + ], + [ + 3.0217666625976562, + 0.8749386072158813, + 1.6825165748596191 + ], + [ + 3.0217666625976562, + 5.960464477539063e-08, + 2.197519063949585 + ], + [ + 3.0217666625976562, + 5.960464477539063e-08, + 1.6825165748596191 + ] + ], + "center": { + "x": 3.254650354385376, + "y": 0.43746933341026306, + "z": 1.940017819404602 + }, + "size": { + "x": 0.46576738357543945, + "y": 0.8749385476112366, + "z": 0.5150024890899658 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.424269437789917, + 0.0, + 2.2061362266540527 + ], + [ + 3.0133700370788574, + 0.0, + 2.1353557109832764 + ], + [ + 3.0928120613098145, + 0.0, + 1.6741732358932495 + ], + [ + 3.503711462020874, + 0.0, + 1.7449535131454468 + ], + [ + 3.424269437789917, + 0.8749383687973022, + 2.2061362266540527 + ], + [ + 3.0133700370788574, + 0.8749383687973022, + 2.1353557109832764 + ], + [ + 3.0928120613098145, + 0.8749383687973022, + 1.6741732358932495 + ], + [ + 3.503711462020874, + 0.8749383687973022, + 1.7449535131454468 + ] + ] + } + } + }, + { + "objectId": "ArmChair|2|3|0", + "object_info": { + "name": "ArmChair|2|3|0", + "position": { + "x": 0.5419568419456482, + "y": 0.0015018582344055176, + "z": 6.691274166107178 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.9398695230484009, + "objectType": "ArmChair", + "objectId": "ArmChair|2|3|0", + "assetId": "Armchair_219_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.010707139968872, + 1.2705585956573486, + 7.391336441040039 + ], + [ + 1.010707139968872, + 1.2705585956573486, + 5.989198684692383 + ], + [ + 1.010707139968872, + 3.0994415283203125e-06, + 7.391336441040039 + ], + [ + 1.010707139968872, + 3.0994415283203125e-06, + 5.989198684692383 + ], + [ + 0.02499854564666748, + 1.2705585956573486, + 7.391336441040039 + ], + [ + 0.02499854564666748, + 1.2705585956573486, + 5.989198684692383 + ], + [ + 0.02499854564666748, + 3.0994415283203125e-06, + 7.391336441040039 + ], + [ + 0.02499854564666748, + 3.0994415283203125e-06, + 5.989198684692383 + ] + ], + "center": { + "x": 0.5178528428077698, + "y": 0.6352808475494385, + "z": 6.690267562866211 + }, + "size": { + "x": 0.9857085943222046, + "y": 1.2705554962158203, + "z": 1.4021377563476562 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.010706901550293, + 3.2782554626464844e-06, + 5.989198684692383 + ], + [ + 1.010706901550293, + 3.2782554626464844e-06, + 7.391336441040039 + ], + [ + 0.024998784065246582, + 3.2782554626464844e-06, + 7.391336441040039 + ], + [ + 0.02499866485595703, + 3.2782554626464844e-06, + 5.989198684692383 + ], + [ + 1.010706901550293, + 1.2705578804016113, + 5.989198684692383 + ], + [ + 1.010706901550293, + 1.2705578804016113, + 7.391336441040039 + ], + [ + 0.024998784065246582, + 1.2705578804016113, + 7.391336441040039 + ], + [ + 0.02499866485595703, + 1.2705578804016113, + 5.989198684692383 + ] + ] + } + } + }, + { + "objectId": "Chair|2|2|1", + "object_info": { + "name": "Chair|2|2|1", + "position": { + "x": 2.684890031814575, + "y": 0.0005855858325958252, + "z": 2.983081340789795 + }, + "rotation": { + "x": -0.0, + "y": 109.50057983398438, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": [ + "DiningTable|2|2|0" + ], + "distance": 3.65630841255188, + "objectType": "Chair", + "objectId": "Chair|2|2|1", + "assetId": "Chair_205_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.933492660522461, + 0.8749383687973022, + 3.2365803718566895 + ], + [ + 2.933492660522461, + 0.8749383687973022, + 2.7238197326660156 + ], + [ + 2.933492660522461, + -2.9802322387695312e-08, + 3.2365803718566895 + ], + [ + 2.933492660522461, + -2.9802322387695312e-08, + 2.7238197326660156 + ], + [ + 2.382984161376953, + 0.8749383687973022, + 3.2365803718566895 + ], + [ + 2.382984161376953, + 0.8749383687973022, + 2.7238197326660156 + ], + [ + 2.382984161376953, + -2.9802322387695312e-08, + 3.2365803718566895 + ], + [ + 2.382984161376953, + -2.9802322387695312e-08, + 2.7238197326660156 + ] + ], + "center": { + "x": 2.658238410949707, + "y": 0.43746915459632874, + "z": 2.9802000522613525 + }, + "size": { + "x": 0.5505084991455078, + "y": 0.8749383687973022, + "z": 0.5127606391906738 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.809511184692383, + 0.0, + 2.7112112045288086 + ], + [ + 2.9486961364746094, + 0.0, + 3.104245185852051 + ], + [ + 2.5075652599334717, + 0.0, + 3.260462760925293 + ], + [ + 2.368380308151245, + 0.0, + 2.86742901802063 + ], + [ + 2.809511184692383, + 0.8749383687973022, + 2.7112112045288086 + ], + [ + 2.9486961364746094, + 0.8749383687973022, + 3.104245185852051 + ], + [ + 2.5075652599334717, + 0.8749383687973022, + 3.260462760925293 + ], + [ + 2.368380308151245, + 0.8749383687973022, + 2.86742901802063 + ] + ] + } + } + }, + { + "objectId": "Chair|2|2|4", + "object_info": { + "name": "Chair|2|2|4", + "position": { + "x": 3.8367562294006348, + "y": 0.0005855858325958252, + "z": 2.9707584381103516 + }, + "rotation": { + "x": 0.0, + "y": 248.8428955078125, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": [ + "DiningTable|2|2|0" + ], + "distance": 3.972919225692749, + "objectType": "Chair", + "objectId": "Chair|2|2|4", + "assetId": "Chair_205_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.134263038635254, + 0.8749383687973022, + 3.2380409240722656 + ], + [ + 4.134263038635254, + 0.8749383687973022, + 2.7187156677246094 + ], + [ + 4.134263038635254, + 8.940696716308594e-08, + 3.2380409240722656 + ], + [ + 4.134263038635254, + 8.940696716308594e-08, + 2.7187156677246094 + ], + [ + 3.5831127166748047, + 0.8749383687973022, + 3.2380409240722656 + ], + [ + 3.5831127166748047, + 0.8749383687973022, + 2.7187156677246094 + ], + [ + 3.5831127166748047, + 8.940696716308594e-08, + 3.2380409240722656 + ], + [ + 3.5831127166748047, + 8.940696716308594e-08, + 2.7187156677246094 + ] + ], + "center": { + "x": 3.8586878776550293, + "y": 0.4374692142009735, + "z": 2.9783782958984375 + }, + "size": { + "x": 0.5511503219604492, + "y": 0.8749382495880127, + "z": 0.5193252563476562 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.5650827884674072, + 0.0, + 3.0958077907562256 + ], + [ + 3.715571641921997, + 0.0, + 2.7069618701934814 + ], + [ + 4.152002334594727, + 0.0, + 2.875866413116455 + ], + [ + 4.001513481140137, + 0.0, + 3.264712333679199 + ], + [ + 3.5650827884674072, + 0.8749383687973022, + 3.0958077907562256 + ], + [ + 3.715571641921997, + 0.8749383687973022, + 2.7069618701934814 + ], + [ + 4.152002334594727, + 0.8749383687973022, + 2.875866413116455 + ], + [ + 4.001513481140137, + 0.8749383687973022, + 3.264712333679199 + ] + ] + } + } + }, + { + "objectId": "DiningTable|2|2|0", + "object_info": { + "name": "DiningTable|2|2|0", + "position": { + "x": 3.258540391921997, + "y": 0.0008696913719177246, + "z": 2.9858362674713135 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Statue|surface|2|41", + "Bowl|surface|2|40", + "HousePlant|surface|2|31", + "CD|surface|2|42", + "CreditCard|surface|2|37" + ], + "distance": 3.76520037651062, + "objectType": "DiningTable", + "objectId": "DiningTable|2|2|0", + "assetId": "Dining_Table_223_1", + "parentReceptacles": [ + "Chair|2|2|1", + "Chair|2|2|2", + "Chair|2|2|3", + "Chair|2|2|4", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.758540630340576, + 0.781386137008667, + 3.871515989303589 + ], + [ + 3.758540630340576, + 0.781386137008667, + 2.100156545639038 + ], + [ + 3.758540630340576, + 3.4570693969726562e-06, + 3.871515989303589 + ], + [ + 3.758540630340576, + 3.4570693969726562e-06, + 2.100156545639038 + ], + [ + 2.758540153503418, + 0.781386137008667, + 3.871515989303589 + ], + [ + 2.758540153503418, + 0.781386137008667, + 2.100156545639038 + ], + [ + 2.758540153503418, + 3.4570693969726562e-06, + 3.871515989303589 + ], + [ + 2.758540153503418, + 3.4570693969726562e-06, + 2.100156545639038 + ] + ], + "center": { + "x": 3.258540391921997, + "y": 0.390694797039032, + "z": 2.9858362674713135 + }, + "size": { + "x": 1.0000004768371582, + "y": 0.78138267993927, + "z": 1.7713594436645508 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.758540153503418, + 3.6954879760742188e-06, + 3.8715157508850098 + ], + [ + 2.758540391921997, + 3.6954879760742188e-06, + 2.100156784057617 + ], + [ + 3.758540630340576, + 3.6954879760742188e-06, + 2.100156784057617 + ], + [ + 3.758540391921997, + 3.6954879760742188e-06, + 3.8715157508850098 + ], + [ + 2.758540153503418, + 0.7813860774040222, + 3.8715157508850098 + ], + [ + 2.758540391921997, + 0.7813860774040222, + 2.100156784057617 + ], + [ + 3.758540630340576, + 0.7813860774040222, + 2.100156784057617 + ], + [ + 3.758540391921997, + 0.7813860774040222, + 3.8715157508850098 + ] + ] + } + } + }, + { + "objectId": "ArmChair|2|4|0", + "object_info": { + "name": "ArmChair|2|4|0", + "position": { + "x": 0.4147731065750122, + "y": 0.005728542804718018, + "z": 3.9566712379455566 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [], + "distance": 3.261608362197876, + "objectType": "ArmChair", + "objectId": "ArmChair|2|4|0", + "assetId": "Armchair_207_4", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.7930542230606079, + 0.7251989841461182, + 4.336551189422607 + ], + [ + 0.7930542230606079, + 0.7251989841461182, + 3.573791027069092 + ], + [ + 0.7930542230606079, + -8.940696716308594e-08, + 4.336551189422607 + ], + [ + 0.7930542230606079, + -8.940696716308594e-08, + 3.573791027069092 + ], + [ + 0.02499985694885254, + 0.7251989841461182, + 4.336551189422607 + ], + [ + 0.02499985694885254, + 0.7251989841461182, + 3.573791027069092 + ], + [ + 0.02499985694885254, + -8.940696716308594e-08, + 4.336551189422607 + ], + [ + 0.02499985694885254, + -8.940696716308594e-08, + 3.573791027069092 + ] + ], + "center": { + "x": 0.4090270400047302, + "y": 0.3625994622707367, + "z": 3.9551711082458496 + }, + "size": { + "x": 0.7680543661117554, + "y": 0.7251991033554077, + "z": 0.7627601623535156 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.7930541038513184, + -5.960464477539063e-08, + 3.573791027069092 + ], + [ + 0.7930542230606079, + -5.960464477539063e-08, + 4.336551189422607 + ], + [ + 0.025000005960464478, + -5.960464477539063e-08, + 4.336551189422607 + ], + [ + 0.024999886751174927, + -5.960464477539063e-08, + 3.573791265487671 + ], + [ + 0.7930541038513184, + 0.7251988053321838, + 3.573791027069092 + ], + [ + 0.7930542230606079, + 0.7251988053321838, + 4.336551189422607 + ], + [ + 0.025000005960464478, + 0.7251988053321838, + 4.336551189422607 + ], + [ + 0.024999886751174927, + 0.7251988053321838, + 3.573791265487671 + ] + ] + } + } + }, + { + "objectId": "FloorLamp|2|4|1", + "object_info": { + "name": "FloorLamp|2|4|1", + "position": { + "x": 0.4073215126991272, + "y": -0.00324857234954834, + "z": 4.8031086921691895 + }, + "rotation": { + "x": 359.98583984375, + "y": 290.60357666015625, + "z": 0.042536623775959015 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 2.6631877422332764, + "objectType": "FloorLamp", + "objectId": "FloorLamp|2|4|1", + "assetId": "Floor_Lamp_4", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.6394919157028198, + 1.8686199188232422, + 5.035041809082031 + ], + [ + 0.6394919157028198, + 1.8686199188232422, + 4.573705673217773 + ], + [ + 0.6394919157028198, + -4.76837158203125e-07, + 5.035041809082031 + ], + [ + 0.6394919157028198, + -4.76837158203125e-07, + 4.573705673217773 + ], + [ + 0.17847353219985962, + 1.8686199188232422, + 5.035041809082031 + ], + [ + 0.17847353219985962, + 1.8686199188232422, + 4.573705673217773 + ], + [ + 0.17847353219985962, + -4.76837158203125e-07, + 5.035041809082031 + ], + [ + 0.17847353219985962, + -4.76837158203125e-07, + 4.573705673217773 + ] + ], + "center": { + "x": 0.4089827239513397, + "y": 0.934309720993042, + "z": 4.804373741149902 + }, + "size": { + "x": 0.4610183835029602, + "y": 1.8686203956604004, + "z": 0.4613361358642578 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.2824229300022125, + 0.0003239985089749098, + 5.084815502166748 + ], + [ + 0.1298796534538269, + 2.1778978407382965e-06, + 4.679058074951172 + ], + [ + 0.5356394052505493, + -0.00010496261529624462, + 4.526514053344727 + ], + [ + 0.6881826519966125, + 0.00021685799583792686, + 4.932271480560303 + ], + [ + 0.2823670506477356, + 1.8686730861663818, + 5.083354949951172 + ], + [ + 0.12982380390167236, + 1.8683513402938843, + 4.6775970458984375 + ], + [ + 0.53558349609375, + 1.8682441711425781, + 4.525053024291992 + ], + [ + 0.688126802444458, + 1.8685659170150757, + 4.930810928344727 + ] + ] + } + } + }, + { + "objectId": "Dresser|2|1", + "object_info": { + "name": "Dresser|2|1", + "position": { + "x": 0.23233795166015625, + "y": 0.0030004680156707764, + "z": 0.6265245079994202 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Book|surface|2|32", + "RemoteControl|surface|2|39" + ], + "distance": 6.274956226348877, + "objectType": "Dresser", + "objectId": "Dresser|2|1", + "assetId": "Dresser_229_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.42233794927597046, + 0.7015290260314941, + 1.2280489206314087 + ], + [ + 0.42233794927597046, + 0.7015290260314941, + 0.02500009536743164 + ], + [ + 0.42233794927597046, + 4.76837158203125e-07, + 1.2280489206314087 + ], + [ + 0.42233794927597046, + 4.76837158203125e-07, + 0.02500009536743164 + ], + [ + 0.02499997615814209, + 0.7015290260314941, + 1.2280489206314087 + ], + [ + 0.02499997615814209, + 0.7015290260314941, + 0.02500009536743164 + ], + [ + 0.02499997615814209, + 4.76837158203125e-07, + 1.2280489206314087 + ], + [ + 0.02499997615814209, + 4.76837158203125e-07, + 0.02500009536743164 + ] + ], + "center": { + "x": 0.22366896271705627, + "y": 0.35076475143432617, + "z": 0.6265245079994202 + }, + "size": { + "x": 0.39733797311782837, + "y": 0.7015285491943359, + "z": 1.203048825263977 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.4223378300666809, + 4.76837158203125e-07, + 0.025000274181365967 + ], + [ + 0.42233794927597046, + 4.76837158203125e-07, + 1.2280488014221191 + ], + [ + 0.024999991059303284, + 4.76837158203125e-07, + 1.2280488014221191 + ], + [ + 0.024999871850013733, + 4.76837158203125e-07, + 0.025000333786010742 + ], + [ + 0.4223378300666809, + 0.7015290260314941, + 0.025000274181365967 + ], + [ + 0.42233794927597046, + 0.7015290260314941, + 1.2280488014221191 + ], + [ + 0.024999991059303284, + 0.7015290260314941, + 1.2280488014221191 + ], + [ + 0.024999871850013733, + 0.7015290260314941, + 0.025000333786010742 + ] + ] + } + } + }, + { + "objectId": "HousePlant|surface|2|31", + "object_info": { + "name": "HousePlant|surface|2|31", + "position": { + "x": 3.505009174346924, + "y": 0.7827650308609009, + "z": 3.6506781578063965 + }, + "rotation": { + "x": 4.725673352368176e-05, + "y": 269.9999084472656, + "z": -8.442384569207206e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.0, + "salientMaterials": [ + "Ceramic", + "Organic" + ], + "receptacleObjectIds": null, + "distance": 3.1157121658325195, + "objectType": "HousePlant", + "objectId": "HousePlant|surface|2|31", + "assetId": "Houseplant_15", + "parentReceptacles": [ + "DiningTable|2|2|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.738208770751953, + 1.2413649559020996, + 3.823578357696533 + ], + [ + 3.738208770751953, + 1.2413649559020996, + 3.4664783477783203 + ], + [ + 3.738208770751953, + 0.7813858985900879, + 3.823578357696533 + ], + [ + 3.738208770751953, + 0.7813858985900879, + 3.4664783477783203 + ], + [ + 3.360808849334717, + 1.2413649559020996, + 3.823578357696533 + ], + [ + 3.360808849334717, + 1.2413649559020996, + 3.4664783477783203 + ], + [ + 3.360808849334717, + 0.7813858985900879, + 3.823578357696533 + ], + [ + 3.360808849334717, + 0.7813858985900879, + 3.4664783477783203 + ] + ], + "center": { + "x": 3.549508810043335, + "y": 1.0113754272460938, + "z": 3.6450283527374268 + }, + "size": { + "x": 0.37739992141723633, + "y": 0.4599790573120117, + "z": 0.3571000099182129 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.360808849334717, + 0.781385600566864, + 3.823577880859375 + ], + [ + 3.360809564590454, + 0.7813856601715088, + 3.466477870941162 + ], + [ + 3.7382094860076904, + 0.7813859581947327, + 3.4664785861968994 + ], + [ + 3.738208770751953, + 0.7813859581947327, + 3.8235785961151123 + ], + [ + 3.3608086109161377, + 1.2413649559020996, + 3.823577880859375 + ], + [ + 3.360809087753296, + 1.2413649559020996, + 3.466477870941162 + ], + [ + 3.7382090091705322, + 1.2413653135299683, + 3.4664785861968994 + ], + [ + 3.738208532333374, + 1.2413651943206787, + 3.8235785961151123 + ] + ] + } + } + }, + { + "objectId": "Dresser|2|1___3", + "object_info": { + "name": "Drawer (4)", + "position": { + "x": 0.4315045475959778, + "y": 0.19103822112083435, + "z": 0.9023266434669495 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.928315162658691, + "objectType": "Drawer", + "objectId": "Dresser|2|1___3", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.43379539251327515, + 0.34400612115859985, + 1.1775424480438232 + ], + [ + 0.43379539251327515, + 0.34400612115859985, + 0.6271107196807861 + ], + [ + 0.43379539251327515, + 0.037517547607421875, + 1.1775424480438232 + ], + [ + 0.43379539251327515, + 0.037517547607421875, + 0.6271107196807861 + ], + [ + 0.1735575795173645, + 0.34400612115859985, + 1.1775424480438232 + ], + [ + 0.1735575795173645, + 0.34400612115859985, + 0.6271107196807861 + ], + [ + 0.1735575795173645, + 0.037517547607421875, + 1.1775424480438232 + ], + [ + 0.1735575795173645, + 0.037517547607421875, + 0.6271107196807861 + ] + ], + "center": { + "x": 0.3036764860153198, + "y": 0.19076183438301086, + "z": 0.9023265838623047 + }, + "size": { + "x": 0.26023781299591064, + "y": 0.306488573551178, + "z": 0.5504317283630371 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "BasketBall|2|5", + "object_info": { + "name": "BasketBall|2|5", + "position": { + "x": 3.5209100246429443, + "y": 0.11968711018562317, + "z": 4.913913249969482 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6000000238418579, + "salientMaterials": [ + "Rubber" + ], + "receptacleObjectIds": null, + "distance": 2.177460193634033, + "objectType": "BasketBall", + "objectId": "BasketBall|2|5", + "assetId": "RoboTHOR_basketball_rhode_island_novelty_v", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.640597105026245, + 0.23937422037124634, + 5.033600330352783 + ], + [ + 3.640597105026245, + 0.23937422037124634, + 4.794226169586182 + ], + [ + 3.640597105026245, + 0.0, + 5.033600330352783 + ], + [ + 3.640597105026245, + 0.0, + 4.794226169586182 + ], + [ + 3.4012229442596436, + 0.23937422037124634, + 5.033600330352783 + ], + [ + 3.4012229442596436, + 0.23937422037124634, + 4.794226169586182 + ], + [ + 3.4012229442596436, + 0.0, + 5.033600330352783 + ], + [ + 3.4012229442596436, + 0.0, + 4.794226169586182 + ] + ], + "center": { + "x": 3.5209100246429443, + "y": 0.11968711018562317, + "z": 4.913913249969482 + }, + "size": { + "x": 0.23937416076660156, + "y": 0.23937422037124634, + "z": 0.23937416076660156 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.640597105026245, + 7.450580596923828e-09, + 5.033600330352783 + ], + [ + 3.4012229442596436, + 7.450580596923828e-09, + 5.033600330352783 + ], + [ + 3.4012229442596436, + 7.450580596923828e-09, + 4.794226169586182 + ], + [ + 3.640597105026245, + 7.450580596923828e-09, + 4.794226169586182 + ], + [ + 3.640597105026245, + 0.23937422037124634, + 5.033600330352783 + ], + [ + 3.4012229442596436, + 0.23937422037124634, + 5.033600330352783 + ], + [ + 3.4012229442596436, + 0.23937422037124634, + 4.794226169586182 + ], + [ + 3.640597105026245, + 0.23937422037124634, + 4.794226169586182 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 2.5, + "y": 0.9009997844696045, + "z": 6.599999904632568 + }, + "agent_rotation": { + "x": -0.0, + "y": 180.0, + "z": 0.0 + }, + "agent_cameraHorizon": 60.00001525878906, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 2.5, + "y": 1.5759997367858887, + "z": 6.599999904632568 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "FloorLamp|2|4|1", + "ArmChair|2|4|0", + "ArmChair|2|3|0", + "FloorLamp|2|3|1" + ], + "different_object": [ + "Chair|2|2|1", + "Chair|2|2|4", + "Dresser|2|1", + "Chair|2|2|2", + "BasketBall|2|5", + "HousePlant|surface|2|31", + "door|2|6", + "Chair|2|2|3", + "DiningTable|2|2|0", + "Dresser|2|1___3" + ] +} \ No newline at end of file diff --git a/train/train135/3/1_depth_npy.npy b/train/train135/3/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..cfa623eaec2393b9a8c37fbbbbfdf1fbc981f1d5 --- /dev/null +++ b/train/train135/3/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b60591a07088049d2743148d0f1bf921e46ddfa6cae1f92ef91a7a6c0c7dda0 +size 3145856 diff --git a/train/train135/3/1_semantic_sensor_npy.npy b/train/train135/3/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..91cc218638f8d4d47782b9683eef53ce5a37c070 --- /dev/null +++ b/train/train135/3/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c27a5753d17a291d31c24ff7b78ddb025208973febfeee4eebe7c0f390f248bc +size 2359424 diff --git a/train/train135/3/depth_0.png b/train/train135/3/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..71bb5d2d7b47dd8593115f3417d045f05c1fcbf0 Binary files /dev/null and b/train/train135/3/depth_0.png differ diff --git a/train/train135/3/depth_1.png b/train/train135/3/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..af50d8d09fd5195e961867a75915eff8df351841 Binary files /dev/null and b/train/train135/3/depth_1.png differ diff --git a/train/train135/3/mask_questions.jsonl b/train/train135/3/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/train/train135/3/rgb_0.png b/train/train135/3/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..3f646094de6bd04d2943a681f583fc265e8bb673 --- /dev/null +++ b/train/train135/3/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:872b5864634e9ccc9b5de9e39d5eb16d35fd98ebd197da723a3ec5df71c0feed +size 784062 diff --git a/train/train135/3/rgb_1.png b/train/train135/3/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..48c30af0142fc8568fc2ed56a5510a24b38653ad --- /dev/null +++ b/train/train135/3/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a8743a25983b062b54e8b10b3099bca814f4b50c15166f8f51198211d6940c89 +size 755024 diff --git a/train/train135/3/semantic_0.png b/train/train135/3/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..a89a8fad201fe12683ac9461d8489a724e1835fd Binary files /dev/null and b/train/train135/3/semantic_0.png differ diff --git a/train/train135/3/semantic_1.png b/train/train135/3/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..ffe22d987849d1750227e9b45b8b6ae295413055 Binary files /dev/null and b/train/train135/3/semantic_1.png differ diff --git a/train/train135/4/0.json b/train/train135/4/0.json new file mode 100644 index 0000000000000000000000000000000000000000..10f04bf293f863dba441cb1b1155f8c2adb52739 --- /dev/null +++ b/train/train135/4/0.json @@ -0,0 +1,978 @@ +{ + "object": [ + { + "objectId": "FloorLamp|2|3|1", + "object_info": { + "name": "FloorLamp|2|3|1", + "position": { + "x": 0.5163519978523254, + "y": 0.005106329917907715, + "z": 5.505467414855957 + }, + "rotation": { + "x": 0.043430812656879425, + "y": 192.27891540527344, + "z": 0.0035312804393470287 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 2.1902637481689453, + "objectType": "FloorLamp", + "objectId": "FloorLamp|2|3|1", + "assetId": "Floor_Lamp_18", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.7786393165588379, + 1.829486608505249, + 5.765649795532227 + ], + [ + 0.7786393165588379, + 1.829486608505249, + 5.243791580200195 + ], + [ + 0.7786393165588379, + -1.1920928955078125e-06, + 5.765649795532227 + ], + [ + 0.7786393165588379, + -1.1920928955078125e-06, + 5.243791580200195 + ], + [ + 0.25678157806396484, + 1.829486608505249, + 5.765649795532227 + ], + [ + 0.25678157806396484, + 1.829486608505249, + 5.243791580200195 + ], + [ + 0.25678157806396484, + -1.1920928955078125e-06, + 5.765649795532227 + ], + [ + 0.25678157806396484, + -1.1920928955078125e-06, + 5.243791580200195 + ] + ], + "center": { + "x": 0.5177104473114014, + "y": 0.9147427082061768, + "z": 5.504720687866211 + }, + "size": { + "x": 0.521857738494873, + "y": 1.8294878005981445, + "z": 0.5218582153320312 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.22444048523902893, + -7.430417463183403e-05, + 5.317267417907715 + ], + [ + 0.7063751220703125, + -0.00010470254346728325, + 5.212374687194824 + ], + [ + 0.8112684488296509, + 0.00026916246861219406, + 5.694310188293457 + ], + [ + 0.32933375239372253, + 0.0002995608374476433, + 5.799203395843506 + ], + [ + 0.22425577044487, + 1.829227328300476, + 5.315888404846191 + ], + [ + 0.7061904668807983, + 1.8291969299316406, + 5.210995674133301 + ], + [ + 0.8110836744308472, + 1.8295708894729614, + 5.692931175231934 + ], + [ + 0.3291490077972412, + 1.8296012878417969, + 5.797824382781982 + ] + ] + } + } + }, + { + "objectId": "Bed|2|0|0", + "object_info": { + "name": "Bed|2|0|0", + "position": { + "x": 1.0386500358581543, + "y": -0.0012215971946716309, + "z": 9.684488296508789 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "Book|surface|2|36", + "Book|surface|2|35", + "CellPhone|surface|2|38", + "Laptop|surface|2|34", + "Pillow|2|0|1", + "Pillow|2|0|2" + ], + "distance": 3.524533748626709, + "objectType": "Bed", + "objectId": "Bed|2|0|0", + "assetId": "Bed_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.0997321605682373, + 0.9101964235305786, + 10.417999267578125 + ], + [ + 2.0997321605682373, + 0.9101964235305786, + 8.95119857788086 + ], + [ + 2.0997321605682373, + 0.0, + 10.417999267578125 + ], + [ + 2.0997321605682373, + 0.0, + 8.95119857788086 + ], + [ + 0.024999618530273438, + 0.9101964235305786, + 10.417999267578125 + ], + [ + 0.024999618530273438, + 0.9101964235305786, + 8.95119857788086 + ], + [ + 0.024999618530273438, + 0.0, + 10.417999267578125 + ], + [ + 0.024999618530273438, + 0.0, + 8.95119857788086 + ] + ], + "center": { + "x": 1.0623658895492554, + "y": 0.4550982117652893, + "z": 9.684598922729492 + }, + "size": { + "x": 2.074732542037964, + "y": 0.9101964235305786, + "z": 1.4668006896972656 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.0997323989868164, + 0.0, + 8.951199531555176 + ], + [ + 2.0997323989868164, + 0.0, + 10.417999267578125 + ], + [ + 0.02499985694885254, + 0.0, + 10.417999267578125 + ], + [ + 0.02499985694885254, + 0.0, + 8.951199531555176 + ], + [ + 2.0997323989868164, + 0.9101961851119995, + 8.951199531555176 + ], + [ + 2.0997323989868164, + 0.9101961851119995, + 10.417999267578125 + ], + [ + 0.02499985694885254, + 0.9101961851119995, + 10.417999267578125 + ], + [ + 0.02499985694885254, + 0.9101961851119995, + 8.951199531555176 + ] + ] + } + } + }, + { + "objectId": "Pillow|2|0|2", + "object_info": { + "name": "Pillow|2|0|2", + "position": { + "x": 0.45088985562324524, + "y": 0.623221218585968, + "z": 9.41347885131836 + }, + "rotation": { + "x": -7.594248785380842e-08, + "y": 90.0, + "z": 1.4434591548706521e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 3.4354500770568848, + "objectType": "Pillow", + "objectId": "Pillow|2|0|2", + "assetId": "pillow_18", + "parentReceptacles": [ + "Bed|2|0|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.626780092716217, + 0.6983212232589722, + 9.634599685668945 + ], + [ + 0.626780092716217, + 0.6983212232589722, + 9.192358016967773 + ], + [ + 0.626780092716217, + 0.5491212606430054, + 9.634599685668945 + ], + [ + 0.626780092716217, + 0.5491212606430054, + 9.192358016967773 + ], + [ + 0.27499961853027344, + 0.6983212232589722, + 9.634599685668945 + ], + [ + 0.27499961853027344, + 0.6983212232589722, + 9.192358016967773 + ], + [ + 0.27499961853027344, + 0.5491212606430054, + 9.634599685668945 + ], + [ + 0.27499961853027344, + 0.5491212606430054, + 9.192358016967773 + ] + ], + "center": { + "x": 0.45088985562324524, + "y": 0.6237212419509888, + "z": 9.41347885131836 + }, + "size": { + "x": 0.3517804741859436, + "y": 0.1491999626159668, + "z": 0.4422416687011719 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.6267800331115723, + 0.5491212010383606, + 9.192358016967773 + ], + [ + 0.626780092716217, + 0.5491212010383606, + 9.634599685668945 + ], + [ + 0.2749996781349182, + 0.5491212010383606, + 9.634599685668945 + ], + [ + 0.27499961853027344, + 0.5491212010383606, + 9.192358016967773 + ], + [ + 0.6267800331115723, + 0.6983212232589722, + 9.192358016967773 + ], + [ + 0.626780092716217, + 0.6983212232589722, + 9.634599685668945 + ], + [ + 0.2749996781349182, + 0.6983212232589722, + 9.634599685668945 + ], + [ + 0.27499961853027344, + 0.6983212232589722, + 9.192358016967773 + ] + ] + } + } + }, + { + "objectId": "ArmChair|2|3|0", + "object_info": { + "name": "ArmChair|2|3|0", + "position": { + "x": 0.5419568419456482, + "y": 0.0015018582344055176, + "z": 6.691274166107178 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.9398695230484009, + "objectType": "ArmChair", + "objectId": "ArmChair|2|3|0", + "assetId": "Armchair_219_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.010707139968872, + 1.2705585956573486, + 7.391336441040039 + ], + [ + 1.010707139968872, + 1.2705585956573486, + 5.989198684692383 + ], + [ + 1.010707139968872, + 3.0994415283203125e-06, + 7.391336441040039 + ], + [ + 1.010707139968872, + 3.0994415283203125e-06, + 5.989198684692383 + ], + [ + 0.02499854564666748, + 1.2705585956573486, + 7.391336441040039 + ], + [ + 0.02499854564666748, + 1.2705585956573486, + 5.989198684692383 + ], + [ + 0.02499854564666748, + 3.0994415283203125e-06, + 7.391336441040039 + ], + [ + 0.02499854564666748, + 3.0994415283203125e-06, + 5.989198684692383 + ] + ], + "center": { + "x": 0.5178528428077698, + "y": 0.6352808475494385, + "z": 6.690267562866211 + }, + "size": { + "x": 0.9857085943222046, + "y": 1.2705554962158203, + "z": 1.4021377563476562 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.010706901550293, + 3.2782554626464844e-06, + 5.989198684692383 + ], + [ + 1.010706901550293, + 3.2782554626464844e-06, + 7.391336441040039 + ], + [ + 0.024998784065246582, + 3.2782554626464844e-06, + 7.391336441040039 + ], + [ + 0.02499866485595703, + 3.2782554626464844e-06, + 5.989198684692383 + ], + [ + 1.010706901550293, + 1.2705578804016113, + 5.989198684692383 + ], + [ + 1.010706901550293, + 1.2705578804016113, + 7.391336441040039 + ], + [ + 0.024998784065246582, + 1.2705578804016113, + 7.391336441040039 + ], + [ + 0.02499866485595703, + 1.2705578804016113, + 5.989198684692383 + ] + ] + } + } + }, + { + "objectId": "ArmChair|2|4|0", + "object_info": { + "name": "ArmChair|2|4|0", + "position": { + "x": 0.4147731065750122, + "y": 0.005728542804718018, + "z": 3.9566712379455566 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [], + "distance": 3.261608362197876, + "objectType": "ArmChair", + "objectId": "ArmChair|2|4|0", + "assetId": "Armchair_207_4", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.7930542230606079, + 0.7251989841461182, + 4.336551189422607 + ], + [ + 0.7930542230606079, + 0.7251989841461182, + 3.573791027069092 + ], + [ + 0.7930542230606079, + -8.940696716308594e-08, + 4.336551189422607 + ], + [ + 0.7930542230606079, + -8.940696716308594e-08, + 3.573791027069092 + ], + [ + 0.02499985694885254, + 0.7251989841461182, + 4.336551189422607 + ], + [ + 0.02499985694885254, + 0.7251989841461182, + 3.573791027069092 + ], + [ + 0.02499985694885254, + -8.940696716308594e-08, + 4.336551189422607 + ], + [ + 0.02499985694885254, + -8.940696716308594e-08, + 3.573791027069092 + ] + ], + "center": { + "x": 0.4090270400047302, + "y": 0.3625994622707367, + "z": 3.9551711082458496 + }, + "size": { + "x": 0.7680543661117554, + "y": 0.7251991033554077, + "z": 0.7627601623535156 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.7930541038513184, + -5.960464477539063e-08, + 3.573791027069092 + ], + [ + 0.7930542230606079, + -5.960464477539063e-08, + 4.336551189422607 + ], + [ + 0.025000005960464478, + -5.960464477539063e-08, + 4.336551189422607 + ], + [ + 0.024999886751174927, + -5.960464477539063e-08, + 3.573791265487671 + ], + [ + 0.7930541038513184, + 0.7251988053321838, + 3.573791027069092 + ], + [ + 0.7930542230606079, + 0.7251988053321838, + 4.336551189422607 + ], + [ + 0.025000005960464478, + 0.7251988053321838, + 4.336551189422607 + ], + [ + 0.024999886751174927, + 0.7251988053321838, + 3.573791265487671 + ] + ] + } + } + }, + { + "objectId": "FloorLamp|2|4|1", + "object_info": { + "name": "FloorLamp|2|4|1", + "position": { + "x": 0.4073215126991272, + "y": -0.00324857234954834, + "z": 4.8031086921691895 + }, + "rotation": { + "x": 359.98583984375, + "y": 290.60357666015625, + "z": 0.042536623775959015 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 2.6631877422332764, + "objectType": "FloorLamp", + "objectId": "FloorLamp|2|4|1", + "assetId": "Floor_Lamp_4", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.6394919157028198, + 1.8686199188232422, + 5.035041809082031 + ], + [ + 0.6394919157028198, + 1.8686199188232422, + 4.573705673217773 + ], + [ + 0.6394919157028198, + -4.76837158203125e-07, + 5.035041809082031 + ], + [ + 0.6394919157028198, + -4.76837158203125e-07, + 4.573705673217773 + ], + [ + 0.17847353219985962, + 1.8686199188232422, + 5.035041809082031 + ], + [ + 0.17847353219985962, + 1.8686199188232422, + 4.573705673217773 + ], + [ + 0.17847353219985962, + -4.76837158203125e-07, + 5.035041809082031 + ], + [ + 0.17847353219985962, + -4.76837158203125e-07, + 4.573705673217773 + ] + ], + "center": { + "x": 0.4089827239513397, + "y": 0.934309720993042, + "z": 4.804373741149902 + }, + "size": { + "x": 0.4610183835029602, + "y": 1.8686203956604004, + "z": 0.4613361358642578 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.2824229300022125, + 0.0003239985089749098, + 5.084815502166748 + ], + [ + 0.1298796534538269, + 2.1778978407382965e-06, + 4.679058074951172 + ], + [ + 0.5356394052505493, + -0.00010496261529624462, + 4.526514053344727 + ], + [ + 0.6881826519966125, + 0.00021685799583792686, + 4.932271480560303 + ], + [ + 0.2823670506477356, + 1.8686730861663818, + 5.083354949951172 + ], + [ + 0.12982380390167236, + 1.8683513402938843, + 4.6775970458984375 + ], + [ + 0.53558349609375, + 1.8682441711425781, + 4.525053024291992 + ], + [ + 0.688126802444458, + 1.8685659170150757, + 4.930810928344727 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 2.4000000953674316, + "y": 0.9009997844696045, + "z": 6.699999809265137 + }, + "agent_rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "agent_cameraHorizon": 60.00001525878906, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 2.4000000953674316, + "y": 1.5759997367858887, + "z": 6.699999809265137 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Pillow|2|0|2", + "Bed|2|0|0", + "ArmChair|2|3|0" + ], + "different_object": [ + "FloorLamp|2|4|1", + "ArmChair|2|4|0", + "FloorLamp|2|3|1" + ] +} \ No newline at end of file diff --git a/train/train135/4/0_depth_npy.npy b/train/train135/4/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..82553122d7f4a00f486b282ff37c5ab1ea977c56 --- /dev/null +++ b/train/train135/4/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cae57d98a299fca6779ca5e8702e2bbced47c24591277e4666d1de1f225800b3 +size 3145856 diff --git a/train/train135/4/0_semantic_sensor_npy.npy b/train/train135/4/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..ae0116679173360c3d1e25e87a643c21b93b80a7 --- /dev/null +++ b/train/train135/4/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:637340df34f8f7bca8d5494146de7c1d90f67f0603b247f638c66d5598841ccc +size 2359424 diff --git a/train/train135/4/1.json b/train/train135/4/1.json new file mode 100644 index 0000000000000000000000000000000000000000..34c531426113177487a7aad9a6c1ff9032736d90 --- /dev/null +++ b/train/train135/4/1.json @@ -0,0 +1,1564 @@ +{ + "object": [ + { + "objectId": "door|2|6", + "object_info": { + "name": "door|2|6", + "position": { + "x": 4.177000045776367, + "y": -0.0005974769592285156, + "z": 6.700064182281494 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1368744373321533, + "objectType": "Doorway", + "objectId": "door|2|6", + "assetId": "Doorway_Double_9", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.246621608734131, + 2.07534122467041, + 8.673722267150879 + ], + [ + 4.246621608734131, + 2.07534122467041, + 6.6243486404418945 + ], + [ + 4.246621608734131, + 0.0, + 8.673722267150879 + ], + [ + 4.246621608734131, + 0.0, + 6.6243486404418945 + ], + [ + 3.2620692253112793, + 2.07534122467041, + 8.673722267150879 + ], + [ + 3.2620692253112793, + 2.07534122467041, + 6.6243486404418945 + ], + [ + 3.2620692253112793, + 0.0, + 8.673722267150879 + ], + [ + 3.2620692253112793, + 0.0, + 6.6243486404418945 + ] + ], + "center": { + "x": 3.754345417022705, + "y": 1.037670612335205, + "z": 7.649035453796387 + }, + "size": { + "x": 0.9845523834228516, + "y": 2.07534122467041, + "z": 2.0493736267089844 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bed|2|0|0", + "object_info": { + "name": "Bed|2|0|0", + "position": { + "x": 1.0386500358581543, + "y": -0.0012215971946716309, + "z": 9.684488296508789 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "Book|surface|2|36", + "Book|surface|2|35", + "CellPhone|surface|2|38", + "Laptop|surface|2|34", + "Pillow|2|0|1", + "Pillow|2|0|2" + ], + "distance": 3.524533748626709, + "objectType": "Bed", + "objectId": "Bed|2|0|0", + "assetId": "Bed_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.0997321605682373, + 0.9101964235305786, + 10.417999267578125 + ], + [ + 2.0997321605682373, + 0.9101964235305786, + 8.95119857788086 + ], + [ + 2.0997321605682373, + 0.0, + 10.417999267578125 + ], + [ + 2.0997321605682373, + 0.0, + 8.95119857788086 + ], + [ + 0.024999618530273438, + 0.9101964235305786, + 10.417999267578125 + ], + [ + 0.024999618530273438, + 0.9101964235305786, + 8.95119857788086 + ], + [ + 0.024999618530273438, + 0.0, + 10.417999267578125 + ], + [ + 0.024999618530273438, + 0.0, + 8.95119857788086 + ] + ], + "center": { + "x": 1.0623658895492554, + "y": 0.4550982117652893, + "z": 9.684598922729492 + }, + "size": { + "x": 2.074732542037964, + "y": 0.9101964235305786, + "z": 1.4668006896972656 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.0997323989868164, + 0.0, + 8.951199531555176 + ], + [ + 2.0997323989868164, + 0.0, + 10.417999267578125 + ], + [ + 0.02499985694885254, + 0.0, + 10.417999267578125 + ], + [ + 0.02499985694885254, + 0.0, + 8.951199531555176 + ], + [ + 2.0997323989868164, + 0.9101961851119995, + 8.951199531555176 + ], + [ + 2.0997323989868164, + 0.9101961851119995, + 10.417999267578125 + ], + [ + 0.02499985694885254, + 0.9101961851119995, + 10.417999267578125 + ], + [ + 0.02499985694885254, + 0.9101961851119995, + 8.951199531555176 + ] + ] + } + } + }, + { + "objectId": "Pillow|2|0|2", + "object_info": { + "name": "Pillow|2|0|2", + "position": { + "x": 0.45088985562324524, + "y": 0.623221218585968, + "z": 9.41347885131836 + }, + "rotation": { + "x": -7.594248785380842e-08, + "y": 90.0, + "z": 1.4434591548706521e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 3.4354500770568848, + "objectType": "Pillow", + "objectId": "Pillow|2|0|2", + "assetId": "pillow_18", + "parentReceptacles": [ + "Bed|2|0|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.626780092716217, + 0.6983212232589722, + 9.634599685668945 + ], + [ + 0.626780092716217, + 0.6983212232589722, + 9.192358016967773 + ], + [ + 0.626780092716217, + 0.5491212606430054, + 9.634599685668945 + ], + [ + 0.626780092716217, + 0.5491212606430054, + 9.192358016967773 + ], + [ + 0.27499961853027344, + 0.6983212232589722, + 9.634599685668945 + ], + [ + 0.27499961853027344, + 0.6983212232589722, + 9.192358016967773 + ], + [ + 0.27499961853027344, + 0.5491212606430054, + 9.634599685668945 + ], + [ + 0.27499961853027344, + 0.5491212606430054, + 9.192358016967773 + ] + ], + "center": { + "x": 0.45088985562324524, + "y": 0.6237212419509888, + "z": 9.41347885131836 + }, + "size": { + "x": 0.3517804741859436, + "y": 0.1491999626159668, + "z": 0.4422416687011719 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.6267800331115723, + 0.5491212010383606, + 9.192358016967773 + ], + [ + 0.626780092716217, + 0.5491212010383606, + 9.634599685668945 + ], + [ + 0.2749996781349182, + 0.5491212010383606, + 9.634599685668945 + ], + [ + 0.27499961853027344, + 0.5491212010383606, + 9.192358016967773 + ], + [ + 0.6267800331115723, + 0.6983212232589722, + 9.192358016967773 + ], + [ + 0.626780092716217, + 0.6983212232589722, + 9.634599685668945 + ], + [ + 0.2749996781349182, + 0.6983212232589722, + 9.634599685668945 + ], + [ + 0.27499961853027344, + 0.6983212232589722, + 9.192358016967773 + ] + ] + } + } + }, + { + "objectId": "Book|surface|2|36", + "object_info": { + "name": "Book|surface|2|36", + "position": { + "x": 1.551512360572815, + "y": 0.5552777647972107, + "z": 9.518292427062988 + }, + "rotation": { + "x": 0.0024208426475524902, + "y": -0.00048809152212925255, + "z": 0.0037326859310269356 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 3.1172902584075928, + "objectType": "Book", + "objectId": "Book|surface|2|36", + "assetId": "RoboTHOR_book_ai2_2_v", + "parentReceptacles": [ + "Bed|2|0|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.6479227542877197, + 0.5847048759460449, + 9.63545036315918 + ], + [ + 1.6479227542877197, + 0.5847048759460449, + 9.40113639831543 + ], + [ + 1.6479227542877197, + 0.5547502040863037, + 9.63545036315918 + ], + [ + 1.6479227542877197, + 0.5547502040863037, + 9.40113639831543 + ], + [ + 1.4548065662384033, + 0.5847048759460449, + 9.63545036315918 + ], + [ + 1.4548065662384033, + 0.5847048759460449, + 9.40113639831543 + ], + [ + 1.4548065662384033, + 0.5547502040863037, + 9.63545036315918 + ], + [ + 1.4548065662384033, + 0.5547502040863037, + 9.40113639831543 + ] + ], + "center": { + "x": 1.5513646602630615, + "y": 0.5697275400161743, + "z": 9.518293380737305 + }, + "size": { + "x": 0.1931161880493164, + "y": 0.02995467185974121, + "z": 0.23431396484375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.6479207277297974, + 0.5547625422477722, + 9.635448455810547 + ], + [ + 1.4548063278198242, + 0.5547499656677246, + 9.63544750213623 + ], + [ + 1.4548083543777466, + 0.5547598600387573, + 9.40113639831543 + ], + [ + 1.6479226350784302, + 0.5547724366188049, + 9.401138305664062 + ], + [ + 1.647918701171875, + 0.5846965312957764, + 9.63545036315918 + ], + [ + 1.4548044204711914, + 0.5846839547157288, + 9.635448455810547 + ], + [ + 1.4548063278198242, + 0.5846938490867615, + 9.401137351989746 + ], + [ + 1.6479207277297974, + 0.5847064256668091, + 9.401139259338379 + ] + ] + } + } + }, + { + "objectId": "ArmChair|2|3|0", + "object_info": { + "name": "ArmChair|2|3|0", + "position": { + "x": 0.5419568419456482, + "y": 0.0015018582344055176, + "z": 6.691274166107178 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.9398695230484009, + "objectType": "ArmChair", + "objectId": "ArmChair|2|3|0", + "assetId": "Armchair_219_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.010707139968872, + 1.2705585956573486, + 7.391336441040039 + ], + [ + 1.010707139968872, + 1.2705585956573486, + 5.989198684692383 + ], + [ + 1.010707139968872, + 3.0994415283203125e-06, + 7.391336441040039 + ], + [ + 1.010707139968872, + 3.0994415283203125e-06, + 5.989198684692383 + ], + [ + 0.02499854564666748, + 1.2705585956573486, + 7.391336441040039 + ], + [ + 0.02499854564666748, + 1.2705585956573486, + 5.989198684692383 + ], + [ + 0.02499854564666748, + 3.0994415283203125e-06, + 7.391336441040039 + ], + [ + 0.02499854564666748, + 3.0994415283203125e-06, + 5.989198684692383 + ] + ], + "center": { + "x": 0.5178528428077698, + "y": 0.6352808475494385, + "z": 6.690267562866211 + }, + "size": { + "x": 0.9857085943222046, + "y": 1.2705554962158203, + "z": 1.4021377563476562 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.010706901550293, + 3.2782554626464844e-06, + 5.989198684692383 + ], + [ + 1.010706901550293, + 3.2782554626464844e-06, + 7.391336441040039 + ], + [ + 0.024998784065246582, + 3.2782554626464844e-06, + 7.391336441040039 + ], + [ + 0.02499866485595703, + 3.2782554626464844e-06, + 5.989198684692383 + ], + [ + 1.010706901550293, + 1.2705578804016113, + 5.989198684692383 + ], + [ + 1.010706901550293, + 1.2705578804016113, + 7.391336441040039 + ], + [ + 0.024998784065246582, + 1.2705578804016113, + 7.391336441040039 + ], + [ + 0.02499866485595703, + 1.2705578804016113, + 5.989198684692383 + ] + ] + } + } + }, + { + "objectId": "Pillow|2|0|1", + "object_info": { + "name": "Pillow|2|0|1", + "position": { + "x": 0.4508899450302124, + "y": 0.623221218585968, + "z": 9.955720901489258 + }, + "rotation": { + "x": 9.264465461455984e-07, + "y": 90.0, + "z": 1.5821999568288447e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 3.905888557434082, + "objectType": "Pillow", + "objectId": "Pillow|2|0|1", + "assetId": "pillow_18", + "parentReceptacles": [ + "Bed|2|0|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.6267801523208618, + 0.6983212232589722, + 10.176841735839844 + ], + [ + 0.6267801523208618, + 0.6983212232589722, + 9.734600067138672 + ], + [ + 0.6267801523208618, + 0.5491212606430054, + 10.176841735839844 + ], + [ + 0.6267801523208618, + 0.5491212606430054, + 9.734600067138672 + ], + [ + 0.274999737739563, + 0.6983212232589722, + 10.176841735839844 + ], + [ + 0.274999737739563, + 0.6983212232589722, + 9.734600067138672 + ], + [ + 0.274999737739563, + 0.5491212606430054, + 10.176841735839844 + ], + [ + 0.274999737739563, + 0.5491212606430054, + 9.734600067138672 + ] + ], + "center": { + "x": 0.4508899450302124, + "y": 0.6237212419509888, + "z": 9.955720901489258 + }, + "size": { + "x": 0.35178041458129883, + "y": 0.1491999626159668, + "z": 0.4422416687011719 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.626780092716217, + 0.5491212010383606, + 9.734600067138672 + ], + [ + 0.6267801523208618, + 0.5491212010383606, + 10.176841735839844 + ], + [ + 0.27499979734420776, + 0.5491212010383606, + 10.176841735839844 + ], + [ + 0.274999737739563, + 0.5491212010383606, + 9.734600067138672 + ], + [ + 0.626780092716217, + 0.6983212232589722, + 9.734600067138672 + ], + [ + 0.6267801523208618, + 0.6983212232589722, + 10.176841735839844 + ], + [ + 0.27499979734420776, + 0.6983212232589722, + 10.176841735839844 + ], + [ + 0.274999737739563, + 0.6983212232589722, + 9.734600067138672 + ] + ] + } + } + }, + { + "objectId": "Laptop|surface|2|34", + "object_info": { + "name": "Laptop|surface|2|34", + "position": { + "x": 1.3070857524871826, + "y": 0.5547783970832825, + "z": 9.518293380737305 + }, + "rotation": { + "x": 5.7239318266510963e-05, + "y": 270.0001525878906, + "z": -0.00011039851233363152 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 2.299999952316284, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 3.1810457706451416, + "objectType": "Laptop", + "objectId": "Laptop|surface|2|34", + "assetId": "Laptop_4", + "parentReceptacles": [ + "Bed|2|0|0", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.4435908794403076, + 0.5918110609054565, + 9.694470405578613 + ], + [ + 1.4435908794403076, + 0.5918110609054565, + 9.342116355895996 + ], + [ + 1.4435908794403076, + 0.554777979850769, + 9.694470405578613 + ], + [ + 1.4435908794403076, + 0.554777979850769, + 9.342116355895996 + ], + [ + 1.1724565029144287, + 0.5918110609054565, + 9.694470405578613 + ], + [ + 1.1724565029144287, + 0.5918110609054565, + 9.342116355895996 + ], + [ + 1.1724565029144287, + 0.554777979850769, + 9.694470405578613 + ], + [ + 1.1724565029144287, + 0.554777979850769, + 9.342116355895996 + ] + ], + "center": { + "x": 1.3080236911773682, + "y": 0.5732945203781128, + "z": 9.518293380737305 + }, + "size": { + "x": 0.2711343765258789, + "y": 0.0370330810546875, + "z": 0.3523540496826172 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.1724575757980347, + 0.5547779202461243, + 9.694470405578613 + ], + [ + 1.1724566221237183, + 0.5547785758972168, + 9.342117309570312 + ], + [ + 1.4435898065567017, + 0.5547788739204407, + 9.342116355895996 + ], + [ + 1.443590760231018, + 0.5547782182693481, + 9.694469451904297 + ], + [ + 1.1724575757980347, + 0.5918101072311401, + 9.694470405578613 + ], + [ + 1.1724566221237183, + 0.5918108224868774, + 9.342117309570312 + ], + [ + 1.4435898065567017, + 0.5918110609054565, + 9.342116355895996 + ], + [ + 1.443590760231018, + 0.591810405254364, + 9.694469451904297 + ] + ] + } + } + }, + { + "objectId": "Book|surface|2|35", + "object_info": { + "name": "Book|surface|2|35", + "position": { + "x": 1.795941710472107, + "y": 0.5549393892288208, + "z": 9.345969200134277 + }, + "rotation": { + "x": 359.9940185546875, + "y": 269.99884033203125, + "z": 0.10938890278339386 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 2.902665615081787, + "objectType": "Book", + "objectId": "Book|surface|2|35", + "assetId": "RoboTHOR_book_ai2_1_v", + "parentReceptacles": [ + "Bed|2|0|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.9131007194519043, + 0.5754214525222778, + 9.436168670654297 + ], + [ + 1.9131007194519043, + 0.5754214525222778, + 9.256523132324219 + ], + [ + 1.9131007194519043, + 0.5544360876083374, + 9.436168670654297 + ], + [ + 1.9131007194519043, + 0.5544360876083374, + 9.256523132324219 + ], + [ + 1.6787848472595215, + 0.5754214525222778, + 9.436168670654297 + ], + [ + 1.6787848472595215, + 0.5754214525222778, + 9.256523132324219 + ], + [ + 1.6787848472595215, + 0.5544360876083374, + 9.436168670654297 + ], + [ + 1.6787848472595215, + 0.5544360876083374, + 9.256523132324219 + ] + ], + "center": { + "x": 1.795942783355713, + "y": 0.5649287700653076, + "z": 9.346345901489258 + }, + "size": { + "x": 0.2343158721923828, + "y": 0.02098536491394043, + "z": 0.17964553833007812 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.6787843704223633, + 0.5548010468482971, + 9.436163902282715 + ], + [ + 1.6787880659103394, + 0.5544580817222595, + 9.256523132324219 + ], + [ + 1.9130988121032715, + 0.5544335842132568, + 9.2565279006958 + ], + [ + 1.913095235824585, + 0.5547765493392944, + 9.436169624328613 + ], + [ + 1.6787865161895752, + 0.575422465801239, + 9.436124801635742 + ], + [ + 1.6787902116775513, + 0.5750795006752014, + 9.256484031677246 + ], + [ + 1.913101077079773, + 0.5750550031661987, + 9.256488800048828 + ], + [ + 1.9130973815917969, + 0.5753979682922363, + 9.436129570007324 + ] + ] + } + } + }, + { + "objectId": "CellPhone|surface|2|38", + "object_info": { + "name": "CellPhone|surface|2|38", + "position": { + "x": 0.8182333707809448, + "y": 0.5554870367050171, + "z": 9.862946510314941 + }, + "rotation": { + "x": 0.00014016061322763562, + "y": 270.00006103515625, + "z": -0.0015861873980611563 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1599999964237213, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 3.6713409423828125, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|2|38", + "assetId": "Cellphone_8", + "parentReceptacles": [ + "Bed|2|0|0", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.8911448121070862, + 0.5656611323356628, + 9.901185035705566 + ], + [ + 0.8911448121070862, + 0.5656611323356628, + 9.824707984924316 + ], + [ + 0.8911448121070862, + 0.554777204990387, + 9.901185035705566 + ], + [ + 0.8911448121070862, + 0.554777204990387, + 9.824707984924316 + ], + [ + 0.7453219294548035, + 0.5656611323356628, + 9.901185035705566 + ], + [ + 0.7453219294548035, + 0.5656611323356628, + 9.824707984924316 + ], + [ + 0.7453219294548035, + 0.554777204990387, + 9.901185035705566 + ], + [ + 0.7453219294548035, + 0.554777204990387, + 9.824707984924316 + ] + ], + "center": { + "x": 0.8182333707809448, + "y": 0.5602191686630249, + "z": 9.862946510314941 + }, + "size": { + "x": 0.14582288265228271, + "y": 0.010883927345275879, + "z": 0.07647705078125 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.7453219890594482, + 0.554777204990387, + 9.901185035705566 + ], + [ + 0.7453219890594482, + 0.5547793507575989, + 9.824707984924316 + ], + [ + 0.8911447525024414, + 0.5547797083854675, + 9.824707984924316 + ], + [ + 0.8911447525024414, + 0.5547775626182556, + 9.901185035705566 + ], + [ + 0.7453219890594482, + 0.5656586289405823, + 9.901185035705566 + ], + [ + 0.7453219294548035, + 0.5656607747077942, + 9.824708938598633 + ], + [ + 0.8911446928977966, + 0.5656611323356628, + 9.824707984924316 + ], + [ + 0.8911447525024414, + 0.5656589865684509, + 9.901185035705566 + ] + ] + } + } + }, + { + "objectId": "GarbageBag|6|1", + "object_info": { + "name": "GarbageBag|6|1", + "position": { + "x": 4.998213291168213, + "y": -0.001681506633758545, + "z": 9.146674156188965 + }, + "rotation": { + "x": 0.04265729337930679, + "y": 0.0003357706591486931, + "z": 0.37390416860580444 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.499999761581421, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.920764446258545, + "objectType": "GarbageBag", + "objectId": "GarbageBag|6|1", + "assetId": "GarbageBag_21_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.26206111907959, + 0.5573246479034424, + 9.403459548950195 + ], + [ + 5.26206111907959, + 0.5573246479034424, + 8.888254165649414 + ], + [ + 5.26206111907959, + -8.940696716308594e-07, + 9.403459548950195 + ], + [ + 5.26206111907959, + -8.940696716308594e-07, + 8.888254165649414 + ], + [ + 4.751302719116211, + 0.5573246479034424, + 9.403459548950195 + ], + [ + 4.751302719116211, + 0.5573246479034424, + 8.888254165649414 + ], + [ + 4.751302719116211, + -8.940696716308594e-07, + 9.403459548950195 + ], + [ + 4.751302719116211, + -8.940696716308594e-07, + 8.888254165649414 + ] + ], + "center": { + "x": 5.0066819190979, + "y": 0.2786618769168854, + "z": 9.145856857299805 + }, + "size": { + "x": 0.5107583999633789, + "y": 0.557325541973114, + "z": 0.5152053833007812 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.2631049156188965, + 0.0009306990541517735, + 9.403340339660645 + ], + [ + 4.752361297607422, + -0.002402389422059059, + 9.403340339660645 + ], + [ + 4.752358436584473, + -0.0020188121125102043, + 8.88813304901123 + ], + [ + 5.263102054595947, + 0.0013142763637006283, + 8.888132095336914 + ], + [ + 5.259464263916016, + 0.5588570833206177, + 9.403755187988281 + ], + [ + 4.748720169067383, + 0.5555239915847778, + 9.403756141662598 + ], + [ + 4.748717308044434, + 0.5559075474739075, + 8.888548851013184 + ], + [ + 5.259460926055908, + 0.5592406392097473, + 8.888547897338867 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 2.4000000953674316, + "y": 0.9009997844696045, + "z": 6.699999809265137 + }, + "agent_rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "agent_cameraHorizon": 60.00001525878906, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 2.4000000953674316, + "y": 1.5759997367858887, + "z": 6.699999809265137 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Pillow|2|0|2", + "Bed|2|0|0", + "ArmChair|2|3|0" + ], + "different_object": [ + "Laptop|surface|2|34", + "Book|surface|2|36", + "GarbageBag|6|1", + "door|2|6", + "Pillow|2|0|1", + "CellPhone|surface|2|38", + "Book|surface|2|35" + ] +} \ No newline at end of file diff --git a/train/train135/4/1_depth_npy.npy b/train/train135/4/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..f635620b864714e1e6c120bb6d7283c6ec9c703e --- /dev/null +++ b/train/train135/4/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2eb81b9a7c252856bded2d375b35752f3a2b6b232478ebf1d911fdf446d1ee2e +size 3145856 diff --git a/train/train135/4/1_semantic_sensor_npy.npy b/train/train135/4/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..949eacde7b561a2bc75d9cdfb7ac22949fc03aed --- /dev/null +++ b/train/train135/4/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:acd5c08c771a06fc27ad91a276e0ee53f7e232aeb4031aeabafafdec3f31b2b9 +size 2359424 diff --git a/train/train135/4/depth_0.png b/train/train135/4/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..eef9825882db2c9b46535f745442439df73a03f6 Binary files /dev/null and b/train/train135/4/depth_0.png differ diff --git a/train/train135/4/depth_1.png b/train/train135/4/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..c553eac0bb531f05265b70adbf40372ad17203b3 Binary files /dev/null and b/train/train135/4/depth_1.png differ diff --git a/train/train135/4/mask_questions.jsonl b/train/train135/4/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/train/train135/4/rgb_0.png b/train/train135/4/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..bd0d4d221f3454cb2ee72273fc0ed4e6b9114c7a --- /dev/null +++ b/train/train135/4/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4257d3767d582f98f72d84197d4208b17bbf99fd2a24b5641be9bb632fb523b7 +size 787519 diff --git a/train/train135/4/rgb_1.png b/train/train135/4/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..247249ca3109a332faf57bf9dd37ad3d109d506a --- /dev/null +++ b/train/train135/4/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:120052e5d4b9c5ae2fa547b6d21370f0b5af1763eebb39d318fdace5a51f062c +size 696160 diff --git a/train/train135/4/semantic_0.png b/train/train135/4/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..73a03cea2becbd20cc1047272cb572d74aec1969 Binary files /dev/null and b/train/train135/4/semantic_0.png differ diff --git a/train/train135/4/semantic_1.png b/train/train135/4/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..15f67d315f89517ce7bbe9bfead5da63bd5d20fe Binary files /dev/null and b/train/train135/4/semantic_1.png differ diff --git a/train/train135/color_to_object_id.json b/train/train135/color_to_object_id.json new file mode 100644 index 0000000000000000000000000000000000000000..d877f7a4de88aa55e83a94728055945c1058c58d --- /dev/null +++ b/train/train135/color_to_object_id.json @@ -0,0 +1,1598 @@ +[ + { + "window|7|1": [ + 163, + 9, + 23 + ] + }, + { + "Window": [ + 200, + 150, + 134 + ] + }, + { + "window|7|0": [ + 75, + 237, + 134 + ] + }, + { + "door|1|6": [ + 130, + 205, + 0 + ] + }, + { + "Doorway": [ + 163, + 222, + 124 + ] + }, + { + "door|2|6": [ + 40, + 8, + 10 + ] + }, + { + "Painting|6|5": [ + 177, + 100, + 11 + ] + }, + { + "Painting": [ + 40, + 117, + 236 + ] + }, + { + "Painting|6|4": [ + 14, + 140, + 224 + ] + }, + { + "Painting|7|6": [ + 172, + 235, + 250 + ] + }, + { + "Painting|7|5": [ + 204, + 249, + 219 + ] + }, + { + "Painting|2|7": [ + 86, + 38, + 34 + ] + }, + { + "Television|2|6": [ + 200, + 36, + 114 + ] + }, + { + "Television": [ + 27, + 245, + 217 + ] + }, + { + "BasketBall|2|5": [ + 232, + 65, + 188 + ] + }, + { + "BasketBall": [ + 97, + 58, + 36 + ] + }, + { + "FloorLamp|2|4|1": [ + 194, + 42, + 194 + ] + }, + { + "FloorLamp": [ + 253, + 73, + 35 + ] + }, + { + "ArmChair|2|4|0": [ + 170, + 58, + 254 + ] + }, + { + "ArmChair": [ + 96, + 52, + 68 + ] + }, + { + "FloorLamp|2|3|1": [ + 0, + 208, + 168 + ] + }, + { + "ArmChair|2|3|0": [ + 82, + 38, + 255 + ] + }, + { + "Chair|2|2|4": [ + 88, + 150, + 219 + ] + }, + { + "Chair": [ + 166, + 13, + 176 + ] + }, + { + "Chair|2|2|3": [ + 52, + 175, + 48 + ] + }, + { + "Chair|2|2|2": [ + 45, + 240, + 234 + ] + }, + { + "Chair|2|2|1": [ + 83, + 64, + 160 + ] + }, + { + "CD|surface|2|42": [ + 180, + 25, + 189 + ] + }, + { + "CD": [ + 65, + 112, + 172 + ] + }, + { + "Statue|surface|2|41": [ + 29, + 5, + 245 + ] + }, + { + "Statue": [ + 243, + 75, + 41 + ] + }, + { + "Bowl|surface|2|40": [ + 228, + 182, + 130 + ] + }, + { + "Bowl": [ + 209, + 182, + 193 + ] + }, + { + "CreditCard|surface|2|37": [ + 39, + 23, + 210 + ] + }, + { + "CreditCard": [ + 56, + 235, + 12 + ] + }, + { + "HousePlant|surface|2|31": [ + 200, + 147, + 2 + ] + }, + { + "HousePlant": [ + 73, + 144, + 213 + ] + }, + { + "DiningTable|2|2|0": [ + 125, + 249, + 242 + ] + }, + { + "DiningTable": [ + 83, + 33, + 33 + ] + }, + { + "RemoteControl|surface|2|39": [ + 148, + 94, + 116 + ] + }, + { + "RemoteControl": [ + 187, + 19, + 208 + ] + }, + { + "Pen|surface|2|33": [ + 219, + 114, + 86 + ] + }, + { + "Pen": [ + 239, + 130, + 152 + ] + }, + { + "Book|surface|2|32": [ + 64, + 10, + 235 + ] + }, + { + "Book": [ + 43, + 31, + 148 + ] + }, + { + "Dresser|2|1___3": [ + 209, + 90, + 181 + ] + }, + { + "Drawer": [ + 155, + 30, + 210 + ] + }, + { + "Dresser|2|1___2": [ + 238, + 209, + 103 + ] + }, + { + "Dresser|2|1___1": [ + 177, + 14, + 233 + ] + }, + { + "Dresser|2|1___0": [ + 244, + 240, + 140 + ] + }, + { + "Dresser|2|1": [ + 195, + 152, + 116 + ] + }, + { + "Dresser": [ + 51, + 128, + 146 + ] + }, + { + "CellPhone|surface|2|38": [ + 215, + 184, + 57 + ] + }, + { + "CellPhone": [ + 227, + 98, + 136 + ] + }, + { + "Book|surface|2|36": [ + 69, + 101, + 216 + ] + }, + { + "Book|surface|2|35": [ + 210, + 161, + 42 + ] + }, + { + "Laptop|surface|2|34": [ + 193, + 141, + 232 + ] + }, + { + "Laptop": [ + 20, + 107, + 222 + ] + }, + { + "Pillow|2|0|1": [ + 148, + 57, + 211 + ] + }, + { + "Pillow": [ + 217, + 193, + 130 + ] + }, + { + "Pillow|2|0|2": [ + 68, + 9, + 244 + ] + }, + { + "Bed|2|0|0": [ + 67, + 140, + 149 + ] + }, + { + "Bed": [ + 209, + 156, + 101 + ] + }, + { + "DogBed|7|4": [ + 125, + 101, + 188 + ] + }, + { + "DogBed": [ + 106, + 193, + 45 + ] + }, + { + "FloorLamp|7|3|1": [ + 45, + 74, + 139 + ] + }, + { + "ArmChair|7|3|0": [ + 78, + 173, + 84 + ] + }, + { + "Pencil|surface|7|25": [ + 0, + 206, + 19 + ] + }, + { + "Pencil": [ + 177, + 226, + 23 + ] + }, + { + "Pillow|surface|7|23": [ + 121, + 194, + 59 + ] + }, + { + "Sofa|7|2": [ + 197, + 112, + 51 + ] + }, + { + "Sofa": [ + 82, + 143, + 39 + ] + }, + { + "Chair|7|1|5": [ + 114, + 6, + 44 + ] + }, + { + "Chair|7|1|4": [ + 152, + 145, + 70 + ] + }, + { + "Chair|7|1|3": [ + 188, + 143, + 158 + ] + }, + { + "Chair|7|1|2": [ + 243, + 230, + 24 + ] + }, + { + "Chair|7|1|1": [ + 128, + 1, + 8 + ] + }, + { + "HousePlant|surface|7|30": [ + 95, + 64, + 131 + ] + }, + { + "Plate|surface|7|29": [ + 37, + 53, + 185 + ] + }, + { + "Plate": [ + 188, + 154, + 128 + ] + }, + { + "Vase|surface|7|28": [ + 42, + 237, + 158 + ] + }, + { + "Vase": [ + 83, + 152, + 69 + ] + }, + { + "Pen|surface|7|24": [ + 158, + 214, + 175 + ] + }, + { + "DiningTable|7|1|0": [ + 81, + 53, + 40 + ] + }, + { + "RemoteControl|surface|7|27": [ + 228, + 129, + 63 + ] + }, + { + "CreditCard|surface|7|26": [ + 19, + 176, + 124 + ] + }, + { + "CellPhone|surface|7|22": [ + 148, + 237, + 85 + ] + }, + { + "Television|7|0|1": [ + 255, + 220, + 146 + ] + }, + { + "TVStand|7|0|0___5": [ + 6, + 73, + 205 + ] + }, + { + "Shelf": [ + 39, + 54, + 158 + ] + }, + { + "TVStand|7|0|0___4": [ + 151, + 111, + 70 + ] + }, + { + "TVStand|7|0|0___3": [ + 186, + 123, + 221 + ] + }, + { + "TVStand|7|0|0___2": [ + 102, + 57, + 6 + ] + }, + { + "TVStand|7|0|0___1": [ + 207, + 124, + 139 + ] + }, + { + "TVStand|7|0|0___0": [ + 124, + 125, + 90 + ] + }, + { + "TVStand|7|0|0": [ + 124, + 202, + 151 + ] + }, + { + "TVStand": [ + 94, + 234, + 136 + ] + }, + { + "Tomato|surface|6|19": [ + 15, + 119, + 152 + ] + }, + { + "Tomato": [ + 119, + 189, + 121 + ] + }, + { + "Lettuce|surface|6|17": [ + 124, + 115, + 132 + ] + }, + { + "Lettuce": [ + 203, + 156, + 88 + ] + }, + { + "Apple|surface|6|8": [ + 35, + 201, + 27 + ] + }, + { + "Apple": [ + 159, + 98, + 144 + ] + }, + { + "Fridge|6|3": [ + 246, + 201, + 26 + ] + }, + { + "Fridge": [ + 91, + 156, + 207 + ] + }, + { + "Cup|surface|6|21": [ + 61, + 175, + 17 + ] + }, + { + "Cup": [ + 35, + 71, + 130 + ] + }, + { + "CreditCard|surface|6|20": [ + 253, + 32, + 0 + ] + }, + { + "SoapBottle|surface|6|16": [ + 105, + 157, + 12 + ] + }, + { + "SoapBottle": [ + 168, + 222, + 137 + ] + }, + { + "PepperShaker|surface|6|14": [ + 197, + 29, + 103 + ] + }, + { + "PepperShaker": [ + 5, + 204, + 214 + ] + }, + { + "Fork|surface|6|12": [ + 57, + 176, + 246 + ] + }, + { + "Fork": [ + 54, + 200, + 25 + ] + }, + { + "Book|surface|6|11": [ + 82, + 189, + 14 + ] + }, + { + "Knife|surface|6|10": [ + 58, + 152, + 54 + ] + }, + { + "Knife": [ + 211, + 157, + 122 + ] + }, + { + "Spatula|surface|6|6": [ + 109, + 249, + 196 + ] + }, + { + "Spatula": [ + 30, + 98, + 242 + ] + }, + { + "Statue|surface|6|5": [ + 34, + 202, + 89 + ] + }, + { + "Pot|surface|6|4": [ + 128, + 41, + 11 + ] + }, + { + "Pot": [ + 132, + 237, + 87 + ] + }, + { + "Spoon|surface|6|0": [ + 242, + 127, + 4 + ] + }, + { + "Spoon": [ + 235, + 57, + 90 + ] + }, + { + "CounterTop|6|2": [ + 135, + 191, + 155 + ] + }, + { + "CounterTop": [ + 103, + 209, + 30 + ] + }, + { + "GarbageBag|6|1": [ + 230, + 163, + 217 + ] + }, + { + "GarbageBag": [ + 250, + 186, + 207 + ] + }, + { + "Chair|6|0|5": [ + 171, + 178, + 148 + ] + }, + { + "Chair|6|0|4": [ + 153, + 253, + 184 + ] + }, + { + "Chair|6|0|3": [ + 168, + 3, + 61 + ] + }, + { + "Chair|6|0|2": [ + 43, + 136, + 242 + ] + }, + { + "Chair|6|0|1": [ + 99, + 240, + 80 + ] + }, + { + "Pan|surface|6|18": [ + 72, + 152, + 129 + ] + }, + { + "Pan": [ + 246, + 212, + 161 + ] + }, + { + "Book|surface|6|15": [ + 50, + 36, + 115 + ] + }, + { + "Bowl|surface|6|13": [ + 116, + 204, + 167 + ] + }, + { + "SprayBottle|surface|6|9": [ + 4, + 244, + 136 + ] + }, + { + "SprayBottle": [ + 89, + 126, + 121 + ] + }, + { + "Fork|surface|6|7": [ + 199, + 174, + 245 + ] + }, + { + "CellPhone|surface|6|3": [ + 118, + 63, + 217 + ] + }, + { + "WineBottle|surface|6|2": [ + 173, + 211, + 232 + ] + }, + { + "WineBottle": [ + 53, + 130, + 252 + ] + }, + { + "SaltShaker|surface|6|1": [ + 17, + 255, + 5 + ] + }, + { + "SaltShaker": [ + 36, + 222, + 26 + ] + }, + { + "DiningTable|6|0|0": [ + 235, + 217, + 31 + ] + }, + { + "Ceiling_room|7|0|2.9696|0": [ + 110, + 89, + 82 + ] + }, + { + "Ceiling": [ + 50, + 55, + 251 + ] + }, + { + "Ceiling_room|6|0|2.9696|0": [ + 214, + 133, + 59 + ] + }, + { + "Ceiling_room|2|0|2.9696|0": [ + 13, + 210, + 186 + ] + }, + { + "wall|exterior|4.18|10.44|10.44|10.44": [ + 233, + 20, + 163 + ] + }, + { + "Wall": [ + 148, + 232, + 164 + ] + }, + { + "wall|exterior|12.53|4.18|12.53|12.53": [ + 55, + 253, + 154 + ] + }, + { + "wall|exterior|10.44|10.44|10.44|12.53": [ + 115, + 124, + 26 + ] + }, + { + "wall|exterior|10.44|12.53|12.53|12.53": [ + 177, + 197, + 26 + ] + }, + { + "wall|exterior|4.18|0.00|12.53|0.00": [ + 2, + 162, + 57 + ] + }, + { + "wall|exterior|12.53|0.00|12.53|4.18": [ + 160, + 120, + 71 + ] + }, + { + "wall|exterior|0.00|0.00|4.18|0.00": [ + 38, + 3, + 57 + ] + }, + { + "wall|exterior|0.00|10.44|4.18|10.44": [ + 66, + 197, + 70 + ] + }, + { + "wall|exterior|0.00|0.00|0.00|10.44": [ + 139, + 76, + 210 + ] + }, + { + "wall|7|4.18|0.00|12.53|0.00": [ + 46, + 63, + 236 + ] + }, + { + "wall|7|12.53|0.00|12.53|4.18": [ + 24, + 69, + 111 + ] + }, + { + "wall|7|4.18|0.00|4.18|4.18": [ + 3, + 113, + 155 + ] + }, + { + "wall|6|12.53|4.18|12.53|12.53": [ + 57, + 7, + 156 + ] + }, + { + "wall|6|10.44|12.53|12.53|12.53": [ + 107, + 56, + 200 + ] + }, + { + "wall|6|10.44|10.44|10.44|12.53": [ + 113, + 20, + 179 + ] + }, + { + "wall|6|4.18|10.44|10.44|10.44": [ + 202, + 248, + 62 + ] + }, + { + "wall|6|4.18|4.18|4.18|10.44": [ + 216, + 45, + 17 + ] + }, + { + "wall|2|0.00|0.00|4.18|0.00": [ + 99, + 65, + 231 + ] + }, + { + "wall|2|4.18|0.00|4.18|4.18": [ + 166, + 224, + 89 + ] + }, + { + "wall|2|4.18|4.18|4.18|10.44": [ + 158, + 72, + 81 + ] + }, + { + "wall|2|0.00|10.44|4.18|10.44": [ + 125, + 56, + 154 + ] + }, + { + "wall|2|0.00|0.00|0.00|10.44": [ + 239, + 99, + 59 + ] + }, + { + "room|7": [ + 183, + 155, + 144 + ] + }, + { + "Floor": [ + 243, + 246, + 208 + ] + }, + { + "room|6": [ + 217, + 194, + 196 + ] + }, + { + "room|2": [ + 188, + 125, + 135 + ] + }, + { + "TheHand": [ + 255, + 136, + 237 + ] + }, + { + "agent_neck_1": [ + 30, + 64, + 67 + ] + }, + { + "agent_body_1 (shadows)": [ + 134, + 158, + 226 + ] + }, + { + "agent_collarbone_1 (shadows)": [ + 217, + 96, + 80 + ] + }, + { + "agent_head_1 (shadows)": [ + 140, + 210, + 177 + ] + }, + { + "stretch_robot_base_code": [ + 101, + 30, + 126 + ] + }, + { + "agent_head_1": [ + 1, + 149, + 209 + ] + }, + { + "stretch_robot_laser": [ + 140, + 24, + 249 + ] + }, + { + "stretch_robot_mast": [ + 136, + 63, + 93 + ] + }, + { + "stretch_robot_head_1": [ + 0, + 57, + 255 + ] + }, + { + "agent_neck_3": [ + 209, + 228, + 37 + ] + }, + { + "robot_tilt_link_n (shadows)": [ + 202, + 16, + 52 + ] + }, + { + "agent_head_2 (shadows)": [ + 156, + 59, + 238 + ] + }, + { + "stretch_robot_head_3 (shadows)": [ + 83, + 209, + 138 + ] + }, + { + "agent_collarbone_2": [ + 152, + 152, + 185 + ] + }, + { + "agent_neck_2 (shadows)": [ + 244, + 240, + 196 + ] + }, + { + "agent_head_2": [ + 14, + 66, + 230 + ] + }, + { + "stretch_robot_head_2": [ + 73, + 58, + 96 + ] + }, + { + "agent_neck_3 (shadows)": [ + 239, + 35, + 232 + ] + }, + { + "stretch_robot_omniwheel": [ + 227, + 166, + 104 + ] + }, + { + "robot_elbow_link": [ + 231, + 128, + 58 + ] + }, + { + "robot_camera_link_n": [ + 140, + 65, + 197 + ] + }, + { + "robot_finger_r": [ + 122, + 202, + 170 + ] + }, + { + "robot_finger_l": [ + 178, + 169, + 157 + ] + }, + { + "robot_ar_tag": [ + 46, + 234, + 150 + ] + }, + { + "robot_cam_mount_n": [ + 54, + 221, + 114 + ] + }, + { + "robot_battery_n": [ + 165, + 68, + 55 + ] + }, + { + "robot_plate": [ + 211, + 118, + 132 + ] + }, + { + "robot_main_wheel_r_n": [ + 36, + 84, + 49 + ] + }, + { + "robot_shoulder_link": [ + 92, + 95, + 127 + ] + }, + { + "robot_roll_link_n": [ + 135, + 154, + 116 + ] + }, + { + "robot_gripper_link": [ + 241, + 136, + 173 + ] + }, + { + "robot_forearm_link": [ + 149, + 185, + 52 + ] + }, + { + "robot_main_wheel_l_n": [ + 139, + 151, + 200 + ] + }, + { + "robot_main_body": [ + 27, + 62, + 251 + ] + }, + { + "robot_wrist_link": [ + 3, + 195, + 0 + ] + }, + { + "robot_tilt_link_n": [ + 251, + 182, + 71 + ] + }, + { + "agent_collarbone_2 (shadows)": [ + 27, + 29, + 156 + ] + }, + { + "stretch_robot_head_2 (shadows)": [ + 167, + 106, + 44 + ] + }, + { + "stretch_robot_wheel_r": [ + 43, + 10, + 241 + ] + }, + { + "agent_collarbone_3": [ + 33, + 153, + 80 + ] + }, + { + "stretch_robot_wheel_l": [ + 209, + 121, + 111 + ] + }, + { + "agent_collarbone_3 (shadows)": [ + 12, + 185, + 24 + ] + }, + { + "agent_neck_1 (shadows)": [ + 5, + 106, + 127 + ] + }, + { + "agent_body_1": [ + 19, + 85, + 240 + ] + }, + { + "stretch_robot_base": [ + 18, + 223, + 56 + ] + }, + { + "robot_roll_link_n (shadows)": [ + 104, + 6, + 177 + ] + }, + { + "agent_neck_2": [ + 134, + 34, + 121 + ] + }, + { + "agent_collarbone_1": [ + 180, + 251, + 165 + ] + }, + { + "stretch_robot_head_3": [ + 175, + 244, + 187 + ] + }, + { + "robot_camera_link_n (shadows)": [ + 49, + 9, + 106 + ] + } +] \ No newline at end of file diff --git a/train/train1493/0/0.json b/train/train1493/0/0.json new file mode 100644 index 0000000000000000000000000000000000000000..9e242c4b376a1cdcd362e1d84acdce2b7c1e5892 --- /dev/null +++ b/train/train1493/0/0.json @@ -0,0 +1,1774 @@ +{ + "object": [ + { + "objectId": "Laptop|surface|2|7", + "object_info": { + "name": "Laptop|surface|2|7", + "position": { + "x": 3.9795827865600586, + "y": 0.6327298879623413, + "z": 3.9410414695739746 + }, + "rotation": { + "x": 2.9829290724592283e-05, + "y": 89.99992370605469, + "z": -9.140297333942726e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 2.299999952316284, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 2.413120985031128, + "objectType": "Laptop", + "objectId": "Laptop|surface|2|7", + "assetId": "Laptop_2", + "parentReceptacles": [ + "DiningTable|2|3|0", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.123044490814209, + 0.6625616550445557, + 4.117736339569092 + ], + [ + 4.123044490814209, + 0.6625616550445557, + 3.7643465995788574 + ], + [ + 4.123044490814209, + 0.6327295303344727, + 4.117736339569092 + ], + [ + 4.123044490814209, + 0.6327295303344727, + 3.7643465995788574 + ], + [ + 3.844463348388672, + 0.6625616550445557, + 4.117736339569092 + ], + [ + 3.844463348388672, + 0.6625616550445557, + 3.7643465995788574 + ], + [ + 3.844463348388672, + 0.6327295303344727, + 4.117736339569092 + ], + [ + 3.844463348388672, + 0.6327295303344727, + 3.7643465995788574 + ] + ], + "center": { + "x": 3.9837539196014404, + "y": 0.6476455926895142, + "z": 3.9410414695739746 + }, + "size": { + "x": 0.2785811424255371, + "y": 0.029832124710083008, + "z": 0.3533897399902344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.123044490814209, + 0.6327295303344727, + 3.7643468379974365 + ], + [ + 4.123044013977051, + 0.6327300667762756, + 4.117736339569092 + ], + [ + 3.844463348388672, + 0.63273024559021, + 4.117736339569092 + ], + [ + 3.84446382522583, + 0.6327296495437622, + 3.7643465995788574 + ], + [ + 4.123044490814209, + 0.6625610589981079, + 3.7643468379974365 + ], + [ + 4.123044013977051, + 0.6625615954399109, + 4.117736339569092 + ], + [ + 3.844463348388672, + 0.6625617146492004, + 4.117735862731934 + ], + [ + 3.84446382522583, + 0.6625611782073975, + 3.7643463611602783 + ] + ] + } + } + }, + { + "objectId": "DiningTable|2|3|0", + "object_info": { + "name": "DiningTable|2|3|0", + "position": { + "x": 3.6285083293914795, + "y": -0.00032138824462890625, + "z": 3.9410417079925537 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Laptop|surface|2|7", + "Box|surface|2|9", + "TennisRacket|surface|2|13", + "Pen|surface|2|6", + "CellPhone|surface|2|5" + ], + "distance": 2.4131858348846436, + "objectType": "DiningTable", + "objectId": "DiningTable|2|3|0", + "assetId": "Dining_Table_227_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.034149646759033, + 0.6327300071716309, + 4.441042423248291 + ], + [ + 5.034149646759033, + 0.6327300071716309, + 3.4410409927368164 + ], + [ + 5.034149646759033, + 1.9073486328125e-06, + 4.441042423248291 + ], + [ + 5.034149646759033, + 1.9073486328125e-06, + 3.4410409927368164 + ], + [ + 2.222867012023926, + 0.6327300071716309, + 4.441042423248291 + ], + [ + 2.222867012023926, + 0.6327300071716309, + 3.4410409927368164 + ], + [ + 2.222867012023926, + 1.9073486328125e-06, + 4.441042423248291 + ], + [ + 2.222867012023926, + 1.9073486328125e-06, + 3.4410409927368164 + ] + ], + "center": { + "x": 3.6285083293914795, + "y": 0.31636595726013184, + "z": 3.9410417079925537 + }, + "size": { + "x": 2.8112826347351074, + "y": 0.632728099822998, + "z": 1.0000014305114746 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.222867488861084, + 2.0265579223632812e-06, + 3.4410412311553955 + ], + [ + 5.034149169921875, + 2.0265579223632812e-06, + 3.4410409927368164 + ], + [ + 5.034149169921875, + 2.0265579223632812e-06, + 4.441041946411133 + ], + [ + 2.222867488861084, + 2.0265579223632812e-06, + 4.441042423248291 + ], + [ + 2.222867488861084, + 0.6327301263809204, + 3.4410412311553955 + ], + [ + 5.034149169921875, + 0.6327301263809204, + 3.4410409927368164 + ], + [ + 5.034149169921875, + 0.6327301263809204, + 4.441041946411133 + ], + [ + 2.222867488861084, + 0.6327301263809204, + 4.441042423248291 + ] + ] + } + } + }, + { + "objectId": "Pillow|surface|2|8", + "object_info": { + "name": "Pillow|surface|2|8", + "position": { + "x": 5.780210971832275, + "y": 0.6417027711868286, + "z": 3.1587977409362793 + }, + "rotation": { + "x": 1.1183072956555407e-06, + "y": -1.1981211400780012e-06, + "z": 1.7818133528635371e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 4.161952018737793, + "objectType": "Pillow", + "objectId": "Pillow|surface|2|8", + "assetId": "pillow_4", + "parentReceptacles": [ + "Bed|2|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.991866111755371, + 0.6941037178039551, + 3.340888023376465 + ], + [ + 5.991866111755371, + 0.6941037178039551, + 2.9767074584960938 + ], + [ + 5.991866111755371, + 0.5893018245697021, + 3.340888023376465 + ], + [ + 5.991866111755371, + 0.5893018245697021, + 2.9767074584960938 + ], + [ + 5.563637733459473, + 0.6941037178039551, + 3.340888023376465 + ], + [ + 5.563637733459473, + 0.6941037178039551, + 2.9767074584960938 + ], + [ + 5.563637733459473, + 0.5893018245697021, + 3.340888023376465 + ], + [ + 5.563637733459473, + 0.5893018245697021, + 2.9767074584960938 + ] + ], + "center": { + "x": 5.777751922607422, + "y": 0.6417027711868286, + "z": 3.1587977409362793 + }, + "size": { + "x": 0.42822837829589844, + "y": 0.10480189323425293, + "z": 0.3641805648803711 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.9918670654296875, + 0.5893018245697021, + 3.3408877849578857 + ], + [ + 5.5636372566223145, + 0.5893018245697021, + 3.3408877849578857 + ], + [ + 5.5636372566223145, + 0.5893018245697021, + 2.976707696914673 + ], + [ + 5.9918670654296875, + 0.5893018245697021, + 2.976707696914673 + ], + [ + 5.9918670654296875, + 0.6941037178039551, + 3.3408877849578857 + ], + [ + 5.5636372566223145, + 0.6941037178039551, + 3.3408877849578857 + ], + [ + 5.5636372566223145, + 0.6941037178039551, + 2.976707696914673 + ], + [ + 5.9918670654296875, + 0.6941037178039551, + 2.976707696914673 + ] + ] + } + } + }, + { + "objectId": "TVStand|2|4|0", + "object_info": { + "name": "TVStand|2|4|0", + "position": { + "x": 6.12821102142334, + "y": -0.0005604922771453857, + "z": 6.425413608551025 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood", + "Metal" + ], + "receptacleObjectIds": [ + "Television|2|4|1", + "Watch|surface|2|3" + ], + "distance": 3.522228956222534, + "objectType": "TVStand", + "objectId": "TVStand|2|4|0", + "assetId": "TV_Stand_206_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.731991767883301, + 0.7525230050086975, + 6.7320098876953125 + ], + [ + 6.731991767883301, + 0.7525230050086975, + 6.1284990310668945 + ], + [ + 6.731991767883301, + 6.616115570068359e-06, + 6.7320098876953125 + ], + [ + 6.731991767883301, + 6.616115570068359e-06, + 6.1284990310668945 + ], + [ + 5.5271406173706055, + 0.7525230050086975, + 6.7320098876953125 + ], + [ + 5.5271406173706055, + 0.7525230050086975, + 6.1284990310668945 + ], + [ + 5.5271406173706055, + 6.616115570068359e-06, + 6.7320098876953125 + ], + [ + 5.5271406173706055, + 6.616115570068359e-06, + 6.1284990310668945 + ] + ], + "center": { + "x": 6.129566192626953, + "y": 0.3762648105621338, + "z": 6.4302544593811035 + }, + "size": { + "x": 1.2048511505126953, + "y": 0.7525163888931274, + "z": 0.603510856628418 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.5271406173706055, + 6.765127182006836e-06, + 6.128499507904053 + ], + [ + 6.731991767883301, + 6.765127182006836e-06, + 6.128499507904053 + ], + [ + 6.731991767883301, + 6.765127182006836e-06, + 6.7320098876953125 + ], + [ + 5.5271406173706055, + 6.765127182006836e-06, + 6.7320098876953125 + ], + [ + 5.5271406173706055, + 0.7525230646133423, + 6.128499507904053 + ], + [ + 6.731991767883301, + 0.7525230646133423, + 6.128499507904053 + ], + [ + 6.731991767883301, + 0.7525230646133423, + 6.7320098876953125 + ], + [ + 5.5271406173706055, + 0.7525230646133423, + 6.7320098876953125 + ] + ] + } + } + }, + { + "objectId": "Bed|2|0", + "object_info": { + "name": "Bed|2|0", + "position": { + "x": 6.084811687469482, + "y": 0.0007693767547607422, + "z": 2.857921600341797 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": true, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "Pillow|surface|2|8", + "RemoteControl|surface|2|10", + "BasketBall|surface|2|12" + ], + "distance": 4.669479846954346, + "objectType": "Bed", + "objectId": "Bed|2|0", + "assetId": "Bed_26_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.732000350952148, + 0.7116310596466064, + 4.083568572998047 + ], + [ + 6.732000350952148, + 0.7116310596466064, + 1.7139997482299805 + ], + [ + 6.732000350952148, + 0.0, + 4.083568572998047 + ], + [ + 6.732000350952148, + 0.0, + 1.7139997482299805 + ], + [ + 5.4356231689453125, + 0.7116310596466064, + 4.083568572998047 + ], + [ + 5.4356231689453125, + 0.7116310596466064, + 1.7139997482299805 + ], + [ + 5.4356231689453125, + 0.0, + 4.083568572998047 + ], + [ + 5.4356231689453125, + 0.0, + 1.7139997482299805 + ] + ], + "center": { + "x": 6.0838117599487305, + "y": 0.3558155298233032, + "z": 2.8987841606140137 + }, + "size": { + "x": 1.296377182006836, + "y": 0.7116310596466064, + "z": 2.3695688247680664 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.732000350952148, + 0.0, + 4.083568572998047 + ], + [ + 5.4356231689453125, + 0.0, + 4.083568572998047 + ], + [ + 5.4356231689453125, + 0.0, + 1.7140001058578491 + ], + [ + 6.732000350952148, + 0.0, + 1.7140001058578491 + ], + [ + 6.732000350952148, + 0.7116310596466064, + 4.083568572998047 + ], + [ + 5.4356231689453125, + 0.7116310596466064, + 4.083568572998047 + ], + [ + 5.4356231689453125, + 0.7116310596466064, + 1.7140001058578491 + ], + [ + 6.732000350952148, + 0.7116310596466064, + 1.7140001058578491 + ] + ] + } + } + }, + { + "objectId": "BaseballBat|surface|2|11", + "object_info": { + "name": "BaseballBat|surface|2|11", + "position": { + "x": 2.4015605449676514, + "y": 0.04473770409822464, + "z": 4.699457168579102 + }, + "rotation": { + "x": 90.0, + "y": 306.43365478515625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.8999999761581421, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 1.5956209897994995, + "objectType": "BaseballBat", + "objectId": "BaseballBat|surface|2|11", + "assetId": "BaseballBat_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.6451220512390137, + 0.08947601914405823, + 5.138495445251465 + ], + [ + 2.6451220512390137, + 0.08947601914405823, + 4.504087448120117 + ], + [ + 2.6451220512390137, + -4.3213367462158203e-07, + 5.138495445251465 + ], + [ + 2.6451220512390137, + -4.3213367462158203e-07, + 4.504087448120117 + ], + [ + 1.8257765769958496, + 0.08947601914405823, + 5.138495445251465 + ], + [ + 1.8257765769958496, + 0.08947601914405823, + 4.504087448120117 + ], + [ + 1.8257765769958496, + -4.3213367462158203e-07, + 5.138495445251465 + ], + [ + 1.8257765769958496, + -4.3213367462158203e-07, + 4.504087448120117 + ] + ], + "center": { + "x": 2.2354493141174316, + "y": 0.0447377935051918, + "z": 4.821291446685791 + }, + "size": { + "x": 0.8193454742431641, + "y": 0.08947645127773285, + "z": 0.6344079971313477 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.645125150680542, + -4.6938657760620117e-07, + 4.569081783294678 + ], + [ + 2.597147226333618, + 7.450580596923828e-09, + 4.504086971282959 + ], + [ + 2.5971477031707764, + 0.08947569876909256, + 4.504087448120117 + ], + [ + 2.6451256275177, + 0.08947522193193436, + 4.569082260131836 + ], + [ + 1.873750925064087, + -1.1175870895385742e-07, + 5.138495445251465 + ], + [ + 1.825773000717163, + 3.650784492492676e-07, + 5.073500633239746 + ], + [ + 1.8257732391357422, + 0.08947599679231644, + 5.073500633239746 + ], + [ + 1.873751163482666, + 0.08947551995515823, + 5.138495922088623 + ] + ] + } + } + }, + { + "objectId": "Pen|surface|2|6", + "object_info": { + "name": "Pen|surface|2|6", + "position": { + "x": 4.681731224060059, + "y": 0.6383739113807678, + "z": 3.6952261924743652 + }, + "rotation": { + "x": -0.0004989961162209511, + "y": 90.00001525878906, + "z": 1.0252682614009245e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Plastic", + "Metal" + ], + "receptacleObjectIds": null, + "distance": 3.0186984539031982, + "objectType": "Pen", + "objectId": "Pen|surface|2|6", + "assetId": "Pen_3", + "parentReceptacles": [ + "DiningTable|2|3|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.788130283355713, + 0.6440196633338928, + 3.700871229171753 + ], + [ + 4.788130283355713, + 0.6440196633338928, + 3.6895811557769775 + ], + [ + 4.788130283355713, + 0.6327282786369324, + 3.700871229171753 + ], + [ + 4.788130283355713, + 0.6327282786369324, + 3.6895811557769775 + ], + [ + 4.588292598724365, + 0.6440196633338928, + 3.700871229171753 + ], + [ + 4.588292598724365, + 0.6440196633338928, + 3.6895811557769775 + ], + [ + 4.588292598724365, + 0.6327282786369324, + 3.700871229171753 + ], + [ + 4.588292598724365, + 0.6327282786369324, + 3.6895811557769775 + ] + ], + "center": { + "x": 4.688211441040039, + "y": 0.6383739709854126, + "z": 3.6952261924743652 + }, + "size": { + "x": 0.19983768463134766, + "y": 0.01129138469696045, + "z": 0.01129007339477539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.788130283355713, + 0.6327300071716309, + 3.6895809173583984 + ], + [ + 4.788130283355713, + 0.6327300071716309, + 3.700871229171753 + ], + [ + 4.588292121887207, + 0.6327282190322876, + 3.700871229171753 + ], + [ + 4.588292121887207, + 0.6327282190322876, + 3.6895811557769775 + ], + [ + 4.788130283355713, + 0.6440196633338928, + 3.6895809173583984 + ], + [ + 4.788130283355713, + 0.6440196633338928, + 3.700871229171753 + ], + [ + 4.588292121887207, + 0.6440179347991943, + 3.700871229171753 + ], + [ + 4.588292121887207, + 0.6440179347991943, + 3.6895811557769775 + ] + ] + } + } + }, + { + "objectId": "Chair|2|3|2", + "object_info": { + "name": "Chair|2|3|2", + "position": { + "x": 3.6207263469696045, + "y": 0.006381243467330933, + "z": 4.512487411499023 + }, + "rotation": { + "x": 0.0, + "y": 196.23699951171875, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 1.9419578313827515, + "objectType": "Chair", + "objectId": "Chair|2|3|2", + "assetId": "Chair_303_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.9063186645507812, + 0.8342158198356628, + 4.866818428039551 + ], + [ + 3.9063186645507812, + 0.8342158198356628, + 4.199010848999023 + ], + [ + 3.9063186645507812, + -8.821487426757812e-06, + 4.866818428039551 + ], + [ + 3.9063186645507812, + -8.821487426757812e-06, + 4.199010848999023 + ], + [ + 3.331930637359619, + 0.8342158198356628, + 4.866818428039551 + ], + [ + 3.331930637359619, + 0.8342158198356628, + 4.199010848999023 + ], + [ + 3.331930637359619, + -8.821487426757812e-06, + 4.866818428039551 + ], + [ + 3.331930637359619, + -8.821487426757812e-06, + 4.199010848999023 + ] + ], + "center": { + "x": 3.6191246509552, + "y": 0.41710349917411804, + "z": 4.532914638519287 + }, + "size": { + "x": 0.5743880271911621, + "y": 0.8342246413230896, + "z": 0.6678075790405273 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.3253579139709473, + -8.851289749145508e-06, + 4.327392101287842 + ], + [ + 3.769542932510376, + -8.851289749145508e-06, + 4.198033332824707 + ], + [ + 3.9316635131835938, + -8.851289749145508e-06, + 4.754714012145996 + ], + [ + 3.487478494644165, + -8.851289749145508e-06, + 4.884072780609131 + ], + [ + 3.3253579139709473, + 0.8342158794403076, + 4.327392101287842 + ], + [ + 3.769542932510376, + 0.8342158794403076, + 4.198033332824707 + ], + [ + 3.9316635131835938, + 0.8342158794403076, + 4.754714012145996 + ], + [ + 3.487478494644165, + 0.8342158794403076, + 4.884072780609131 + ] + ] + } + } + }, + { + "objectId": "Chair|2|3|1", + "object_info": { + "name": "Chair|2|3|1", + "position": { + "x": 3.6328468322753906, + "y": 0.006381243467330933, + "z": 3.3703174591064453 + }, + "rotation": { + "x": -0.0, + "y": 9.422372817993164, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "CellPhone|surface|2|0" + ], + "distance": 2.914616823196411, + "objectType": "Chair", + "objectId": "Chair|2|3|1", + "assetId": "Chair_303_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.897411823272705, + 0.8342157602310181, + 3.6640021800994873 + ], + [ + 3.897411823272705, + 0.8342157602310181, + 3.027270555496216 + ], + [ + 3.897411823272705, + -8.702278137207031e-06, + 3.6640021800994873 + ], + [ + 3.897411823272705, + -8.702278137207031e-06, + 3.027270555496216 + ], + [ + 3.369459629058838, + 0.8342157602310181, + 3.6640021800994873 + ], + [ + 3.369459629058838, + 0.8342157602310181, + 3.027270555496216 + ], + [ + 3.369459629058838, + -8.702278137207031e-06, + 3.6640021800994873 + ], + [ + 3.369459629058838, + -8.702278137207031e-06, + 3.027270555496216 + ] + ], + "center": { + "x": 3.6334357261657715, + "y": 0.41710352897644043, + "z": 3.3456363677978516 + }, + "size": { + "x": 0.5279521942138672, + "y": 0.8342244625091553, + "z": 0.6367316246032715 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.904165506362915, + -8.851289749145508e-06, + 3.5891528129577637 + ], + [ + 3.4477694034576416, + -8.851289749145508e-06, + 3.6648917198181152 + ], + [ + 3.352848529815674, + -8.851289749145508e-06, + 3.092907190322876 + ], + [ + 3.8092446327209473, + -8.851289749145508e-06, + 3.0171680450439453 + ], + [ + 3.904165506362915, + 0.8342158794403076, + 3.5891528129577637 + ], + [ + 3.4477694034576416, + 0.8342158794403076, + 3.6648917198181152 + ], + [ + 3.352848529815674, + 0.8342158794403076, + 3.092907190322876 + ], + [ + 3.8092446327209473, + 0.8342158794403076, + 3.0171680450439453 + ] + ] + } + } + }, + { + "objectId": "Box|surface|2|9", + "object_info": { + "name": "Box|surface|2|9", + "position": { + "x": 4.330590724945068, + "y": 0.8344038128852844, + "z": 3.695225954055786 + }, + "rotation": { + "x": 0.00023052019241731614, + "y": 180.0, + "z": 359.9800109863281 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.30000001192092896, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": [], + "distance": 2.795475959777832, + "objectType": "Box", + "objectId": "Box|surface|2|9", + "assetId": "Box_26", + "parentReceptacles": [ + "DiningTable|2|3|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.512392044067383, + 0.9175490140914917, + 4.067845344543457 + ], + [ + 4.512392044067383, + 0.9175490140914917, + 3.606621742248535 + ], + [ + 4.512392044067383, + 0.6327282190322876, + 4.067845344543457 + ], + [ + 4.512392044067383, + 0.6327282190322876, + 3.606621742248535 + ], + [ + 4.148536682128906, + 0.9175490140914917, + 4.067845344543457 + ], + [ + 4.148536682128906, + 0.9175490140914917, + 3.606621742248535 + ], + [ + 4.148536682128906, + 0.6327282190322876, + 4.067845344543457 + ], + [ + 4.148536682128906, + 0.6327282190322876, + 3.606621742248535 + ] + ], + "center": { + "x": 4.3304643630981445, + "y": 0.7751386165618896, + "z": 3.837233543395996 + }, + "size": { + "x": 0.36385536193847656, + "y": 0.2848207950592041, + "z": 0.4612236022949219 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.148633003234863, + 0.6326298713684082, + 3.6066200733184814 + ], + [ + 4.512492656707764, + 0.632756769657135, + 3.6066200733184814 + ], + [ + 4.512493133544922, + 0.632758617401123, + 4.067849159240723 + ], + [ + 4.148633003234863, + 0.6326316595077515, + 4.067849159240723 + ], + [ + 4.148533821105957, + 0.9174219965934753, + 3.606618881225586 + ], + [ + 4.512393474578857, + 0.9175488948822021, + 3.606618881225586 + ], + [ + 4.512393474578857, + 0.9175507426261902, + 4.067848205566406 + ], + [ + 4.148533821105957, + 0.9174238443374634, + 4.067848205566406 + ] + ] + } + } + }, + { + "objectId": "Box|2|6", + "object_info": { + "name": "Box|2|6", + "position": { + "x": 4.2505645751953125, + "y": 0.15082219243049622, + "z": 6.450746536254883 + }, + "rotation": { + "x": 359.9891662597656, + "y": 179.99998474121094, + "z": 0.0039461394771933556 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.30000001192092896, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": [], + "distance": 1.737133502960205, + "objectType": "Box", + "objectId": "Box|2|6", + "assetId": "Box_23", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.509631156921387, + 0.26864856481552124, + 6.732048034667969 + ], + [ + 4.509631156921387, + 0.26864856481552124, + 6.316875457763672 + ], + [ + 4.509631156921387, + -2.7239322662353516e-05, + 6.732048034667969 + ], + [ + 4.509631156921387, + -2.7239322662353516e-05, + 6.316875457763672 + ], + [ + 3.998162269592285, + 0.26864856481552124, + 6.732048034667969 + ], + [ + 3.998162269592285, + 0.26864856481552124, + 6.316875457763672 + ], + [ + 3.998162269592285, + -2.7239322662353516e-05, + 6.732048034667969 + ], + [ + 3.998162269592285, + -2.7239322662353516e-05, + 6.316875457763672 + ] + ], + "center": { + "x": 4.253896713256836, + "y": 0.13431066274642944, + "z": 6.52446174621582 + }, + "size": { + "x": 0.5114688873291016, + "y": 0.2686758041381836, + "z": 0.4151725769042969 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.9981439113616943, + 6.669759750366211e-05, + 6.316826343536377 + ], + [ + 4.509615898132324, + 3.147125244140625e-05, + 6.316826343536377 + ], + [ + 4.509615421295166, + -4.70280647277832e-05, + 6.73199987411499 + ], + [ + 3.9981439113616943, + -1.1801719665527344e-05, + 6.731999397277832 + ], + [ + 3.9981625080108643, + 0.2687307596206665, + 6.316877365112305 + ], + [ + 4.509634017944336, + 0.26869553327560425, + 6.316877365112305 + ], + [ + 4.509634017944336, + 0.26861703395843506, + 6.73205041885376 + ], + [ + 3.998162269592285, + 0.2686522603034973, + 6.73205041885376 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 2.5, + "y": 0.9009997844696045, + "z": 6.199999809265137 + }, + "agent_rotation": { + "x": -0.0, + "y": 90.0, + "z": 0.0 + }, + "agent_cameraHorizon": 60.00001525878906, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 2.5, + "y": 1.5759997367858887, + "z": 6.199999809265137 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "BaseballBat|surface|2|11", + "DiningTable|2|3|0" + ], + "different_object": [ + "Bed|2|0", + "Box|2|6", + "Box|surface|2|9", + "Chair|2|3|2", + "TVStand|2|4|0", + "Chair|2|3|1", + "Laptop|surface|2|7", + "Pen|surface|2|6", + "Pillow|surface|2|8" + ] +} \ No newline at end of file diff --git a/train/train1493/0/0_depth_npy.npy b/train/train1493/0/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..cbea8f01113835374b826bb6cba2ce11edc7f4a4 --- /dev/null +++ b/train/train1493/0/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:46f94ce23b38658cae6099d42bee04531f8ca39cf03948b7970e926b49f4ba06 +size 3145856 diff --git a/train/train1493/0/0_semantic_sensor_npy.npy b/train/train1493/0/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..e6a955f25df0104e9a6353c1fa0969a9c35f9af5 --- /dev/null +++ b/train/train1493/0/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d2137a69e1b7be305d2cedcd9ab07da302c5b93d9804520908032b72faef4099 +size 2359424 diff --git a/train/train1493/0/1.json b/train/train1493/0/1.json new file mode 100644 index 0000000000000000000000000000000000000000..00f6aa1a5f8186f2ac99a625a8859a7c53830b2d --- /dev/null +++ b/train/train1493/0/1.json @@ -0,0 +1,773 @@ +{ + "object": [ + { + "objectId": "DiningTable|2|3|0", + "object_info": { + "name": "DiningTable|2|3|0", + "position": { + "x": 3.6285083293914795, + "y": -0.00032138824462890625, + "z": 3.9410417079925537 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Laptop|surface|2|7", + "Box|surface|2|9", + "TennisRacket|surface|2|13", + "Pen|surface|2|6", + "CellPhone|surface|2|5" + ], + "distance": 2.4131858348846436, + "objectType": "DiningTable", + "objectId": "DiningTable|2|3|0", + "assetId": "Dining_Table_227_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.034149646759033, + 0.6327300071716309, + 4.441042423248291 + ], + [ + 5.034149646759033, + 0.6327300071716309, + 3.4410409927368164 + ], + [ + 5.034149646759033, + 1.9073486328125e-06, + 4.441042423248291 + ], + [ + 5.034149646759033, + 1.9073486328125e-06, + 3.4410409927368164 + ], + [ + 2.222867012023926, + 0.6327300071716309, + 4.441042423248291 + ], + [ + 2.222867012023926, + 0.6327300071716309, + 3.4410409927368164 + ], + [ + 2.222867012023926, + 1.9073486328125e-06, + 4.441042423248291 + ], + [ + 2.222867012023926, + 1.9073486328125e-06, + 3.4410409927368164 + ] + ], + "center": { + "x": 3.6285083293914795, + "y": 0.31636595726013184, + "z": 3.9410417079925537 + }, + "size": { + "x": 2.8112826347351074, + "y": 0.632728099822998, + "z": 1.0000014305114746 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.222867488861084, + 2.0265579223632812e-06, + 3.4410412311553955 + ], + [ + 5.034149169921875, + 2.0265579223632812e-06, + 3.4410409927368164 + ], + [ + 5.034149169921875, + 2.0265579223632812e-06, + 4.441041946411133 + ], + [ + 2.222867488861084, + 2.0265579223632812e-06, + 4.441042423248291 + ], + [ + 2.222867488861084, + 0.6327301263809204, + 3.4410412311553955 + ], + [ + 5.034149169921875, + 0.6327301263809204, + 3.4410409927368164 + ], + [ + 5.034149169921875, + 0.6327301263809204, + 4.441041946411133 + ], + [ + 2.222867488861084, + 0.6327301263809204, + 4.441042423248291 + ] + ] + } + } + }, + { + "objectId": "door|1|2", + "object_info": { + "name": "door|1|2", + "position": { + "x": 0.15278244018554688, + "y": -0.0005974769592285156, + "z": 6.757167816162109 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.8516170978546143, + "objectType": "Doorway", + "objectId": "door|1|2", + "assetId": "Doorway_4", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.1945290565490723, + 2.1035876274108887, + 6.859957695007324 + ], + [ + 1.1945290565490723, + 2.1035876274108887, + 6.6540422439575195 + ], + [ + 1.1945290565490723, + 4.76837158203125e-07, + 6.859957695007324 + ], + [ + 1.1945290565490723, + 4.76837158203125e-07, + 6.6540422439575195 + ], + [ + 0.15193748474121094, + 2.1035876274108887, + 6.859957695007324 + ], + [ + 0.15193748474121094, + 2.1035876274108887, + 6.6540422439575195 + ], + [ + 0.15193748474121094, + 4.76837158203125e-07, + 6.859957695007324 + ], + [ + 0.15193748474121094, + 4.76837158203125e-07, + 6.6540422439575195 + ] + ], + "center": { + "x": 0.6732332706451416, + "y": 1.0517940521240234, + "z": 6.756999969482422 + }, + "size": { + "x": 1.0425915718078613, + "y": 2.1035871505737305, + "z": 0.2059154510498047 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "FloorLamp|2|5|1", + "object_info": { + "name": "FloorLamp|2|5|1", + "position": { + "x": 0.5131568908691406, + "y": 0.0011234283447265625, + "z": 5.162453651428223 + }, + "rotation": { + "x": 0.04141491651535034, + "y": 88.94591522216797, + "z": 0.027018219232559204 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": true, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 2.552396535873413, + "objectType": "FloorLamp", + "objectId": "FloorLamp|2|5|1", + "assetId": "Floor_Lamp_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": [], + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.7597269415855408, + 1.9035091400146484, + 5.43923807144165 + ], + [ + 0.7597269415855408, + 1.9035091400146484, + 4.8882832527160645 + ], + [ + 0.7597269415855408, + -7.3909759521484375e-06, + 5.43923807144165 + ], + [ + 0.7597269415855408, + -7.3909759521484375e-06, + 4.8882832527160645 + ], + [ + 0.26757150888442993, + 1.9035091400146484, + 5.43923807144165 + ], + [ + 0.26757150888442993, + 1.9035091400146484, + 4.8882832527160645 + ], + [ + 0.26757150888442993, + -7.3909759521484375e-06, + 5.43923807144165 + ], + [ + 0.26757150888442993, + -7.3909759521484375e-06, + 4.8882832527160645 + ] + ], + "center": { + "x": 0.5136492252349854, + "y": 0.9517508745193481, + "z": 5.163760662078857 + }, + "size": { + "x": 0.49215543270111084, + "y": 1.9035165309906006, + "z": 0.5509548187255859 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.7613488435745239, + 0.00013861071784049273, + 4.891992568969727 + ], + [ + 0.7512140870094299, + -0.00012117309961467981, + 5.442806243896484 + ], + [ + 0.2637823224067688, + 0.00023121514823287725, + 5.433837890625 + ], + [ + 0.27391713857650757, + 0.0004909990238957107, + 4.883024215698242 + ], + [ + 0.7627078294754028, + 1.9033949375152588, + 4.89291524887085 + ], + [ + 0.7525730729103088, + 1.9031351804733276, + 5.443728923797607 + ], + [ + 0.2651413083076477, + 1.9034875631332397, + 5.434760570526123 + ], + [ + 0.2752761244773865, + 1.903747320175171, + 4.883946895599365 + ] + ] + } + } + }, + { + "objectId": "BaseballBat|surface|2|11", + "object_info": { + "name": "BaseballBat|surface|2|11", + "position": { + "x": 2.4015605449676514, + "y": 0.04473770409822464, + "z": 4.699457168579102 + }, + "rotation": { + "x": 90.0, + "y": 306.43365478515625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.8999999761581421, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 1.5956209897994995, + "objectType": "BaseballBat", + "objectId": "BaseballBat|surface|2|11", + "assetId": "BaseballBat_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.6451220512390137, + 0.08947601914405823, + 5.138495445251465 + ], + [ + 2.6451220512390137, + 0.08947601914405823, + 4.504087448120117 + ], + [ + 2.6451220512390137, + -4.3213367462158203e-07, + 5.138495445251465 + ], + [ + 2.6451220512390137, + -4.3213367462158203e-07, + 4.504087448120117 + ], + [ + 1.8257765769958496, + 0.08947601914405823, + 5.138495445251465 + ], + [ + 1.8257765769958496, + 0.08947601914405823, + 4.504087448120117 + ], + [ + 1.8257765769958496, + -4.3213367462158203e-07, + 5.138495445251465 + ], + [ + 1.8257765769958496, + -4.3213367462158203e-07, + 4.504087448120117 + ] + ], + "center": { + "x": 2.2354493141174316, + "y": 0.0447377935051918, + "z": 4.821291446685791 + }, + "size": { + "x": 0.8193454742431641, + "y": 0.08947645127773285, + "z": 0.6344079971313477 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.645125150680542, + -4.6938657760620117e-07, + 4.569081783294678 + ], + [ + 2.597147226333618, + 7.450580596923828e-09, + 4.504086971282959 + ], + [ + 2.5971477031707764, + 0.08947569876909256, + 4.504087448120117 + ], + [ + 2.6451256275177, + 0.08947522193193436, + 4.569082260131836 + ], + [ + 1.873750925064087, + -1.1175870895385742e-07, + 5.138495445251465 + ], + [ + 1.825773000717163, + 3.650784492492676e-07, + 5.073500633239746 + ], + [ + 1.8257732391357422, + 0.08947599679231644, + 5.073500633239746 + ], + [ + 1.873751163482666, + 0.08947551995515823, + 5.138495922088623 + ] + ] + } + } + }, + { + "objectId": "ArmChair|2|5|0", + "object_info": { + "name": "ArmChair|2|5|0", + "position": { + "x": 0.5206018090248108, + "y": -0.010606765747070312, + "z": 4.127284526824951 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 3.0509517192840576, + "objectType": "ArmChair", + "objectId": "ArmChair|2|5|0", + "assetId": "Armchair_222_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.0000998973846436, + 0.9451482892036438, + 4.693035125732422 + ], + [ + 1.0000998973846436, + 0.9451482892036438, + 3.553251266479492 + ], + [ + 1.0000998973846436, + 3.5762786865234375e-06, + 4.693035125732422 + ], + [ + 1.0000998973846436, + 3.5762786865234375e-06, + 3.553251266479492 + ], + [ + 0.024990439414978027, + 0.9451482892036438, + 4.693035125732422 + ], + [ + 0.024990439414978027, + 0.9451482892036438, + 3.553251266479492 + ], + [ + 0.024990439414978027, + 3.5762786865234375e-06, + 4.693035125732422 + ], + [ + 0.024990439414978027, + 3.5762786865234375e-06, + 3.553251266479492 + ] + ], + "center": { + "x": 0.5125451683998108, + "y": 0.47257593274116516, + "z": 4.123143196105957 + }, + "size": { + "x": 0.9751094579696655, + "y": 0.9451447129249573, + "z": 1.1397838592529297 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.0000996589660645, + 3.7550926208496094e-06, + 3.553251266479492 + ], + [ + 1.000099778175354, + 3.7550926208496094e-06, + 4.6930341720581055 + ], + [ + 0.02499067783355713, + 3.7550926208496094e-06, + 4.6930341720581055 + ], + [ + 0.024990558624267578, + 3.7550926208496094e-06, + 3.553251266479492 + ], + [ + 1.0000996589660645, + 0.9451481103897095, + 3.553251266479492 + ], + [ + 1.000099778175354, + 0.9451481103897095, + 4.6930341720581055 + ], + [ + 0.02499067783355713, + 0.9451481103897095, + 4.6930341720581055 + ], + [ + 0.024990558624267578, + 0.9451481103897095, + 3.553251266479492 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 2.5, + "y": 0.9009997844696045, + "z": 6.199999809265137 + }, + "agent_rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "agent_cameraHorizon": 60.00001525878906, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 2.5, + "y": 1.5759997367858887, + "z": 6.199999809265137 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "BaseballBat|surface|2|11", + "DiningTable|2|3|0" + ], + "different_object": [ + "door|1|2", + "FloorLamp|2|5|1", + "ArmChair|2|5|0" + ] +} \ No newline at end of file diff --git a/train/train1493/0/1_depth_npy.npy b/train/train1493/0/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..e9c4b543d27221aca16cf393fd092fc0c8cfe49d --- /dev/null +++ b/train/train1493/0/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:05526dc42dfc256d9f4226d2911d40124a1f11b6e9de1fab5b11118e2ebb9b58 +size 3145856 diff --git a/train/train1493/0/1_semantic_sensor_npy.npy b/train/train1493/0/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..ec89864549f57d53a31cf42817c044c371d2af43 --- /dev/null +++ b/train/train1493/0/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3d69017b913b16cddceb7dd6708c9ad075f4ed8b2e1cb0eb161a556c1e78bc9f +size 2359424 diff --git a/train/train1493/0/depth_0.png b/train/train1493/0/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..97fda39fe4da8f344cd92cc6b75881785ac5f72f Binary files /dev/null and b/train/train1493/0/depth_0.png differ diff --git a/train/train1493/0/depth_1.png b/train/train1493/0/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..88a58175e22d2bab6ac16d33df9c0efb7200298c Binary files /dev/null and b/train/train1493/0/depth_1.png differ diff --git a/train/train1493/0/mask_questions.jsonl b/train/train1493/0/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6c870626b5d8517b9cb786106dd91fc21e0d532b --- /dev/null +++ b/train/train1493/0/mask_questions.jsonl @@ -0,0 +1 @@ +{"id": 11179, "folder_dir": "train1493/0", "pair_name": "1-0:BaseballBat|surface|2|11", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. DiningTable\nB. FloorLamp\nC. BaseballBat\nD. Doorway", "answer": "C", "object_name": "BaseballBat", "image_1": "train1493/0/rgb_1.png", "image_2": "train1493/0/rgb_0.png", "mask_image": "train1493/0/rgb_0_mask_BaseballBat|surface|2|11.png", "options": ["DiningTable", "FloorLamp", "BaseballBat", "Doorway"]} diff --git a/train/train1493/0/questions_distance.jsonl b/train/train1493/0/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d9a9ed2f38eafdb7b0b78ff5ce0ab51547e773fb --- /dev/null +++ b/train/train1493/0/questions_distance.jsonl @@ -0,0 +1 @@ +{"id": 4551, "folder_dir": "train1493/0", "query": "Which of the following objects is closest to BaseballBat in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. ArmChair\nB. FloorLamp\nC. DiningTable\nD. Other\n", "answer": "C", "src_object": "BaseballBat", "target_object": "DiningTable", "question": "Which of the following objects is closest to BaseballBat in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "ArmChair", "semantic_id": "ArmChair|2|5|0", "distance": 1.9075783466226355, "com": {"x": 0.5125451683998108, "y": 0.47257593274116516, "z": 4.123143196105957}}, {"text": "FloorLamp", "semantic_id": "FloorLamp|2|5|1", "distance": 1.9759942911603603, "com": {"x": 0.5136492252349854, "y": 0.9517508745193481, "z": 5.163760662078857}}, {"text": "DiningTable", "semantic_id": "DiningTable|2|3|0", "distance": 1.6701002610174913, "com": {"x": 3.6285083293914795, "y": 0.31636595726013184, "z": 3.9410417079925537}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1493/0/rgb_0.png", "image_2": "train1493/0/rgb_1.png"} diff --git a/train/train1493/0/rgb_0.png b/train/train1493/0/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..348effcce8674240f51b902ed6337d0b346b1554 --- /dev/null +++ b/train/train1493/0/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e8b719345509b77c694cf6bfb63fcf491f432c3c66dce20e95e96fe53980e8e6 +size 899628 diff --git a/train/train1493/0/rgb_0_mask_BaseballBat|surface|2|11.png b/train/train1493/0/rgb_0_mask_BaseballBat|surface|2|11.png new file mode 100644 index 0000000000000000000000000000000000000000..e21f546ce5099db051f299a0df2a64dd2b91cb06 --- /dev/null +++ b/train/train1493/0/rgb_0_mask_BaseballBat|surface|2|11.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bf5c45637a63bd081c15ebd1febc77ce10131c738ebe70782511fc5aba73543b +size 783017 diff --git a/train/train1493/0/rgb_1.png b/train/train1493/0/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..e8efad786650a000bda28715629db757b8496160 --- /dev/null +++ b/train/train1493/0/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a95574426af4f567a1d2e8563cccc58fb368ee1872bb5e94a8cc353977fe5f0d +size 974382 diff --git a/train/train1493/0/semantic_0.png b/train/train1493/0/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..21e72e8af8530fa3983037efd27b28a5dbcc5be8 Binary files /dev/null and b/train/train1493/0/semantic_0.png differ diff --git a/train/train1493/0/semantic_1.png b/train/train1493/0/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..a30803bec6c2995e0476d5b24df3e2e3be5bae67 Binary files /dev/null and b/train/train1493/0/semantic_1.png differ diff --git a/train/train1493/1/0.json b/train/train1493/1/0.json new file mode 100644 index 0000000000000000000000000000000000000000..5742480fb213479f20c5860de19677e0e3c1de93 --- /dev/null +++ b/train/train1493/1/0.json @@ -0,0 +1,3160 @@ +{ + "object": [ + { + "objectId": "Laptop|surface|2|7", + "object_info": { + "name": "Laptop|surface|2|7", + "position": { + "x": 3.9795827865600586, + "y": 0.6327298879623413, + "z": 3.9410414695739746 + }, + "rotation": { + "x": 2.9829290724592283e-05, + "y": 89.99992370605469, + "z": -9.140297333942726e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 2.299999952316284, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 2.413120985031128, + "objectType": "Laptop", + "objectId": "Laptop|surface|2|7", + "assetId": "Laptop_2", + "parentReceptacles": [ + "DiningTable|2|3|0", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.123044490814209, + 0.6625616550445557, + 4.117736339569092 + ], + [ + 4.123044490814209, + 0.6625616550445557, + 3.7643465995788574 + ], + [ + 4.123044490814209, + 0.6327295303344727, + 4.117736339569092 + ], + [ + 4.123044490814209, + 0.6327295303344727, + 3.7643465995788574 + ], + [ + 3.844463348388672, + 0.6625616550445557, + 4.117736339569092 + ], + [ + 3.844463348388672, + 0.6625616550445557, + 3.7643465995788574 + ], + [ + 3.844463348388672, + 0.6327295303344727, + 4.117736339569092 + ], + [ + 3.844463348388672, + 0.6327295303344727, + 3.7643465995788574 + ] + ], + "center": { + "x": 3.9837539196014404, + "y": 0.6476455926895142, + "z": 3.9410414695739746 + }, + "size": { + "x": 0.2785811424255371, + "y": 0.029832124710083008, + "z": 0.3533897399902344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.123044490814209, + 0.6327295303344727, + 3.7643468379974365 + ], + [ + 4.123044013977051, + 0.6327300667762756, + 4.117736339569092 + ], + [ + 3.844463348388672, + 0.63273024559021, + 4.117736339569092 + ], + [ + 3.84446382522583, + 0.6327296495437622, + 3.7643465995788574 + ], + [ + 4.123044490814209, + 0.6625610589981079, + 3.7643468379974365 + ], + [ + 4.123044013977051, + 0.6625615954399109, + 4.117736339569092 + ], + [ + 3.844463348388672, + 0.6625617146492004, + 4.117735862731934 + ], + [ + 3.84446382522583, + 0.6625611782073975, + 3.7643463611602783 + ] + ] + } + } + }, + { + "objectId": "DiningTable|2|3|0", + "object_info": { + "name": "DiningTable|2|3|0", + "position": { + "x": 3.6285083293914795, + "y": -0.00032138824462890625, + "z": 3.9410417079925537 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Laptop|surface|2|7", + "Box|surface|2|9", + "TennisRacket|surface|2|13", + "Pen|surface|2|6", + "CellPhone|surface|2|5" + ], + "distance": 2.4131858348846436, + "objectType": "DiningTable", + "objectId": "DiningTable|2|3|0", + "assetId": "Dining_Table_227_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.034149646759033, + 0.6327300071716309, + 4.441042423248291 + ], + [ + 5.034149646759033, + 0.6327300071716309, + 3.4410409927368164 + ], + [ + 5.034149646759033, + 1.9073486328125e-06, + 4.441042423248291 + ], + [ + 5.034149646759033, + 1.9073486328125e-06, + 3.4410409927368164 + ], + [ + 2.222867012023926, + 0.6327300071716309, + 4.441042423248291 + ], + [ + 2.222867012023926, + 0.6327300071716309, + 3.4410409927368164 + ], + [ + 2.222867012023926, + 1.9073486328125e-06, + 4.441042423248291 + ], + [ + 2.222867012023926, + 1.9073486328125e-06, + 3.4410409927368164 + ] + ], + "center": { + "x": 3.6285083293914795, + "y": 0.31636595726013184, + "z": 3.9410417079925537 + }, + "size": { + "x": 2.8112826347351074, + "y": 0.632728099822998, + "z": 1.0000014305114746 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.222867488861084, + 2.0265579223632812e-06, + 3.4410412311553955 + ], + [ + 5.034149169921875, + 2.0265579223632812e-06, + 3.4410409927368164 + ], + [ + 5.034149169921875, + 2.0265579223632812e-06, + 4.441041946411133 + ], + [ + 2.222867488861084, + 2.0265579223632812e-06, + 4.441042423248291 + ], + [ + 2.222867488861084, + 0.6327301263809204, + 3.4410412311553955 + ], + [ + 5.034149169921875, + 0.6327301263809204, + 3.4410409927368164 + ], + [ + 5.034149169921875, + 0.6327301263809204, + 4.441041946411133 + ], + [ + 2.222867488861084, + 0.6327301263809204, + 4.441042423248291 + ] + ] + } + } + }, + { + "objectId": "Pillow|surface|2|8", + "object_info": { + "name": "Pillow|surface|2|8", + "position": { + "x": 5.780210971832275, + "y": 0.6417027711868286, + "z": 3.1587977409362793 + }, + "rotation": { + "x": 1.1183072956555407e-06, + "y": -1.1981211400780012e-06, + "z": 1.7818133528635371e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 4.161952018737793, + "objectType": "Pillow", + "objectId": "Pillow|surface|2|8", + "assetId": "pillow_4", + "parentReceptacles": [ + "Bed|2|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.991866111755371, + 0.6941037178039551, + 3.340888023376465 + ], + [ + 5.991866111755371, + 0.6941037178039551, + 2.9767074584960938 + ], + [ + 5.991866111755371, + 0.5893018245697021, + 3.340888023376465 + ], + [ + 5.991866111755371, + 0.5893018245697021, + 2.9767074584960938 + ], + [ + 5.563637733459473, + 0.6941037178039551, + 3.340888023376465 + ], + [ + 5.563637733459473, + 0.6941037178039551, + 2.9767074584960938 + ], + [ + 5.563637733459473, + 0.5893018245697021, + 3.340888023376465 + ], + [ + 5.563637733459473, + 0.5893018245697021, + 2.9767074584960938 + ] + ], + "center": { + "x": 5.777751922607422, + "y": 0.6417027711868286, + "z": 3.1587977409362793 + }, + "size": { + "x": 0.42822837829589844, + "y": 0.10480189323425293, + "z": 0.3641805648803711 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.9918670654296875, + 0.5893018245697021, + 3.3408877849578857 + ], + [ + 5.5636372566223145, + 0.5893018245697021, + 3.3408877849578857 + ], + [ + 5.5636372566223145, + 0.5893018245697021, + 2.976707696914673 + ], + [ + 5.9918670654296875, + 0.5893018245697021, + 2.976707696914673 + ], + [ + 5.9918670654296875, + 0.6941037178039551, + 3.3408877849578857 + ], + [ + 5.5636372566223145, + 0.6941037178039551, + 3.3408877849578857 + ], + [ + 5.5636372566223145, + 0.6941037178039551, + 2.976707696914673 + ], + [ + 5.9918670654296875, + 0.6941037178039551, + 2.976707696914673 + ] + ] + } + } + }, + { + "objectId": "Vase|surface|2|2", + "object_info": { + "name": "Vase|surface|2|2", + "position": { + "x": 0.10326104611158371, + "y": 0.6992400288581848, + "z": 1.82970130443573 + }, + "rotation": { + "x": -0.0001268632331630215, + "y": 2.1344292690628208e-05, + "z": 4.1369763494003564e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 4.9434123039245605, + "objectType": "Vase", + "objectId": "Vase|surface|2|2", + "assetId": "Vase_Flat_5", + "parentReceptacles": [ + "Dresser|2|1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.17875802516937256, + 0.7693721055984497, + 1.9054481983184814 + ], + [ + 0.17875802516937256, + 0.7693721055984497, + 1.7544562816619873 + ], + [ + 0.17875802516937256, + 0.6992040872573853, + 1.9054481983184814 + ], + [ + 0.17875802516937256, + 0.6992040872573853, + 1.7544562816619873 + ], + [ + 0.027765020728111267, + 0.7693721055984497, + 1.9054481983184814 + ], + [ + 0.027765020728111267, + 0.7693721055984497, + 1.7544562816619873 + ], + [ + 0.027765020728111267, + 0.6992040872573853, + 1.9054481983184814 + ], + [ + 0.027765020728111267, + 0.6992040872573853, + 1.7544562816619873 + ] + ], + "center": { + "x": 0.10326152294874191, + "y": 0.7342880964279175, + "z": 1.8299522399902344 + }, + "size": { + "x": 0.1509930044412613, + "y": 0.07016801834106445, + "z": 0.15099191665649414 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.17875808477401733, + 0.6992042660713196, + 1.905448317527771 + ], + [ + 0.027765072882175446, + 0.69920414686203, + 1.905448317527771 + ], + [ + 0.02776501327753067, + 0.6992037892341614, + 1.7544562816619873 + ], + [ + 0.17875802516937256, + 0.6992039084434509, + 1.7544562816619873 + ], + [ + 0.17875802516937256, + 0.7693723440170288, + 1.905448079109192 + ], + [ + 0.027765020728111267, + 0.769372284412384, + 1.9054481983184814 + ], + [ + 0.02776496112346649, + 0.7693719267845154, + 1.7544561624526978 + ], + [ + 0.17875796556472778, + 0.7693720459938049, + 1.7544561624526978 + ] + ] + } + } + }, + { + "objectId": "BasketBall|surface|2|12", + "object_info": { + "name": "BasketBall|surface|2|12", + "position": { + "x": 6.237112522125244, + "y": 0.7089889645576477, + "z": 2.5962400436401367 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6000000238418579, + "salientMaterials": [ + "Rubber" + ], + "receptacleObjectIds": null, + "distance": 4.876720428466797, + "objectType": "BasketBall", + "objectId": "BasketBall|surface|2|12", + "assetId": "RoboTHOR_basketball_rhode_island_novelty_v", + "parentReceptacles": [ + "Bed|2|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.356799602508545, + 0.8286760449409485, + 2.7159271240234375 + ], + [ + 6.356799602508545, + 0.8286760449409485, + 2.476552963256836 + ], + [ + 6.356799602508545, + 0.5893018841743469, + 2.7159271240234375 + ], + [ + 6.356799602508545, + 0.5893018841743469, + 2.476552963256836 + ], + [ + 6.117425441741943, + 0.8286760449409485, + 2.7159271240234375 + ], + [ + 6.117425441741943, + 0.8286760449409485, + 2.476552963256836 + ], + [ + 6.117425441741943, + 0.5893018841743469, + 2.7159271240234375 + ], + [ + 6.117425441741943, + 0.5893018841743469, + 2.476552963256836 + ] + ], + "center": { + "x": 6.237112522125244, + "y": 0.7089889645576477, + "z": 2.5962400436401367 + }, + "size": { + "x": 0.23937416076660156, + "y": 0.23937416076660156, + "z": 0.23937416076660156 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.356799602508545, + 0.5893018841743469, + 2.7159271240234375 + ], + [ + 6.117425441741943, + 0.5893018841743469, + 2.7159271240234375 + ], + [ + 6.117425441741943, + 0.5893018841743469, + 2.476552963256836 + ], + [ + 6.356799602508545, + 0.5893018841743469, + 2.476552963256836 + ], + [ + 6.356799602508545, + 0.8286760449409485, + 2.7159271240234375 + ], + [ + 6.117425441741943, + 0.8286760449409485, + 2.7159271240234375 + ], + [ + 6.117425441741943, + 0.8286760449409485, + 2.476552963256836 + ], + [ + 6.356799602508545, + 0.8286760449409485, + 2.476552963256836 + ] + ] + } + } + }, + { + "objectId": "TennisRacket|surface|2|13", + "object_info": { + "name": "TennisRacket|surface|2|13", + "position": { + "x": 2.9256436824798584, + "y": 0.6512746214866638, + "z": 3.695225715637207 + }, + "rotation": { + "x": 358.3580017089844, + "y": 89.97605895996094, + "z": 359.9327697753906 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.3100000023841858, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.3249082565307617, + "objectType": "TennisRacket", + "objectId": "TennisRacket|surface|2|13", + "assetId": "Tennis_Racquet_3", + "parentReceptacles": [ + "DiningTable|2|3|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.255030632019043, + 0.6829039454460144, + 3.8234567642211914 + ], + [ + 3.255030632019043, + 0.6829039454460144, + 3.5676422119140625 + ], + [ + 3.255030632019043, + 0.6326798796653748, + 3.8234567642211914 + ], + [ + 3.255030632019043, + 0.6326798796653748, + 3.5676422119140625 + ], + [ + 2.601581573486328, + 0.6829039454460144, + 3.8234567642211914 + ], + [ + 2.601581573486328, + 0.6829039454460144, + 3.5676422119140625 + ], + [ + 2.601581573486328, + 0.6326798796653748, + 3.8234567642211914 + ], + [ + 2.601581573486328, + 0.6326798796653748, + 3.5676422119140625 + ] + ], + "center": { + "x": 2.9283061027526855, + "y": 0.6577919125556946, + "z": 3.695549488067627 + }, + "size": { + "x": 0.6534490585327148, + "y": 0.05022406578063965, + "z": 0.2558145523071289 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.255077362060547, + 0.6383706331253052, + 3.5679354667663574 + ], + [ + 3.2549619674682617, + 0.6386706233024597, + 3.823687791824341 + ], + [ + 2.6022543907165527, + 0.6199600100517273, + 3.8234150409698486 + ], + [ + 2.602369785308838, + 0.6196600198745728, + 3.5676627159118652 + ], + [ + 3.2538061141967773, + 0.6827270984649658, + 3.567883014678955 + ], + [ + 3.253690481185913, + 0.6830270886421204, + 3.8236351013183594 + ], + [ + 2.600982904434204, + 0.6643164753913879, + 3.8233625888824463 + ], + [ + 2.6010985374450684, + 0.6640164852142334, + 3.567610263824463 + ] + ] + } + } + }, + { + "objectId": "FloorLamp|2|5|1", + "object_info": { + "name": "FloorLamp|2|5|1", + "position": { + "x": 0.5131568908691406, + "y": 0.0011234283447265625, + "z": 5.162453651428223 + }, + "rotation": { + "x": 0.04141491651535034, + "y": 88.94591522216797, + "z": 0.027018219232559204 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": true, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 2.552396535873413, + "objectType": "FloorLamp", + "objectId": "FloorLamp|2|5|1", + "assetId": "Floor_Lamp_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": [], + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.7597269415855408, + 1.9035091400146484, + 5.43923807144165 + ], + [ + 0.7597269415855408, + 1.9035091400146484, + 4.8882832527160645 + ], + [ + 0.7597269415855408, + -7.3909759521484375e-06, + 5.43923807144165 + ], + [ + 0.7597269415855408, + -7.3909759521484375e-06, + 4.8882832527160645 + ], + [ + 0.26757150888442993, + 1.9035091400146484, + 5.43923807144165 + ], + [ + 0.26757150888442993, + 1.9035091400146484, + 4.8882832527160645 + ], + [ + 0.26757150888442993, + -7.3909759521484375e-06, + 5.43923807144165 + ], + [ + 0.26757150888442993, + -7.3909759521484375e-06, + 4.8882832527160645 + ] + ], + "center": { + "x": 0.5136492252349854, + "y": 0.9517508745193481, + "z": 5.163760662078857 + }, + "size": { + "x": 0.49215543270111084, + "y": 1.9035165309906006, + "z": 0.5509548187255859 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.7613488435745239, + 0.00013861071784049273, + 4.891992568969727 + ], + [ + 0.7512140870094299, + -0.00012117309961467981, + 5.442806243896484 + ], + [ + 0.2637823224067688, + 0.00023121514823287725, + 5.433837890625 + ], + [ + 0.27391713857650757, + 0.0004909990238957107, + 4.883024215698242 + ], + [ + 0.7627078294754028, + 1.9033949375152588, + 4.89291524887085 + ], + [ + 0.7525730729103088, + 1.9031351804733276, + 5.443728923797607 + ], + [ + 0.2651413083076477, + 1.9034875631332397, + 5.434760570526123 + ], + [ + 0.2752761244773865, + 1.903747320175171, + 4.883946895599365 + ] + ] + } + } + }, + { + "objectId": "Bed|2|0", + "object_info": { + "name": "Bed|2|0", + "position": { + "x": 6.084811687469482, + "y": 0.0007693767547607422, + "z": 2.857921600341797 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": true, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "Pillow|surface|2|8", + "RemoteControl|surface|2|10", + "BasketBall|surface|2|12" + ], + "distance": 4.669479846954346, + "objectType": "Bed", + "objectId": "Bed|2|0", + "assetId": "Bed_26_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.732000350952148, + 0.7116310596466064, + 4.083568572998047 + ], + [ + 6.732000350952148, + 0.7116310596466064, + 1.7139997482299805 + ], + [ + 6.732000350952148, + 0.0, + 4.083568572998047 + ], + [ + 6.732000350952148, + 0.0, + 1.7139997482299805 + ], + [ + 5.4356231689453125, + 0.7116310596466064, + 4.083568572998047 + ], + [ + 5.4356231689453125, + 0.7116310596466064, + 1.7139997482299805 + ], + [ + 5.4356231689453125, + 0.0, + 4.083568572998047 + ], + [ + 5.4356231689453125, + 0.0, + 1.7139997482299805 + ] + ], + "center": { + "x": 6.0838117599487305, + "y": 0.3558155298233032, + "z": 2.8987841606140137 + }, + "size": { + "x": 1.296377182006836, + "y": 0.7116310596466064, + "z": 2.3695688247680664 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.732000350952148, + 0.0, + 4.083568572998047 + ], + [ + 5.4356231689453125, + 0.0, + 4.083568572998047 + ], + [ + 5.4356231689453125, + 0.0, + 1.7140001058578491 + ], + [ + 6.732000350952148, + 0.0, + 1.7140001058578491 + ], + [ + 6.732000350952148, + 0.7116310596466064, + 4.083568572998047 + ], + [ + 5.4356231689453125, + 0.7116310596466064, + 4.083568572998047 + ], + [ + 5.4356231689453125, + 0.7116310596466064, + 1.7140001058578491 + ], + [ + 6.732000350952148, + 0.7116310596466064, + 1.7140001058578491 + ] + ] + } + } + }, + { + "objectId": "BaseballBat|surface|2|11", + "object_info": { + "name": "BaseballBat|surface|2|11", + "position": { + "x": 2.4015605449676514, + "y": 0.04473770409822464, + "z": 4.699457168579102 + }, + "rotation": { + "x": 90.0, + "y": 306.43365478515625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.8999999761581421, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 1.5956209897994995, + "objectType": "BaseballBat", + "objectId": "BaseballBat|surface|2|11", + "assetId": "BaseballBat_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.6451220512390137, + 0.08947601914405823, + 5.138495445251465 + ], + [ + 2.6451220512390137, + 0.08947601914405823, + 4.504087448120117 + ], + [ + 2.6451220512390137, + -4.3213367462158203e-07, + 5.138495445251465 + ], + [ + 2.6451220512390137, + -4.3213367462158203e-07, + 4.504087448120117 + ], + [ + 1.8257765769958496, + 0.08947601914405823, + 5.138495445251465 + ], + [ + 1.8257765769958496, + 0.08947601914405823, + 4.504087448120117 + ], + [ + 1.8257765769958496, + -4.3213367462158203e-07, + 5.138495445251465 + ], + [ + 1.8257765769958496, + -4.3213367462158203e-07, + 4.504087448120117 + ] + ], + "center": { + "x": 2.2354493141174316, + "y": 0.0447377935051918, + "z": 4.821291446685791 + }, + "size": { + "x": 0.8193454742431641, + "y": 0.08947645127773285, + "z": 0.6344079971313477 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.645125150680542, + -4.6938657760620117e-07, + 4.569081783294678 + ], + [ + 2.597147226333618, + 7.450580596923828e-09, + 4.504086971282959 + ], + [ + 2.5971477031707764, + 0.08947569876909256, + 4.504087448120117 + ], + [ + 2.6451256275177, + 0.08947522193193436, + 4.569082260131836 + ], + [ + 1.873750925064087, + -1.1175870895385742e-07, + 5.138495445251465 + ], + [ + 1.825773000717163, + 3.650784492492676e-07, + 5.073500633239746 + ], + [ + 1.8257732391357422, + 0.08947599679231644, + 5.073500633239746 + ], + [ + 1.873751163482666, + 0.08947551995515823, + 5.138495922088623 + ] + ] + } + } + }, + { + "objectId": "CellPhone|surface|2|5", + "object_info": { + "name": "CellPhone|surface|2|5", + "position": { + "x": 3.6285080909729004, + "y": 0.6334385275840759, + "z": 3.9410412311553955 + }, + "rotation": { + "x": 0.00010380728781456128, + "y": 90.00013732910156, + "z": -0.0012113000266253948 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1599999964237213, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 2.254479169845581, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|2|5", + "assetId": "Cellphone_8", + "parentReceptacles": [ + "DiningTable|2|3|0", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.7014195919036865, + 0.6436123251914978, + 3.9792797565460205 + ], + [ + 3.7014195919036865, + 0.6436123251914978, + 3.9028027057647705 + ], + [ + 3.7014195919036865, + 0.6327289938926697, + 3.9792797565460205 + ], + [ + 3.7014195919036865, + 0.6327289938926697, + 3.9028027057647705 + ], + [ + 3.5555965900421143, + 0.6436123251914978, + 3.9792797565460205 + ], + [ + 3.5555965900421143, + 0.6436123251914978, + 3.9028027057647705 + ], + [ + 3.5555965900421143, + 0.6327289938926697, + 3.9792797565460205 + ], + [ + 3.5555965900421143, + 0.6327289938926697, + 3.9028027057647705 + ] + ], + "center": { + "x": 3.6285080909729004, + "y": 0.6381706595420837, + "z": 3.9410412311553955 + }, + "size": { + "x": 0.14582300186157227, + "y": 0.010883331298828125, + "z": 0.07647705078125 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.7014193534851074, + 0.6327289938926697, + 3.9028027057647705 + ], + [ + 3.7014195919036865, + 0.6327306032180786, + 3.9792795181274414 + ], + [ + 3.5555968284606934, + 0.6327309012413025, + 3.9792797565460205 + ], + [ + 3.5555965900421143, + 0.6327292919158936, + 3.9028031826019287 + ], + [ + 3.7014193534851074, + 0.643610417842865, + 3.9028024673461914 + ], + [ + 3.7014195919036865, + 0.6436120867729187, + 3.9792792797088623 + ], + [ + 3.5555968284606934, + 0.6436123251914978, + 3.9792795181274414 + ], + [ + 3.5555965900421143, + 0.6436107158660889, + 3.9028029441833496 + ] + ] + } + } + }, + { + "objectId": "Dresser|2|1___1", + "object_info": { + "name": "Drawer (1)", + "position": { + "x": 0.33600085973739624, + "y": 0.39762961864471436, + "z": 2.0043113231658936 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 4.695348739624023, + "objectType": "Drawer", + "objectId": "Dresser|2|1___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.630402684211731, + 0.4907017946243286, + 2.028729200363159 + ], + [ + 0.630402684211731, + 0.4907017946243286, + 1.7607905864715576 + ], + [ + 0.630402684211731, + 0.30300021171569824, + 2.028729200363159 + ], + [ + 0.630402684211731, + 0.30300021171569824, + 1.7607905864715576 + ], + [ + 0.04253673553466797, + 0.4907017946243286, + 2.028729200363159 + ], + [ + 0.04253673553466797, + 0.4907017946243286, + 1.7607905864715576 + ], + [ + 0.04253673553466797, + 0.30300021171569824, + 2.028729200363159 + ], + [ + 0.04253673553466797, + 0.30300021171569824, + 1.7607905864715576 + ] + ], + "center": { + "x": 0.33646970987319946, + "y": 0.3968510031700134, + "z": 1.8947598934173584 + }, + "size": { + "x": 0.587865948677063, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Chair|2|3|2", + "object_info": { + "name": "Chair|2|3|2", + "position": { + "x": 3.6207263469696045, + "y": 0.006381243467330933, + "z": 4.512487411499023 + }, + "rotation": { + "x": 0.0, + "y": 196.23699951171875, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 1.9419578313827515, + "objectType": "Chair", + "objectId": "Chair|2|3|2", + "assetId": "Chair_303_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.9063186645507812, + 0.8342158198356628, + 4.866818428039551 + ], + [ + 3.9063186645507812, + 0.8342158198356628, + 4.199010848999023 + ], + [ + 3.9063186645507812, + -8.821487426757812e-06, + 4.866818428039551 + ], + [ + 3.9063186645507812, + -8.821487426757812e-06, + 4.199010848999023 + ], + [ + 3.331930637359619, + 0.8342158198356628, + 4.866818428039551 + ], + [ + 3.331930637359619, + 0.8342158198356628, + 4.199010848999023 + ], + [ + 3.331930637359619, + -8.821487426757812e-06, + 4.866818428039551 + ], + [ + 3.331930637359619, + -8.821487426757812e-06, + 4.199010848999023 + ] + ], + "center": { + "x": 3.6191246509552, + "y": 0.41710349917411804, + "z": 4.532914638519287 + }, + "size": { + "x": 0.5743880271911621, + "y": 0.8342246413230896, + "z": 0.6678075790405273 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.3253579139709473, + -8.851289749145508e-06, + 4.327392101287842 + ], + [ + 3.769542932510376, + -8.851289749145508e-06, + 4.198033332824707 + ], + [ + 3.9316635131835938, + -8.851289749145508e-06, + 4.754714012145996 + ], + [ + 3.487478494644165, + -8.851289749145508e-06, + 4.884072780609131 + ], + [ + 3.3253579139709473, + 0.8342158794403076, + 4.327392101287842 + ], + [ + 3.769542932510376, + 0.8342158794403076, + 4.198033332824707 + ], + [ + 3.9316635131835938, + 0.8342158794403076, + 4.754714012145996 + ], + [ + 3.487478494644165, + 0.8342158794403076, + 4.884072780609131 + ] + ] + } + } + }, + { + "objectId": "Chair|2|3|1", + "object_info": { + "name": "Chair|2|3|1", + "position": { + "x": 3.6328468322753906, + "y": 0.006381243467330933, + "z": 3.3703174591064453 + }, + "rotation": { + "x": -0.0, + "y": 9.422372817993164, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "CellPhone|surface|2|0" + ], + "distance": 2.914616823196411, + "objectType": "Chair", + "objectId": "Chair|2|3|1", + "assetId": "Chair_303_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.897411823272705, + 0.8342157602310181, + 3.6640021800994873 + ], + [ + 3.897411823272705, + 0.8342157602310181, + 3.027270555496216 + ], + [ + 3.897411823272705, + -8.702278137207031e-06, + 3.6640021800994873 + ], + [ + 3.897411823272705, + -8.702278137207031e-06, + 3.027270555496216 + ], + [ + 3.369459629058838, + 0.8342157602310181, + 3.6640021800994873 + ], + [ + 3.369459629058838, + 0.8342157602310181, + 3.027270555496216 + ], + [ + 3.369459629058838, + -8.702278137207031e-06, + 3.6640021800994873 + ], + [ + 3.369459629058838, + -8.702278137207031e-06, + 3.027270555496216 + ] + ], + "center": { + "x": 3.6334357261657715, + "y": 0.41710352897644043, + "z": 3.3456363677978516 + }, + "size": { + "x": 0.5279521942138672, + "y": 0.8342244625091553, + "z": 0.6367316246032715 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.904165506362915, + -8.851289749145508e-06, + 3.5891528129577637 + ], + [ + 3.4477694034576416, + -8.851289749145508e-06, + 3.6648917198181152 + ], + [ + 3.352848529815674, + -8.851289749145508e-06, + 3.092907190322876 + ], + [ + 3.8092446327209473, + -8.851289749145508e-06, + 3.0171680450439453 + ], + [ + 3.904165506362915, + 0.8342158794403076, + 3.5891528129577637 + ], + [ + 3.4477694034576416, + 0.8342158794403076, + 3.6648917198181152 + ], + [ + 3.352848529815674, + 0.8342158794403076, + 3.092907190322876 + ], + [ + 3.8092446327209473, + 0.8342158794403076, + 3.0171680450439453 + ] + ] + } + } + }, + { + "objectId": "HousePlant|2|2|0", + "object_info": { + "name": "HousePlant|2|2|0", + "position": { + "x": 2.105461597442627, + "y": 0.0007963702082633972, + "z": 1.8847824335098267 + }, + "rotation": { + "x": -1.0909427146543749e-05, + "y": 59.377197265625, + "z": -7.802341315255035e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.0, + "salientMaterials": [ + "Ceramic", + "Organic" + ], + "receptacleObjectIds": null, + "distance": 4.261550426483154, + "objectType": "HousePlant", + "objectId": "HousePlant|2|2|0", + "assetId": "Houseplant_27", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.232142925262451, + 0.8956964015960693, + 2.018171787261963 + ], + [ + 2.232142925262451, + 0.8956964015960693, + 1.757896900177002 + ], + [ + 2.232142925262451, + 0.0, + 2.018171787261963 + ], + [ + 2.232142925262451, + 0.0, + 1.757896900177002 + ], + [ + 1.9782309532165527, + 0.8956964015960693, + 2.018171787261963 + ], + [ + 1.9782309532165527, + 0.8956964015960693, + 1.757896900177002 + ], + [ + 1.9782309532165527, + 0.0, + 2.018171787261963 + ], + [ + 1.9782309532165527, + 0.0, + 1.757896900177002 + ] + ], + "center": { + "x": 2.105186939239502, + "y": 0.44784820079803467, + "z": 1.8880343437194824 + }, + "size": { + "x": 0.25391197204589844, + "y": 0.8956964015960693, + "z": 0.26027488708496094 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.2749667167663574, + 5.925539880990982e-08, + 1.8432307243347168 + ], + [ + 2.1496071815490723, + 9.278301149606705e-08, + 2.055009603500366 + ], + [ + 1.9312883615493774, + 4.44706529378891e-08, + 1.9257787466049194 + ], + [ + 2.056647777557373, + 1.0943040251731873e-08, + 1.7139999866485596 + ], + [ + 2.2749664783477783, + 0.8956964015960693, + 1.8432304859161377 + ], + [ + 2.1496071815490723, + 0.8956964015960693, + 2.055009365081787 + ], + [ + 1.9312883615493774, + 0.8956964015960693, + 1.9257786273956299 + ], + [ + 2.056647777557373, + 0.8956964015960693, + 1.71399986743927 + ] + ] + } + } + }, + { + "objectId": "Dresser|2|1", + "object_info": { + "name": "Dresser|2|1", + "position": { + "x": 0.336000919342041, + "y": -4.786252975463867e-05, + "z": 1.867034912109375 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Vase|surface|2|2", + "Watch|surface|2|4", + "KeyChain|surface|2|1" + ], + "distance": 4.870388031005859, + "objectType": "Dresser", + "objectId": "Dresser|2|1", + "assetId": "RoboTHOR_dresser_rast_v", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.6470012068748474, + 0.6992042660713196, + 2.0263736248016357 + ], + [ + 0.6470012068748474, + 0.6992042660713196, + 1.7118983268737793 + ], + [ + 0.6470012068748474, + 3.838539123535156e-05, + 2.0263736248016357 + ], + [ + 0.6470012068748474, + 3.838539123535156e-05, + 1.7118983268737793 + ], + [ + 0.02500063180923462, + 0.6992042660713196, + 2.0263736248016357 + ], + [ + 0.02500063180923462, + 0.6992042660713196, + 1.7118983268737793 + ], + [ + 0.02500063180923462, + 3.838539123535156e-05, + 2.0263736248016357 + ], + [ + 0.02500063180923462, + 3.838539123535156e-05, + 1.7118983268737793 + ] + ], + "center": { + "x": 0.336000919342041, + "y": 0.34962132573127747, + "z": 1.8691359758377075 + }, + "size": { + "x": 0.6220005750656128, + "y": 0.6991658806800842, + "z": 0.31447529792785645 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.6470009088516235, + 3.8564205169677734e-05, + 2.0263733863830566 + ], + [ + 0.025000929832458496, + 3.8564205169677734e-05, + 2.0263733863830566 + ], + [ + 0.025000929832458496, + 3.8564205169677734e-05, + 1.7118985652923584 + ], + [ + 0.6470009088516235, + 3.8564205169677734e-05, + 1.7118985652923584 + ], + [ + 0.6470009088516235, + 0.6992037892341614, + 2.0263733863830566 + ], + [ + 0.025000929832458496, + 0.6992037892341614, + 2.0263733863830566 + ], + [ + 0.025000929832458496, + 0.6992037892341614, + 1.7118985652923584 + ], + [ + 0.6470009088516235, + 0.6992037892341614, + 1.7118985652923584 + ] + ] + } + } + }, + { + "objectId": "Box|surface|2|9", + "object_info": { + "name": "Box|surface|2|9", + "position": { + "x": 4.330590724945068, + "y": 0.8344038128852844, + "z": 3.695225954055786 + }, + "rotation": { + "x": 0.00023052019241731614, + "y": 180.0, + "z": 359.9800109863281 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.30000001192092896, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": [], + "distance": 2.795475959777832, + "objectType": "Box", + "objectId": "Box|surface|2|9", + "assetId": "Box_26", + "parentReceptacles": [ + "DiningTable|2|3|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.512392044067383, + 0.9175490140914917, + 4.067845344543457 + ], + [ + 4.512392044067383, + 0.9175490140914917, + 3.606621742248535 + ], + [ + 4.512392044067383, + 0.6327282190322876, + 4.067845344543457 + ], + [ + 4.512392044067383, + 0.6327282190322876, + 3.606621742248535 + ], + [ + 4.148536682128906, + 0.9175490140914917, + 4.067845344543457 + ], + [ + 4.148536682128906, + 0.9175490140914917, + 3.606621742248535 + ], + [ + 4.148536682128906, + 0.6327282190322876, + 4.067845344543457 + ], + [ + 4.148536682128906, + 0.6327282190322876, + 3.606621742248535 + ] + ], + "center": { + "x": 4.3304643630981445, + "y": 0.7751386165618896, + "z": 3.837233543395996 + }, + "size": { + "x": 0.36385536193847656, + "y": 0.2848207950592041, + "z": 0.4612236022949219 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.148633003234863, + 0.6326298713684082, + 3.6066200733184814 + ], + [ + 4.512492656707764, + 0.632756769657135, + 3.6066200733184814 + ], + [ + 4.512493133544922, + 0.632758617401123, + 4.067849159240723 + ], + [ + 4.148633003234863, + 0.6326316595077515, + 4.067849159240723 + ], + [ + 4.148533821105957, + 0.9174219965934753, + 3.606618881225586 + ], + [ + 4.512393474578857, + 0.9175488948822021, + 3.606618881225586 + ], + [ + 4.512393474578857, + 0.9175507426261902, + 4.067848205566406 + ], + [ + 4.148533821105957, + 0.9174238443374634, + 4.067848205566406 + ] + ] + } + } + }, + { + "objectId": "Watch|surface|2|4", + "object_info": { + "name": "Watch|surface|2|4", + "position": { + "x": 0.4135294556617737, + "y": 0.6994122266769409, + "z": 1.8298429250717163 + }, + "rotation": { + "x": 1.8571752309799194, + "y": 359.9856872558594, + "z": 1.2905222177505493 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07000000029802322, + "salientMaterials": [ + "Metal", + "Glass", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.784343242645264, + "objectType": "Watch", + "objectId": "Watch|surface|2|4", + "assetId": "Watch_1", + "parentReceptacles": [ + "Dresser|2|1", + "Floor" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.4531009793281555, + 0.734585165977478, + 1.852339506149292 + ], + [ + 0.4531009793281555, + 0.734585165977478, + 1.8039939403533936 + ], + [ + 0.4531009793281555, + 0.6990681886672974, + 1.852339506149292 + ], + [ + 0.4531009793281555, + 0.6990681886672974, + 1.8039939403533936 + ], + [ + 0.3742009997367859, + 0.734585165977478, + 1.852339506149292 + ], + [ + 0.3742009997367859, + 0.734585165977478, + 1.8039939403533936 + ], + [ + 0.3742009997367859, + 0.6990681886672974, + 1.852339506149292 + ], + [ + 0.3742009997367859, + 0.6990681886672974, + 1.8039939403533936 + ] + ], + "center": { + "x": 0.4136509895324707, + "y": 0.7168266773223877, + "z": 1.8281667232513428 + }, + "size": { + "x": 0.07889997959136963, + "y": 0.035516977310180664, + "z": 0.04834556579589844 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.4532514214515686, + 0.6983696222305298, + 1.852268099784851 + ], + [ + 0.3747141361236572, + 0.6966013312339783, + 1.8521910905838013 + ], + [ + 0.3747263550758362, + 0.6981821656227112, + 1.8034368753433228 + ], + [ + 0.45326361060142517, + 0.6999505162239075, + 1.8035138845443726 + ], + [ + 0.4524242877960205, + 0.7350527048110962, + 1.8534573316574097 + ], + [ + 0.3738870322704315, + 0.7332843542098999, + 1.8533803224563599 + ], + [ + 0.3738992214202881, + 0.7348652482032776, + 1.804626226425171 + ], + [ + 0.45243650674819946, + 0.7366335391998291, + 1.8047031164169312 + ] + ] + } + } + }, + { + "objectId": "ArmChair|2|5|0", + "object_info": { + "name": "ArmChair|2|5|0", + "position": { + "x": 0.5206018090248108, + "y": -0.010606765747070312, + "z": 4.127284526824951 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 3.0509517192840576, + "objectType": "ArmChair", + "objectId": "ArmChair|2|5|0", + "assetId": "Armchair_222_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.0000998973846436, + 0.9451482892036438, + 4.693035125732422 + ], + [ + 1.0000998973846436, + 0.9451482892036438, + 3.553251266479492 + ], + [ + 1.0000998973846436, + 3.5762786865234375e-06, + 4.693035125732422 + ], + [ + 1.0000998973846436, + 3.5762786865234375e-06, + 3.553251266479492 + ], + [ + 0.024990439414978027, + 0.9451482892036438, + 4.693035125732422 + ], + [ + 0.024990439414978027, + 0.9451482892036438, + 3.553251266479492 + ], + [ + 0.024990439414978027, + 3.5762786865234375e-06, + 4.693035125732422 + ], + [ + 0.024990439414978027, + 3.5762786865234375e-06, + 3.553251266479492 + ] + ], + "center": { + "x": 0.5125451683998108, + "y": 0.47257593274116516, + "z": 4.123143196105957 + }, + "size": { + "x": 0.9751094579696655, + "y": 0.9451447129249573, + "z": 1.1397838592529297 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.0000996589660645, + 3.7550926208496094e-06, + 3.553251266479492 + ], + [ + 1.000099778175354, + 3.7550926208496094e-06, + 4.6930341720581055 + ], + [ + 0.02499067783355713, + 3.7550926208496094e-06, + 4.6930341720581055 + ], + [ + 0.024990558624267578, + 3.7550926208496094e-06, + 3.553251266479492 + ], + [ + 1.0000996589660645, + 0.9451481103897095, + 3.553251266479492 + ], + [ + 1.000099778175354, + 0.9451481103897095, + 4.6930341720581055 + ], + [ + 0.02499067783355713, + 0.9451481103897095, + 4.6930341720581055 + ], + [ + 0.024990558624267578, + 0.9451481103897095, + 3.553251266479492 + ] + ] + } + } + }, + { + "objectId": "window|2|0", + "object_info": { + "name": "window|2|0", + "position": { + "x": 4.403806686401367, + "y": 1.0646860599517822, + "z": 1.6890007257461548 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 4.620236396789551, + "objectType": "Window", + "objectId": "window|2|0", + "assetId": "Window_Hung_48x32", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.404592037200928, + 1.9362554550170898, + 1.8110367059707642 + ], + [ + 4.404592037200928, + 1.9362554550170898, + 1.5669633150100708 + ], + [ + 4.404592037200928, + 1.0637445449829102, + 1.8110367059707642 + ], + [ + 4.404592037200928, + 1.0637445449829102, + 1.5669633150100708 + ], + [ + 3.1326212882995605, + 1.9362554550170898, + 1.8110367059707642 + ], + [ + 3.1326212882995605, + 1.9362554550170898, + 1.5669633150100708 + ], + [ + 3.1326212882995605, + 1.0637445449829102, + 1.8110367059707642 + ], + [ + 3.1326212882995605, + 1.0637445449829102, + 1.5669633150100708 + ] + ], + "center": { + "x": 3.768606662750244, + "y": 1.5, + "z": 1.6890000104904175 + }, + "size": { + "x": 1.2719707489013672, + "y": 0.8725109100341797, + "z": 0.24407339096069336 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|2|1___2", + "object_info": { + "name": "Drawer (2)", + "position": { + "x": 0.33600085973739624, + "y": 0.20109392702579498, + "z": 2.0043113231658936 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 4.720464706420898, + "objectType": "Drawer", + "objectId": "Dresser|2|1___2", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.630402684211731, + 0.29416608810424805, + 2.028729200363159 + ], + [ + 0.630402684211731, + 0.29416608810424805, + 1.7607905864715576 + ], + [ + 0.630402684211731, + 0.10646450519561768, + 2.028729200363159 + ], + [ + 0.630402684211731, + 0.10646450519561768, + 1.7607905864715576 + ], + [ + 0.04253673553466797, + 0.29416608810424805, + 2.028729200363159 + ], + [ + 0.04253673553466797, + 0.29416608810424805, + 1.7607905864715576 + ], + [ + 0.04253673553466797, + 0.10646450519561768, + 2.028729200363159 + ], + [ + 0.04253673553466797, + 0.10646450519561768, + 1.7607905864715576 + ] + ], + "center": { + "x": 0.33646970987319946, + "y": 0.20031529664993286, + "z": 1.8947598934173584 + }, + "size": { + "x": 0.587865948677063, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|2|1___0", + "object_info": { + "name": "Drawer", + "position": { + "x": 0.33600085973739624, + "y": 0.5816994309425354, + "z": 2.0043113231658936 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 4.679195880889893, + "objectType": "Drawer", + "objectId": "Dresser|2|1___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.630402684211731, + 0.6747716069221497, + 2.028729200363159 + ], + [ + 0.630402684211731, + 0.6747716069221497, + 1.7607905864715576 + ], + [ + 0.630402684211731, + 0.4870700240135193, + 2.028729200363159 + ], + [ + 0.630402684211731, + 0.4870700240135193, + 1.7607905864715576 + ], + [ + 0.04253673553466797, + 0.6747716069221497, + 2.028729200363159 + ], + [ + 0.04253673553466797, + 0.6747716069221497, + 1.7607905864715576 + ], + [ + 0.04253673553466797, + 0.4870700240135193, + 2.028729200363159 + ], + [ + 0.04253673553466797, + 0.4870700240135193, + 1.7607905864715576 + ] + ], + "center": { + "x": 0.33646970987319946, + "y": 0.5809208154678345, + "z": 1.8947598934173584 + }, + "size": { + "x": 0.587865948677063, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 1.7000000476837158, + "y": 0.9009997844696045, + "z": 6.400000095367432 + }, + "agent_rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "agent_cameraHorizon": 1.5309450418499182e-06, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 1.7000000476837158, + "y": 1.5759997367858887, + "z": 6.400000095367432 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Box|surface|2|9", + "BasketBall|surface|2|12", + "Bed|2|0", + "Pillow|surface|2|8" + ], + "different_object": [ + "Dresser|2|1", + "FloorLamp|2|5|1", + "HousePlant|2|2|0", + "TennisRacket|surface|2|13", + "Dresser|2|1___0", + "CellPhone|surface|2|5", + "Chair|2|3|2", + "Dresser|2|1___1", + "Watch|surface|2|4", + "BaseballBat|surface|2|11", + "Vase|surface|2|2", + "Chair|2|3|1", + "Dresser|2|1___2", + "Laptop|surface|2|7", + "window|2|0", + "DiningTable|2|3|0", + "ArmChair|2|5|0" + ] +} \ No newline at end of file diff --git a/train/train1493/1/0_depth_npy.npy b/train/train1493/1/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..5e88a0db027425180187304ad030c880544b44c2 --- /dev/null +++ b/train/train1493/1/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a002c8ae23af6299742d35c043ddbb733dd89eca5582c1c92b0e684ce8f1e048 +size 3145856 diff --git a/train/train1493/1/0_semantic_sensor_npy.npy b/train/train1493/1/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..c2fd5076c1b7b7b7512c1c1d5ed25b97804a01c5 --- /dev/null +++ b/train/train1493/1/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6c55bb5c8258a05ad97e5f107b09f448809fd57f645f75a93043eda3227ab2a2 +size 2359424 diff --git a/train/train1493/1/1.json b/train/train1493/1/1.json new file mode 100644 index 0000000000000000000000000000000000000000..e4cc61564fab29dd90107a8cc955e5dbd4de9457 --- /dev/null +++ b/train/train1493/1/1.json @@ -0,0 +1,1519 @@ +{ + "object": [ + { + "objectId": "Pillow|surface|2|8", + "object_info": { + "name": "Pillow|surface|2|8", + "position": { + "x": 5.780210971832275, + "y": 0.6417027711868286, + "z": 3.1587977409362793 + }, + "rotation": { + "x": 1.1183072956555407e-06, + "y": -1.1981211400780012e-06, + "z": 1.7818133528635371e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 4.161952018737793, + "objectType": "Pillow", + "objectId": "Pillow|surface|2|8", + "assetId": "pillow_4", + "parentReceptacles": [ + "Bed|2|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.991866111755371, + 0.6941037178039551, + 3.340888023376465 + ], + [ + 5.991866111755371, + 0.6941037178039551, + 2.9767074584960938 + ], + [ + 5.991866111755371, + 0.5893018245697021, + 3.340888023376465 + ], + [ + 5.991866111755371, + 0.5893018245697021, + 2.9767074584960938 + ], + [ + 5.563637733459473, + 0.6941037178039551, + 3.340888023376465 + ], + [ + 5.563637733459473, + 0.6941037178039551, + 2.9767074584960938 + ], + [ + 5.563637733459473, + 0.5893018245697021, + 3.340888023376465 + ], + [ + 5.563637733459473, + 0.5893018245697021, + 2.9767074584960938 + ] + ], + "center": { + "x": 5.777751922607422, + "y": 0.6417027711868286, + "z": 3.1587977409362793 + }, + "size": { + "x": 0.42822837829589844, + "y": 0.10480189323425293, + "z": 0.3641805648803711 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.9918670654296875, + 0.5893018245697021, + 3.3408877849578857 + ], + [ + 5.5636372566223145, + 0.5893018245697021, + 3.3408877849578857 + ], + [ + 5.5636372566223145, + 0.5893018245697021, + 2.976707696914673 + ], + [ + 5.9918670654296875, + 0.5893018245697021, + 2.976707696914673 + ], + [ + 5.9918670654296875, + 0.6941037178039551, + 3.3408877849578857 + ], + [ + 5.5636372566223145, + 0.6941037178039551, + 3.3408877849578857 + ], + [ + 5.5636372566223145, + 0.6941037178039551, + 2.976707696914673 + ], + [ + 5.9918670654296875, + 0.6941037178039551, + 2.976707696914673 + ] + ] + } + } + }, + { + "objectId": "BasketBall|surface|2|12", + "object_info": { + "name": "BasketBall|surface|2|12", + "position": { + "x": 6.237112522125244, + "y": 0.7089889645576477, + "z": 2.5962400436401367 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6000000238418579, + "salientMaterials": [ + "Rubber" + ], + "receptacleObjectIds": null, + "distance": 4.876720428466797, + "objectType": "BasketBall", + "objectId": "BasketBall|surface|2|12", + "assetId": "RoboTHOR_basketball_rhode_island_novelty_v", + "parentReceptacles": [ + "Bed|2|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.356799602508545, + 0.8286760449409485, + 2.7159271240234375 + ], + [ + 6.356799602508545, + 0.8286760449409485, + 2.476552963256836 + ], + [ + 6.356799602508545, + 0.5893018841743469, + 2.7159271240234375 + ], + [ + 6.356799602508545, + 0.5893018841743469, + 2.476552963256836 + ], + [ + 6.117425441741943, + 0.8286760449409485, + 2.7159271240234375 + ], + [ + 6.117425441741943, + 0.8286760449409485, + 2.476552963256836 + ], + [ + 6.117425441741943, + 0.5893018841743469, + 2.7159271240234375 + ], + [ + 6.117425441741943, + 0.5893018841743469, + 2.476552963256836 + ] + ], + "center": { + "x": 6.237112522125244, + "y": 0.7089889645576477, + "z": 2.5962400436401367 + }, + "size": { + "x": 0.23937416076660156, + "y": 0.23937416076660156, + "z": 0.23937416076660156 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.356799602508545, + 0.5893018841743469, + 2.7159271240234375 + ], + [ + 6.117425441741943, + 0.5893018841743469, + 2.7159271240234375 + ], + [ + 6.117425441741943, + 0.5893018841743469, + 2.476552963256836 + ], + [ + 6.356799602508545, + 0.5893018841743469, + 2.476552963256836 + ], + [ + 6.356799602508545, + 0.8286760449409485, + 2.7159271240234375 + ], + [ + 6.117425441741943, + 0.8286760449409485, + 2.7159271240234375 + ], + [ + 6.117425441741943, + 0.8286760449409485, + 2.476552963256836 + ], + [ + 6.356799602508545, + 0.8286760449409485, + 2.476552963256836 + ] + ] + } + } + }, + { + "objectId": "TVStand|2|4|0", + "object_info": { + "name": "TVStand|2|4|0", + "position": { + "x": 6.12821102142334, + "y": -0.0005604922771453857, + "z": 6.425413608551025 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood", + "Metal" + ], + "receptacleObjectIds": [ + "Television|2|4|1", + "Watch|surface|2|3" + ], + "distance": 3.522228956222534, + "objectType": "TVStand", + "objectId": "TVStand|2|4|0", + "assetId": "TV_Stand_206_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.731991767883301, + 0.7525230050086975, + 6.7320098876953125 + ], + [ + 6.731991767883301, + 0.7525230050086975, + 6.1284990310668945 + ], + [ + 6.731991767883301, + 6.616115570068359e-06, + 6.7320098876953125 + ], + [ + 6.731991767883301, + 6.616115570068359e-06, + 6.1284990310668945 + ], + [ + 5.5271406173706055, + 0.7525230050086975, + 6.7320098876953125 + ], + [ + 5.5271406173706055, + 0.7525230050086975, + 6.1284990310668945 + ], + [ + 5.5271406173706055, + 6.616115570068359e-06, + 6.7320098876953125 + ], + [ + 5.5271406173706055, + 6.616115570068359e-06, + 6.1284990310668945 + ] + ], + "center": { + "x": 6.129566192626953, + "y": 0.3762648105621338, + "z": 6.4302544593811035 + }, + "size": { + "x": 1.2048511505126953, + "y": 0.7525163888931274, + "z": 0.603510856628418 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.5271406173706055, + 6.765127182006836e-06, + 6.128499507904053 + ], + [ + 6.731991767883301, + 6.765127182006836e-06, + 6.128499507904053 + ], + [ + 6.731991767883301, + 6.765127182006836e-06, + 6.7320098876953125 + ], + [ + 5.5271406173706055, + 6.765127182006836e-06, + 6.7320098876953125 + ], + [ + 5.5271406173706055, + 0.7525230646133423, + 6.128499507904053 + ], + [ + 6.731991767883301, + 0.7525230646133423, + 6.128499507904053 + ], + [ + 6.731991767883301, + 0.7525230646133423, + 6.7320098876953125 + ], + [ + 5.5271406173706055, + 0.7525230646133423, + 6.7320098876953125 + ] + ] + } + } + }, + { + "objectId": "Bed|2|0", + "object_info": { + "name": "Bed|2|0", + "position": { + "x": 6.084811687469482, + "y": 0.0007693767547607422, + "z": 2.857921600341797 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": true, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "Pillow|surface|2|8", + "RemoteControl|surface|2|10", + "BasketBall|surface|2|12" + ], + "distance": 4.669479846954346, + "objectType": "Bed", + "objectId": "Bed|2|0", + "assetId": "Bed_26_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.732000350952148, + 0.7116310596466064, + 4.083568572998047 + ], + [ + 6.732000350952148, + 0.7116310596466064, + 1.7139997482299805 + ], + [ + 6.732000350952148, + 0.0, + 4.083568572998047 + ], + [ + 6.732000350952148, + 0.0, + 1.7139997482299805 + ], + [ + 5.4356231689453125, + 0.7116310596466064, + 4.083568572998047 + ], + [ + 5.4356231689453125, + 0.7116310596466064, + 1.7139997482299805 + ], + [ + 5.4356231689453125, + 0.0, + 4.083568572998047 + ], + [ + 5.4356231689453125, + 0.0, + 1.7139997482299805 + ] + ], + "center": { + "x": 6.0838117599487305, + "y": 0.3558155298233032, + "z": 2.8987841606140137 + }, + "size": { + "x": 1.296377182006836, + "y": 0.7116310596466064, + "z": 2.3695688247680664 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.732000350952148, + 0.0, + 4.083568572998047 + ], + [ + 5.4356231689453125, + 0.0, + 4.083568572998047 + ], + [ + 5.4356231689453125, + 0.0, + 1.7140001058578491 + ], + [ + 6.732000350952148, + 0.0, + 1.7140001058578491 + ], + [ + 6.732000350952148, + 0.7116310596466064, + 4.083568572998047 + ], + [ + 5.4356231689453125, + 0.7116310596466064, + 4.083568572998047 + ], + [ + 5.4356231689453125, + 0.7116310596466064, + 1.7140001058578491 + ], + [ + 6.732000350952148, + 0.7116310596466064, + 1.7140001058578491 + ] + ] + } + } + }, + { + "objectId": "Painting|2|7", + "object_info": { + "name": "Painting|2|7", + "position": { + "x": 6.752004146575928, + "y": 1.6251276731491089, + "z": 4.396982669830322 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 4.3715057373046875, + "objectType": "Painting", + "objectId": "Painting|2|7", + "assetId": "Wall_Decor_Photo_9", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.751999855041504, + 1.9585574865341187, + 4.831832408905029 + ], + [ + 6.751999855041504, + 1.9585574865341187, + 3.9621329307556152 + ], + [ + 6.751999855041504, + 1.2916978597640991, + 4.831832408905029 + ], + [ + 6.751999855041504, + 1.2916978597640991, + 3.9621329307556152 + ], + [ + 6.720258712768555, + 1.9585574865341187, + 4.831832408905029 + ], + [ + 6.720258712768555, + 1.9585574865341187, + 3.9621329307556152 + ], + [ + 6.720258712768555, + 1.2916978597640991, + 4.831832408905029 + ], + [ + 6.720258712768555, + 1.2916978597640991, + 3.9621329307556152 + ] + ], + "center": { + "x": 6.736129283905029, + "y": 1.6251276731491089, + "z": 4.396982669830322 + }, + "size": { + "x": 0.03174114227294922, + "y": 0.6668596267700195, + "z": 0.8696994781494141 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "RemoteControl|surface|2|10", + "object_info": { + "name": "RemoteControl|surface|2|10", + "position": { + "x": 6.237124919891357, + "y": 0.5910016298294067, + "z": 3.721357822418213 + }, + "rotation": { + "x": 359.9859313964844, + "y": 0.002990604843944311, + "z": 0.014017040841281414 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.15000000596046448, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.177122116088867, + "objectType": "RemoteControl", + "objectId": "RemoteControl|surface|2|10", + "assetId": "Remote_1", + "parentReceptacles": [ + "Bed|2|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.271141529083252, + 0.6079767346382141, + 3.8287644386291504 + ], + [ + 6.271141529083252, + 0.6079767346382141, + 3.613159656524658 + ], + [ + 6.271141529083252, + 0.5892768502235413, + 3.8287644386291504 + ], + [ + 6.271141529083252, + 0.5892768502235413, + 3.613159656524658 + ], + [ + 6.2031073570251465, + 0.6079767346382141, + 3.8287644386291504 + ], + [ + 6.2031073570251465, + 0.6079767346382141, + 3.613159656524658 + ], + [ + 6.2031073570251465, + 0.5892768502235413, + 3.8287644386291504 + ], + [ + 6.2031073570251465, + 0.5892768502235413, + 3.613159656524658 + ] + ], + "center": { + "x": 6.237124443054199, + "y": 0.5986267924308777, + "z": 3.7209620475769043 + }, + "size": { + "x": 0.06803417205810547, + "y": 0.01869988441467285, + "z": 0.2156047821044922 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.271141529083252, + 0.5893325209617615, + 3.828761100769043 + ], + [ + 6.203120231628418, + 0.5893158316612244, + 3.8287646770477295 + ], + [ + 6.203109264373779, + 0.5892629623413086, + 3.613166332244873 + ], + [ + 6.271130084991455, + 0.5892795920372009, + 3.6131627559661865 + ], + [ + 6.27113676071167, + 0.6079767942428589, + 3.828756332397461 + ], + [ + 6.203115940093994, + 0.6079601645469666, + 3.8287599086761475 + ], + [ + 6.203104496002197, + 0.607907235622406, + 3.613161563873291 + ], + [ + 6.271125793457031, + 0.6079238653182983, + 3.6131579875946045 + ] + ] + } + } + }, + { + "objectId": "Painting|2|8", + "object_info": { + "name": "Painting|2|8", + "position": { + "x": 2.394002676010132, + "y": 1.728537917137146, + "z": 6.755313396453857 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 1.1756069660186768, + "objectType": "Painting", + "objectId": "Painting|2|8", + "assetId": "Wall_Decor_Painting_6", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.7912027835845947, + 2.0293593406677246, + 6.739336967468262 + ], + [ + 2.7912027835845947, + 2.0293593406677246, + 6.731963157653809 + ], + [ + 2.7912027835845947, + 1.427976131439209, + 6.739336967468262 + ], + [ + 2.7912027835845947, + 1.427976131439209, + 6.731963157653809 + ], + [ + 1.9938080310821533, + 2.0293593406677246, + 6.739336967468262 + ], + [ + 1.9938080310821533, + 2.0293593406677246, + 6.731963157653809 + ], + [ + 1.9938080310821533, + 1.427976131439209, + 6.739336967468262 + ], + [ + 1.9938080310821533, + 1.427976131439209, + 6.731963157653809 + ] + ], + "center": { + "x": 2.392505407333374, + "y": 1.7286677360534668, + "z": 6.735650062561035 + }, + "size": { + "x": 0.7973947525024414, + "y": 0.6013832092285156, + "z": 0.007373809814453125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Watch|surface|2|3", + "object_info": { + "name": "Watch|surface|2|3", + "position": { + "x": 6.4297003746032715, + "y": 0.752732515335083, + "z": 6.507055759429932 + }, + "rotation": { + "x": 1.850002408027649, + "y": 269.91400146484375, + "z": 1.273842215538025 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07000000029802322, + "salientMaterials": [ + "Metal", + "Glass", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.7174296379089355, + "objectType": "Watch", + "objectId": "Watch|surface|2|3", + "assetId": "Watch_1", + "parentReceptacles": [ + "TVStand|2|4|0" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.455543518066406, + 0.7879065275192261, + 6.546625137329102 + ], + [ + 6.455543518066406, + 0.7879065275192261, + 6.467731475830078 + ], + [ + 6.455543518066406, + 0.752383828163147, + 6.546625137329102 + ], + [ + 6.455543518066406, + 0.752383828163147, + 6.467731475830078 + ], + [ + 6.407195091247559, + 0.7879065275192261, + 6.546625137329102 + ], + [ + 6.407195091247559, + 0.7879065275192261, + 6.467731475830078 + ], + [ + 6.407195091247559, + 0.752383828163147, + 6.546625137329102 + ], + [ + 6.407195091247559, + 0.752383828163147, + 6.467731475830078 + ] + ], + "center": { + "x": 6.431369304656982, + "y": 0.7701451778411865, + "z": 6.50717830657959 + }, + "size": { + "x": 0.048348426818847656, + "y": 0.0355226993560791, + "z": 0.07889366149902344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.407225608825684, + 0.7516812086105347, + 6.546749591827393 + ], + [ + 6.407400131225586, + 0.7499356865882874, + 6.468212127685547 + ], + [ + 6.4561543464660645, + 0.7515104413032532, + 6.468285083770752 + ], + [ + 6.45598030090332, + 0.7532559633255005, + 6.546822547912598 + ], + [ + 6.406042098999023, + 0.7883646488189697, + 6.545931816101074 + ], + [ + 6.406216621398926, + 0.7866191267967224, + 6.46739387512207 + ], + [ + 6.454970836639404, + 0.7881938815116882, + 6.467467308044434 + ], + [ + 6.454796314239502, + 0.7899394035339355, + 6.546004772186279 + ] + ] + } + } + }, + { + "objectId": "Television|2|4|1", + "object_info": { + "name": "Television|2|4|1", + "position": { + "x": 6.1295647621154785, + "y": 1.238361120223999, + "z": 6.426628112792969 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.423051595687866, + "objectType": "Television", + "objectId": "Television|2|4|1", + "assetId": "Television_4", + "parentReceptacles": [ + "TVStand|2|4|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.680386066436768, + 1.5389535427093506, + 6.555263519287109 + ], + [ + 6.680386066436768, + 1.5389535427093506, + 6.305231094360352 + ], + [ + 6.680386066436768, + 0.7525255680084229, + 6.555263519287109 + ], + [ + 6.680386066436768, + 0.7525255680084229, + 6.305231094360352 + ], + [ + 5.5787434577941895, + 1.5389535427093506, + 6.555263519287109 + ], + [ + 5.5787434577941895, + 1.5389535427093506, + 6.305231094360352 + ], + [ + 5.5787434577941895, + 0.7525255680084229, + 6.555263519287109 + ], + [ + 5.5787434577941895, + 0.7525255680084229, + 6.305231094360352 + ] + ], + "center": { + "x": 6.1295647621154785, + "y": 1.1457395553588867, + "z": 6.4302473068237305 + }, + "size": { + "x": 1.1016426086425781, + "y": 0.7864279747009277, + "z": 0.2500324249267578 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.5787434577941895, + 0.7525255084037781, + 6.305231094360352 + ], + [ + 6.680386066436768, + 0.7525255084037781, + 6.305231094360352 + ], + [ + 6.680386066436768, + 0.7525255084037781, + 6.555263519287109 + ], + [ + 5.5787434577941895, + 0.7525255084037781, + 6.555263519287109 + ], + [ + 5.5787434577941895, + 1.5389536619186401, + 6.305231094360352 + ], + [ + 6.680386066436768, + 1.5389536619186401, + 6.305231094360352 + ], + [ + 6.680386066436768, + 1.5389536619186401, + 6.555263519287109 + ], + [ + 5.5787434577941895, + 1.5389536619186401, + 6.555263519287109 + ] + ] + } + } + }, + { + "objectId": "Box|surface|2|9", + "object_info": { + "name": "Box|surface|2|9", + "position": { + "x": 4.330590724945068, + "y": 0.8344038128852844, + "z": 3.695225954055786 + }, + "rotation": { + "x": 0.00023052019241731614, + "y": 180.0, + "z": 359.9800109863281 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.30000001192092896, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": [], + "distance": 2.795475959777832, + "objectType": "Box", + "objectId": "Box|surface|2|9", + "assetId": "Box_26", + "parentReceptacles": [ + "DiningTable|2|3|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.512392044067383, + 0.9175490140914917, + 4.067845344543457 + ], + [ + 4.512392044067383, + 0.9175490140914917, + 3.606621742248535 + ], + [ + 4.512392044067383, + 0.6327282190322876, + 4.067845344543457 + ], + [ + 4.512392044067383, + 0.6327282190322876, + 3.606621742248535 + ], + [ + 4.148536682128906, + 0.9175490140914917, + 4.067845344543457 + ], + [ + 4.148536682128906, + 0.9175490140914917, + 3.606621742248535 + ], + [ + 4.148536682128906, + 0.6327282190322876, + 4.067845344543457 + ], + [ + 4.148536682128906, + 0.6327282190322876, + 3.606621742248535 + ] + ], + "center": { + "x": 4.3304643630981445, + "y": 0.7751386165618896, + "z": 3.837233543395996 + }, + "size": { + "x": 0.36385536193847656, + "y": 0.2848207950592041, + "z": 0.4612236022949219 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.148633003234863, + 0.6326298713684082, + 3.6066200733184814 + ], + [ + 4.512492656707764, + 0.632756769657135, + 3.6066200733184814 + ], + [ + 4.512493133544922, + 0.632758617401123, + 4.067849159240723 + ], + [ + 4.148633003234863, + 0.6326316595077515, + 4.067849159240723 + ], + [ + 4.148533821105957, + 0.9174219965934753, + 3.606618881225586 + ], + [ + 4.512393474578857, + 0.9175488948822021, + 3.606618881225586 + ], + [ + 4.512393474578857, + 0.9175507426261902, + 4.067848205566406 + ], + [ + 4.148533821105957, + 0.9174238443374634, + 4.067848205566406 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 1.600000023841858, + "y": 0.9009997844696045, + "z": 6.400000095367432 + }, + "agent_rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "agent_cameraHorizon": -30.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 1.600000023841858, + "y": 1.5759997367858887, + "z": 6.400000095367432 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Box|surface|2|9", + "BasketBall|surface|2|12", + "Bed|2|0", + "Pillow|surface|2|8" + ], + "different_object": [ + "Painting|2|8", + "Television|2|4|1", + "RemoteControl|surface|2|10", + "Painting|2|7", + "Watch|surface|2|3", + "TVStand|2|4|0" + ] +} \ No newline at end of file diff --git a/train/train1493/1/1_depth_npy.npy b/train/train1493/1/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..b59884e2e9c0fc9306b34ace16613bfb8aed75f6 --- /dev/null +++ b/train/train1493/1/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:46c483af3d5409f05e15e50b56b0bf09f4ef737e3a36c4703c3c8828766c7ab2 +size 3145856 diff --git a/train/train1493/1/1_semantic_sensor_npy.npy b/train/train1493/1/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..b3ac32d54313eaafc234e478577bfe11c8ffa835 --- /dev/null +++ b/train/train1493/1/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3c0f7f9aa661b00f096222137175fbab1d92c7553655f73e49c67df35c93ef8a +size 2359424 diff --git a/train/train1493/1/depth_0.png b/train/train1493/1/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..f018e093ee3bd863df07ec1cd604f2b32de6a265 Binary files /dev/null and b/train/train1493/1/depth_0.png differ diff --git a/train/train1493/1/depth_1.png b/train/train1493/1/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..1086c8c773eb1420d83840f3556bad58cb4e2085 Binary files /dev/null and b/train/train1493/1/depth_1.png differ diff --git a/train/train1493/1/mask_questions.jsonl b/train/train1493/1/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b392524d156eb6ff8a997df848dc35577410b17f --- /dev/null +++ b/train/train1493/1/mask_questions.jsonl @@ -0,0 +1,2 @@ +{"id": 11180, "folder_dir": "train1493/1", "pair_name": "0-1:Box|surface|2|9", "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. BasketBall\nB. Chair\nC. Laptop\nD. Box", "answer": "D", "object_name": "Box", "image_1": "train1493/1/rgb_0.png", "image_2": "train1493/1/rgb_1.png", "mask_image": "train1493/1/rgb_1_mask_Box|surface|2|9.png", "options": ["BasketBall", "Chair", "Laptop", "Box"]} +{"id": 11181, "folder_dir": "train1493/1", "pair_name": "1-0:Box|surface|2|9", "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. Box\nB. BasketBall\nC. TVStand\nD. Painting", "answer": "A", "object_name": "Box", "image_1": "train1493/1/rgb_1.png", "image_2": "train1493/1/rgb_0.png", "mask_image": "train1493/1/rgb_0_mask_Box|surface|2|9.png", "options": ["Box", "BasketBall", "TVStand", "Painting"]} diff --git a/train/train1493/1/questions_distance.jsonl b/train/train1493/1/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..450e1cd07b927f971607fba97c6aa91bab68b2f1 --- /dev/null +++ b/train/train1493/1/questions_distance.jsonl @@ -0,0 +1 @@ +{"id": 4552, "folder_dir": "train1493/1", "query": "Which of the following objects is closest to Bed in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. BasketBall\nB. RemoteControl\nC. Pillow\nD. Other\n", "answer": "A", "src_object": "Bed", "target_object": "BasketBall", "question": "Which of the following objects is closest to Bed in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "BasketBall", "semantic_id": "BasketBall|surface|2|12", "distance": 0.48965859678091755, "com": {"x": 6.237112522125244, "y": 0.7089889645576477, "z": 2.5962400436401367}}, {"text": "RemoteControl", "semantic_id": "RemoteControl|surface|2|10", "distance": 0.8708837843597997, "com": {"x": 6.237124443054199, "y": 0.5986267924308777, "z": 3.7209620475769043}}, {"text": "Pillow", "semantic_id": "Pillow|surface|2|8", "distance": 0.4929616625660034, "com": {"x": 5.777751922607422, "y": 0.6417027711868286, "z": 3.1587977409362793}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1493/1/rgb_0.png", "image_2": "train1493/1/rgb_1.png"} diff --git a/train/train1493/1/rgb_0.png b/train/train1493/1/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..a25ddabd6fd68f12a3f4b32bae4691658fe0e15b --- /dev/null +++ b/train/train1493/1/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:293d884c96fea159f7765e9d00163558d6f15f4f27d19a31b6e277a462909906 +size 930969 diff --git a/train/train1493/1/rgb_0_mask_Box|surface|2|9.png b/train/train1493/1/rgb_0_mask_Box|surface|2|9.png new file mode 100644 index 0000000000000000000000000000000000000000..6f383628ec6a5b7a283c5026c92b11b46585e28e --- /dev/null +++ b/train/train1493/1/rgb_0_mask_Box|surface|2|9.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bdce0a8eecdbbe1b4d4d96da6321ac8512db88c163fa4600090cdf2212ce5fcf +size 811654 diff --git a/train/train1493/1/rgb_1.png b/train/train1493/1/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..718c5f50eefc2a7c288bf8d221a0cb8a44f4a00f --- /dev/null +++ b/train/train1493/1/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:061a6a45e3f52bbc01de4f32b4bda2abecfa130bd573501f682c22c70ceff61c +size 967021 diff --git a/train/train1493/1/rgb_1_mask_Box|surface|2|9.png b/train/train1493/1/rgb_1_mask_Box|surface|2|9.png new file mode 100644 index 0000000000000000000000000000000000000000..77b7d4dd26631a5057eed0c199da6e22a7872c2c --- /dev/null +++ b/train/train1493/1/rgb_1_mask_Box|surface|2|9.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cc323d39f8ffda4d1c5234b6736db27ba2eeb6becc76d2133dcab07b1349bfe0 +size 851247 diff --git a/train/train1493/1/semantic_0.png b/train/train1493/1/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..3bf5c3b0e2f497032a71bc9a1dfd0d5a02cd46ab Binary files /dev/null and b/train/train1493/1/semantic_0.png differ diff --git a/train/train1493/1/semantic_1.png b/train/train1493/1/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..82a844e9127c6006e564ae2c1ec87d649d907d28 Binary files /dev/null and b/train/train1493/1/semantic_1.png differ diff --git a/train/train1493/2/0.json b/train/train1493/2/0.json new file mode 100644 index 0000000000000000000000000000000000000000..c84839b7bc6698d8d407cb7d9a8ea41680e99ee8 --- /dev/null +++ b/train/train1493/2/0.json @@ -0,0 +1,3160 @@ +{ + "object": [ + { + "objectId": "Laptop|surface|2|7", + "object_info": { + "name": "Laptop|surface|2|7", + "position": { + "x": 3.9795827865600586, + "y": 0.6327298879623413, + "z": 3.9410414695739746 + }, + "rotation": { + "x": 2.9829290724592283e-05, + "y": 89.99992370605469, + "z": -9.140297333942726e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 2.299999952316284, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 2.413120985031128, + "objectType": "Laptop", + "objectId": "Laptop|surface|2|7", + "assetId": "Laptop_2", + "parentReceptacles": [ + "DiningTable|2|3|0", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.123044490814209, + 0.6625616550445557, + 4.117736339569092 + ], + [ + 4.123044490814209, + 0.6625616550445557, + 3.7643465995788574 + ], + [ + 4.123044490814209, + 0.6327295303344727, + 4.117736339569092 + ], + [ + 4.123044490814209, + 0.6327295303344727, + 3.7643465995788574 + ], + [ + 3.844463348388672, + 0.6625616550445557, + 4.117736339569092 + ], + [ + 3.844463348388672, + 0.6625616550445557, + 3.7643465995788574 + ], + [ + 3.844463348388672, + 0.6327295303344727, + 4.117736339569092 + ], + [ + 3.844463348388672, + 0.6327295303344727, + 3.7643465995788574 + ] + ], + "center": { + "x": 3.9837539196014404, + "y": 0.6476455926895142, + "z": 3.9410414695739746 + }, + "size": { + "x": 0.2785811424255371, + "y": 0.029832124710083008, + "z": 0.3533897399902344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.123044490814209, + 0.6327295303344727, + 3.7643468379974365 + ], + [ + 4.123044013977051, + 0.6327300667762756, + 4.117736339569092 + ], + [ + 3.844463348388672, + 0.63273024559021, + 4.117736339569092 + ], + [ + 3.84446382522583, + 0.6327296495437622, + 3.7643465995788574 + ], + [ + 4.123044490814209, + 0.6625610589981079, + 3.7643468379974365 + ], + [ + 4.123044013977051, + 0.6625615954399109, + 4.117736339569092 + ], + [ + 3.844463348388672, + 0.6625617146492004, + 4.117735862731934 + ], + [ + 3.84446382522583, + 0.6625611782073975, + 3.7643463611602783 + ] + ] + } + } + }, + { + "objectId": "DiningTable|2|3|0", + "object_info": { + "name": "DiningTable|2|3|0", + "position": { + "x": 3.6285083293914795, + "y": -0.00032138824462890625, + "z": 3.9410417079925537 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Laptop|surface|2|7", + "Box|surface|2|9", + "TennisRacket|surface|2|13", + "Pen|surface|2|6", + "CellPhone|surface|2|5" + ], + "distance": 2.4131858348846436, + "objectType": "DiningTable", + "objectId": "DiningTable|2|3|0", + "assetId": "Dining_Table_227_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.034149646759033, + 0.6327300071716309, + 4.441042423248291 + ], + [ + 5.034149646759033, + 0.6327300071716309, + 3.4410409927368164 + ], + [ + 5.034149646759033, + 1.9073486328125e-06, + 4.441042423248291 + ], + [ + 5.034149646759033, + 1.9073486328125e-06, + 3.4410409927368164 + ], + [ + 2.222867012023926, + 0.6327300071716309, + 4.441042423248291 + ], + [ + 2.222867012023926, + 0.6327300071716309, + 3.4410409927368164 + ], + [ + 2.222867012023926, + 1.9073486328125e-06, + 4.441042423248291 + ], + [ + 2.222867012023926, + 1.9073486328125e-06, + 3.4410409927368164 + ] + ], + "center": { + "x": 3.6285083293914795, + "y": 0.31636595726013184, + "z": 3.9410417079925537 + }, + "size": { + "x": 2.8112826347351074, + "y": 0.632728099822998, + "z": 1.0000014305114746 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.222867488861084, + 2.0265579223632812e-06, + 3.4410412311553955 + ], + [ + 5.034149169921875, + 2.0265579223632812e-06, + 3.4410409927368164 + ], + [ + 5.034149169921875, + 2.0265579223632812e-06, + 4.441041946411133 + ], + [ + 2.222867488861084, + 2.0265579223632812e-06, + 4.441042423248291 + ], + [ + 2.222867488861084, + 0.6327301263809204, + 3.4410412311553955 + ], + [ + 5.034149169921875, + 0.6327301263809204, + 3.4410409927368164 + ], + [ + 5.034149169921875, + 0.6327301263809204, + 4.441041946411133 + ], + [ + 2.222867488861084, + 0.6327301263809204, + 4.441042423248291 + ] + ] + } + } + }, + { + "objectId": "Pillow|surface|2|8", + "object_info": { + "name": "Pillow|surface|2|8", + "position": { + "x": 5.780210971832275, + "y": 0.6417027711868286, + "z": 3.1587977409362793 + }, + "rotation": { + "x": 1.1183072956555407e-06, + "y": -1.1981211400780012e-06, + "z": 1.7818133528635371e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 4.161952018737793, + "objectType": "Pillow", + "objectId": "Pillow|surface|2|8", + "assetId": "pillow_4", + "parentReceptacles": [ + "Bed|2|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.991866111755371, + 0.6941037178039551, + 3.340888023376465 + ], + [ + 5.991866111755371, + 0.6941037178039551, + 2.9767074584960938 + ], + [ + 5.991866111755371, + 0.5893018245697021, + 3.340888023376465 + ], + [ + 5.991866111755371, + 0.5893018245697021, + 2.9767074584960938 + ], + [ + 5.563637733459473, + 0.6941037178039551, + 3.340888023376465 + ], + [ + 5.563637733459473, + 0.6941037178039551, + 2.9767074584960938 + ], + [ + 5.563637733459473, + 0.5893018245697021, + 3.340888023376465 + ], + [ + 5.563637733459473, + 0.5893018245697021, + 2.9767074584960938 + ] + ], + "center": { + "x": 5.777751922607422, + "y": 0.6417027711868286, + "z": 3.1587977409362793 + }, + "size": { + "x": 0.42822837829589844, + "y": 0.10480189323425293, + "z": 0.3641805648803711 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.9918670654296875, + 0.5893018245697021, + 3.3408877849578857 + ], + [ + 5.5636372566223145, + 0.5893018245697021, + 3.3408877849578857 + ], + [ + 5.5636372566223145, + 0.5893018245697021, + 2.976707696914673 + ], + [ + 5.9918670654296875, + 0.5893018245697021, + 2.976707696914673 + ], + [ + 5.9918670654296875, + 0.6941037178039551, + 3.3408877849578857 + ], + [ + 5.5636372566223145, + 0.6941037178039551, + 3.3408877849578857 + ], + [ + 5.5636372566223145, + 0.6941037178039551, + 2.976707696914673 + ], + [ + 5.9918670654296875, + 0.6941037178039551, + 2.976707696914673 + ] + ] + } + } + }, + { + "objectId": "Vase|surface|2|2", + "object_info": { + "name": "Vase|surface|2|2", + "position": { + "x": 0.10326104611158371, + "y": 0.6992400288581848, + "z": 1.82970130443573 + }, + "rotation": { + "x": -0.0001268632331630215, + "y": 2.1344292690628208e-05, + "z": 4.1369763494003564e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 4.9434123039245605, + "objectType": "Vase", + "objectId": "Vase|surface|2|2", + "assetId": "Vase_Flat_5", + "parentReceptacles": [ + "Dresser|2|1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.17875802516937256, + 0.7693721055984497, + 1.9054481983184814 + ], + [ + 0.17875802516937256, + 0.7693721055984497, + 1.7544562816619873 + ], + [ + 0.17875802516937256, + 0.6992040872573853, + 1.9054481983184814 + ], + [ + 0.17875802516937256, + 0.6992040872573853, + 1.7544562816619873 + ], + [ + 0.027765020728111267, + 0.7693721055984497, + 1.9054481983184814 + ], + [ + 0.027765020728111267, + 0.7693721055984497, + 1.7544562816619873 + ], + [ + 0.027765020728111267, + 0.6992040872573853, + 1.9054481983184814 + ], + [ + 0.027765020728111267, + 0.6992040872573853, + 1.7544562816619873 + ] + ], + "center": { + "x": 0.10326152294874191, + "y": 0.7342880964279175, + "z": 1.8299522399902344 + }, + "size": { + "x": 0.1509930044412613, + "y": 0.07016801834106445, + "z": 0.15099191665649414 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.17875808477401733, + 0.6992042660713196, + 1.905448317527771 + ], + [ + 0.027765072882175446, + 0.69920414686203, + 1.905448317527771 + ], + [ + 0.02776501327753067, + 0.6992037892341614, + 1.7544562816619873 + ], + [ + 0.17875802516937256, + 0.6992039084434509, + 1.7544562816619873 + ], + [ + 0.17875802516937256, + 0.7693723440170288, + 1.905448079109192 + ], + [ + 0.027765020728111267, + 0.769372284412384, + 1.9054481983184814 + ], + [ + 0.02776496112346649, + 0.7693719267845154, + 1.7544561624526978 + ], + [ + 0.17875796556472778, + 0.7693720459938049, + 1.7544561624526978 + ] + ] + } + } + }, + { + "objectId": "BasketBall|surface|2|12", + "object_info": { + "name": "BasketBall|surface|2|12", + "position": { + "x": 6.237112522125244, + "y": 0.7089889645576477, + "z": 2.5962400436401367 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6000000238418579, + "salientMaterials": [ + "Rubber" + ], + "receptacleObjectIds": null, + "distance": 4.876720428466797, + "objectType": "BasketBall", + "objectId": "BasketBall|surface|2|12", + "assetId": "RoboTHOR_basketball_rhode_island_novelty_v", + "parentReceptacles": [ + "Bed|2|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.356799602508545, + 0.8286760449409485, + 2.7159271240234375 + ], + [ + 6.356799602508545, + 0.8286760449409485, + 2.476552963256836 + ], + [ + 6.356799602508545, + 0.5893018841743469, + 2.7159271240234375 + ], + [ + 6.356799602508545, + 0.5893018841743469, + 2.476552963256836 + ], + [ + 6.117425441741943, + 0.8286760449409485, + 2.7159271240234375 + ], + [ + 6.117425441741943, + 0.8286760449409485, + 2.476552963256836 + ], + [ + 6.117425441741943, + 0.5893018841743469, + 2.7159271240234375 + ], + [ + 6.117425441741943, + 0.5893018841743469, + 2.476552963256836 + ] + ], + "center": { + "x": 6.237112522125244, + "y": 0.7089889645576477, + "z": 2.5962400436401367 + }, + "size": { + "x": 0.23937416076660156, + "y": 0.23937416076660156, + "z": 0.23937416076660156 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.356799602508545, + 0.5893018841743469, + 2.7159271240234375 + ], + [ + 6.117425441741943, + 0.5893018841743469, + 2.7159271240234375 + ], + [ + 6.117425441741943, + 0.5893018841743469, + 2.476552963256836 + ], + [ + 6.356799602508545, + 0.5893018841743469, + 2.476552963256836 + ], + [ + 6.356799602508545, + 0.8286760449409485, + 2.7159271240234375 + ], + [ + 6.117425441741943, + 0.8286760449409485, + 2.7159271240234375 + ], + [ + 6.117425441741943, + 0.8286760449409485, + 2.476552963256836 + ], + [ + 6.356799602508545, + 0.8286760449409485, + 2.476552963256836 + ] + ] + } + } + }, + { + "objectId": "TennisRacket|surface|2|13", + "object_info": { + "name": "TennisRacket|surface|2|13", + "position": { + "x": 2.9256436824798584, + "y": 0.6512746214866638, + "z": 3.695225715637207 + }, + "rotation": { + "x": 358.3580017089844, + "y": 89.97605895996094, + "z": 359.9327697753906 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.3100000023841858, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.3249082565307617, + "objectType": "TennisRacket", + "objectId": "TennisRacket|surface|2|13", + "assetId": "Tennis_Racquet_3", + "parentReceptacles": [ + "DiningTable|2|3|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.255030632019043, + 0.6829039454460144, + 3.8234567642211914 + ], + [ + 3.255030632019043, + 0.6829039454460144, + 3.5676422119140625 + ], + [ + 3.255030632019043, + 0.6326798796653748, + 3.8234567642211914 + ], + [ + 3.255030632019043, + 0.6326798796653748, + 3.5676422119140625 + ], + [ + 2.601581573486328, + 0.6829039454460144, + 3.8234567642211914 + ], + [ + 2.601581573486328, + 0.6829039454460144, + 3.5676422119140625 + ], + [ + 2.601581573486328, + 0.6326798796653748, + 3.8234567642211914 + ], + [ + 2.601581573486328, + 0.6326798796653748, + 3.5676422119140625 + ] + ], + "center": { + "x": 2.9283061027526855, + "y": 0.6577919125556946, + "z": 3.695549488067627 + }, + "size": { + "x": 0.6534490585327148, + "y": 0.05022406578063965, + "z": 0.2558145523071289 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.255077362060547, + 0.6383706331253052, + 3.5679354667663574 + ], + [ + 3.2549619674682617, + 0.6386706233024597, + 3.823687791824341 + ], + [ + 2.6022543907165527, + 0.6199600100517273, + 3.8234150409698486 + ], + [ + 2.602369785308838, + 0.6196600198745728, + 3.5676627159118652 + ], + [ + 3.2538061141967773, + 0.6827270984649658, + 3.567883014678955 + ], + [ + 3.253690481185913, + 0.6830270886421204, + 3.8236351013183594 + ], + [ + 2.600982904434204, + 0.6643164753913879, + 3.8233625888824463 + ], + [ + 2.6010985374450684, + 0.6640164852142334, + 3.567610263824463 + ] + ] + } + } + }, + { + "objectId": "FloorLamp|2|5|1", + "object_info": { + "name": "FloorLamp|2|5|1", + "position": { + "x": 0.5131568908691406, + "y": 0.0011234283447265625, + "z": 5.162453651428223 + }, + "rotation": { + "x": 0.04141491651535034, + "y": 88.94591522216797, + "z": 0.027018219232559204 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": true, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 2.552396535873413, + "objectType": "FloorLamp", + "objectId": "FloorLamp|2|5|1", + "assetId": "Floor_Lamp_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": [], + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.7597269415855408, + 1.9035091400146484, + 5.43923807144165 + ], + [ + 0.7597269415855408, + 1.9035091400146484, + 4.8882832527160645 + ], + [ + 0.7597269415855408, + -7.3909759521484375e-06, + 5.43923807144165 + ], + [ + 0.7597269415855408, + -7.3909759521484375e-06, + 4.8882832527160645 + ], + [ + 0.26757150888442993, + 1.9035091400146484, + 5.43923807144165 + ], + [ + 0.26757150888442993, + 1.9035091400146484, + 4.8882832527160645 + ], + [ + 0.26757150888442993, + -7.3909759521484375e-06, + 5.43923807144165 + ], + [ + 0.26757150888442993, + -7.3909759521484375e-06, + 4.8882832527160645 + ] + ], + "center": { + "x": 0.5136492252349854, + "y": 0.9517508745193481, + "z": 5.163760662078857 + }, + "size": { + "x": 0.49215543270111084, + "y": 1.9035165309906006, + "z": 0.5509548187255859 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.7613488435745239, + 0.00013861071784049273, + 4.891992568969727 + ], + [ + 0.7512140870094299, + -0.00012117309961467981, + 5.442806243896484 + ], + [ + 0.2637823224067688, + 0.00023121514823287725, + 5.433837890625 + ], + [ + 0.27391713857650757, + 0.0004909990238957107, + 4.883024215698242 + ], + [ + 0.7627078294754028, + 1.9033949375152588, + 4.89291524887085 + ], + [ + 0.7525730729103088, + 1.9031351804733276, + 5.443728923797607 + ], + [ + 0.2651413083076477, + 1.9034875631332397, + 5.434760570526123 + ], + [ + 0.2752761244773865, + 1.903747320175171, + 4.883946895599365 + ] + ] + } + } + }, + { + "objectId": "Bed|2|0", + "object_info": { + "name": "Bed|2|0", + "position": { + "x": 6.084811687469482, + "y": 0.0007693767547607422, + "z": 2.857921600341797 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": true, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "Pillow|surface|2|8", + "RemoteControl|surface|2|10", + "BasketBall|surface|2|12" + ], + "distance": 4.669479846954346, + "objectType": "Bed", + "objectId": "Bed|2|0", + "assetId": "Bed_26_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.732000350952148, + 0.7116310596466064, + 4.083568572998047 + ], + [ + 6.732000350952148, + 0.7116310596466064, + 1.7139997482299805 + ], + [ + 6.732000350952148, + 0.0, + 4.083568572998047 + ], + [ + 6.732000350952148, + 0.0, + 1.7139997482299805 + ], + [ + 5.4356231689453125, + 0.7116310596466064, + 4.083568572998047 + ], + [ + 5.4356231689453125, + 0.7116310596466064, + 1.7139997482299805 + ], + [ + 5.4356231689453125, + 0.0, + 4.083568572998047 + ], + [ + 5.4356231689453125, + 0.0, + 1.7139997482299805 + ] + ], + "center": { + "x": 6.0838117599487305, + "y": 0.3558155298233032, + "z": 2.8987841606140137 + }, + "size": { + "x": 1.296377182006836, + "y": 0.7116310596466064, + "z": 2.3695688247680664 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.732000350952148, + 0.0, + 4.083568572998047 + ], + [ + 5.4356231689453125, + 0.0, + 4.083568572998047 + ], + [ + 5.4356231689453125, + 0.0, + 1.7140001058578491 + ], + [ + 6.732000350952148, + 0.0, + 1.7140001058578491 + ], + [ + 6.732000350952148, + 0.7116310596466064, + 4.083568572998047 + ], + [ + 5.4356231689453125, + 0.7116310596466064, + 4.083568572998047 + ], + [ + 5.4356231689453125, + 0.7116310596466064, + 1.7140001058578491 + ], + [ + 6.732000350952148, + 0.7116310596466064, + 1.7140001058578491 + ] + ] + } + } + }, + { + "objectId": "BaseballBat|surface|2|11", + "object_info": { + "name": "BaseballBat|surface|2|11", + "position": { + "x": 2.4015605449676514, + "y": 0.04473770409822464, + "z": 4.699457168579102 + }, + "rotation": { + "x": 90.0, + "y": 306.43365478515625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.8999999761581421, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 1.5956209897994995, + "objectType": "BaseballBat", + "objectId": "BaseballBat|surface|2|11", + "assetId": "BaseballBat_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.6451220512390137, + 0.08947601914405823, + 5.138495445251465 + ], + [ + 2.6451220512390137, + 0.08947601914405823, + 4.504087448120117 + ], + [ + 2.6451220512390137, + -4.3213367462158203e-07, + 5.138495445251465 + ], + [ + 2.6451220512390137, + -4.3213367462158203e-07, + 4.504087448120117 + ], + [ + 1.8257765769958496, + 0.08947601914405823, + 5.138495445251465 + ], + [ + 1.8257765769958496, + 0.08947601914405823, + 4.504087448120117 + ], + [ + 1.8257765769958496, + -4.3213367462158203e-07, + 5.138495445251465 + ], + [ + 1.8257765769958496, + -4.3213367462158203e-07, + 4.504087448120117 + ] + ], + "center": { + "x": 2.2354493141174316, + "y": 0.0447377935051918, + "z": 4.821291446685791 + }, + "size": { + "x": 0.8193454742431641, + "y": 0.08947645127773285, + "z": 0.6344079971313477 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.645125150680542, + -4.6938657760620117e-07, + 4.569081783294678 + ], + [ + 2.597147226333618, + 7.450580596923828e-09, + 4.504086971282959 + ], + [ + 2.5971477031707764, + 0.08947569876909256, + 4.504087448120117 + ], + [ + 2.6451256275177, + 0.08947522193193436, + 4.569082260131836 + ], + [ + 1.873750925064087, + -1.1175870895385742e-07, + 5.138495445251465 + ], + [ + 1.825773000717163, + 3.650784492492676e-07, + 5.073500633239746 + ], + [ + 1.8257732391357422, + 0.08947599679231644, + 5.073500633239746 + ], + [ + 1.873751163482666, + 0.08947551995515823, + 5.138495922088623 + ] + ] + } + } + }, + { + "objectId": "CellPhone|surface|2|5", + "object_info": { + "name": "CellPhone|surface|2|5", + "position": { + "x": 3.6285080909729004, + "y": 0.6334385275840759, + "z": 3.9410412311553955 + }, + "rotation": { + "x": 0.00010380728781456128, + "y": 90.00013732910156, + "z": -0.0012113000266253948 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1599999964237213, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 2.254479169845581, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|2|5", + "assetId": "Cellphone_8", + "parentReceptacles": [ + "DiningTable|2|3|0", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.7014195919036865, + 0.6436123251914978, + 3.9792797565460205 + ], + [ + 3.7014195919036865, + 0.6436123251914978, + 3.9028027057647705 + ], + [ + 3.7014195919036865, + 0.6327289938926697, + 3.9792797565460205 + ], + [ + 3.7014195919036865, + 0.6327289938926697, + 3.9028027057647705 + ], + [ + 3.5555965900421143, + 0.6436123251914978, + 3.9792797565460205 + ], + [ + 3.5555965900421143, + 0.6436123251914978, + 3.9028027057647705 + ], + [ + 3.5555965900421143, + 0.6327289938926697, + 3.9792797565460205 + ], + [ + 3.5555965900421143, + 0.6327289938926697, + 3.9028027057647705 + ] + ], + "center": { + "x": 3.6285080909729004, + "y": 0.6381706595420837, + "z": 3.9410412311553955 + }, + "size": { + "x": 0.14582300186157227, + "y": 0.010883331298828125, + "z": 0.07647705078125 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.7014193534851074, + 0.6327289938926697, + 3.9028027057647705 + ], + [ + 3.7014195919036865, + 0.6327306032180786, + 3.9792795181274414 + ], + [ + 3.5555968284606934, + 0.6327309012413025, + 3.9792797565460205 + ], + [ + 3.5555965900421143, + 0.6327292919158936, + 3.9028031826019287 + ], + [ + 3.7014193534851074, + 0.643610417842865, + 3.9028024673461914 + ], + [ + 3.7014195919036865, + 0.6436120867729187, + 3.9792792797088623 + ], + [ + 3.5555968284606934, + 0.6436123251914978, + 3.9792795181274414 + ], + [ + 3.5555965900421143, + 0.6436107158660889, + 3.9028029441833496 + ] + ] + } + } + }, + { + "objectId": "Dresser|2|1___1", + "object_info": { + "name": "Drawer (1)", + "position": { + "x": 0.33600085973739624, + "y": 0.39762961864471436, + "z": 2.0043113231658936 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 4.695348739624023, + "objectType": "Drawer", + "objectId": "Dresser|2|1___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.630402684211731, + 0.4907017946243286, + 2.028729200363159 + ], + [ + 0.630402684211731, + 0.4907017946243286, + 1.7607905864715576 + ], + [ + 0.630402684211731, + 0.30300021171569824, + 2.028729200363159 + ], + [ + 0.630402684211731, + 0.30300021171569824, + 1.7607905864715576 + ], + [ + 0.04253673553466797, + 0.4907017946243286, + 2.028729200363159 + ], + [ + 0.04253673553466797, + 0.4907017946243286, + 1.7607905864715576 + ], + [ + 0.04253673553466797, + 0.30300021171569824, + 2.028729200363159 + ], + [ + 0.04253673553466797, + 0.30300021171569824, + 1.7607905864715576 + ] + ], + "center": { + "x": 0.33646970987319946, + "y": 0.3968510031700134, + "z": 1.8947598934173584 + }, + "size": { + "x": 0.587865948677063, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Chair|2|3|2", + "object_info": { + "name": "Chair|2|3|2", + "position": { + "x": 3.6207263469696045, + "y": 0.006381243467330933, + "z": 4.512487411499023 + }, + "rotation": { + "x": 0.0, + "y": 196.23699951171875, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 1.9419578313827515, + "objectType": "Chair", + "objectId": "Chair|2|3|2", + "assetId": "Chair_303_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.9063186645507812, + 0.8342158198356628, + 4.866818428039551 + ], + [ + 3.9063186645507812, + 0.8342158198356628, + 4.199010848999023 + ], + [ + 3.9063186645507812, + -8.821487426757812e-06, + 4.866818428039551 + ], + [ + 3.9063186645507812, + -8.821487426757812e-06, + 4.199010848999023 + ], + [ + 3.331930637359619, + 0.8342158198356628, + 4.866818428039551 + ], + [ + 3.331930637359619, + 0.8342158198356628, + 4.199010848999023 + ], + [ + 3.331930637359619, + -8.821487426757812e-06, + 4.866818428039551 + ], + [ + 3.331930637359619, + -8.821487426757812e-06, + 4.199010848999023 + ] + ], + "center": { + "x": 3.6191246509552, + "y": 0.41710349917411804, + "z": 4.532914638519287 + }, + "size": { + "x": 0.5743880271911621, + "y": 0.8342246413230896, + "z": 0.6678075790405273 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.3253579139709473, + -8.851289749145508e-06, + 4.327392101287842 + ], + [ + 3.769542932510376, + -8.851289749145508e-06, + 4.198033332824707 + ], + [ + 3.9316635131835938, + -8.851289749145508e-06, + 4.754714012145996 + ], + [ + 3.487478494644165, + -8.851289749145508e-06, + 4.884072780609131 + ], + [ + 3.3253579139709473, + 0.8342158794403076, + 4.327392101287842 + ], + [ + 3.769542932510376, + 0.8342158794403076, + 4.198033332824707 + ], + [ + 3.9316635131835938, + 0.8342158794403076, + 4.754714012145996 + ], + [ + 3.487478494644165, + 0.8342158794403076, + 4.884072780609131 + ] + ] + } + } + }, + { + "objectId": "Chair|2|3|1", + "object_info": { + "name": "Chair|2|3|1", + "position": { + "x": 3.6328468322753906, + "y": 0.006381243467330933, + "z": 3.3703174591064453 + }, + "rotation": { + "x": -0.0, + "y": 9.422372817993164, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "CellPhone|surface|2|0" + ], + "distance": 2.914616823196411, + "objectType": "Chair", + "objectId": "Chair|2|3|1", + "assetId": "Chair_303_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.897411823272705, + 0.8342157602310181, + 3.6640021800994873 + ], + [ + 3.897411823272705, + 0.8342157602310181, + 3.027270555496216 + ], + [ + 3.897411823272705, + -8.702278137207031e-06, + 3.6640021800994873 + ], + [ + 3.897411823272705, + -8.702278137207031e-06, + 3.027270555496216 + ], + [ + 3.369459629058838, + 0.8342157602310181, + 3.6640021800994873 + ], + [ + 3.369459629058838, + 0.8342157602310181, + 3.027270555496216 + ], + [ + 3.369459629058838, + -8.702278137207031e-06, + 3.6640021800994873 + ], + [ + 3.369459629058838, + -8.702278137207031e-06, + 3.027270555496216 + ] + ], + "center": { + "x": 3.6334357261657715, + "y": 0.41710352897644043, + "z": 3.3456363677978516 + }, + "size": { + "x": 0.5279521942138672, + "y": 0.8342244625091553, + "z": 0.6367316246032715 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.904165506362915, + -8.851289749145508e-06, + 3.5891528129577637 + ], + [ + 3.4477694034576416, + -8.851289749145508e-06, + 3.6648917198181152 + ], + [ + 3.352848529815674, + -8.851289749145508e-06, + 3.092907190322876 + ], + [ + 3.8092446327209473, + -8.851289749145508e-06, + 3.0171680450439453 + ], + [ + 3.904165506362915, + 0.8342158794403076, + 3.5891528129577637 + ], + [ + 3.4477694034576416, + 0.8342158794403076, + 3.6648917198181152 + ], + [ + 3.352848529815674, + 0.8342158794403076, + 3.092907190322876 + ], + [ + 3.8092446327209473, + 0.8342158794403076, + 3.0171680450439453 + ] + ] + } + } + }, + { + "objectId": "HousePlant|2|2|0", + "object_info": { + "name": "HousePlant|2|2|0", + "position": { + "x": 2.105461597442627, + "y": 0.0007963702082633972, + "z": 1.8847824335098267 + }, + "rotation": { + "x": -1.0909427146543749e-05, + "y": 59.377197265625, + "z": -7.802341315255035e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.0, + "salientMaterials": [ + "Ceramic", + "Organic" + ], + "receptacleObjectIds": null, + "distance": 4.261550426483154, + "objectType": "HousePlant", + "objectId": "HousePlant|2|2|0", + "assetId": "Houseplant_27", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.232142925262451, + 0.8956964015960693, + 2.018171787261963 + ], + [ + 2.232142925262451, + 0.8956964015960693, + 1.757896900177002 + ], + [ + 2.232142925262451, + 0.0, + 2.018171787261963 + ], + [ + 2.232142925262451, + 0.0, + 1.757896900177002 + ], + [ + 1.9782309532165527, + 0.8956964015960693, + 2.018171787261963 + ], + [ + 1.9782309532165527, + 0.8956964015960693, + 1.757896900177002 + ], + [ + 1.9782309532165527, + 0.0, + 2.018171787261963 + ], + [ + 1.9782309532165527, + 0.0, + 1.757896900177002 + ] + ], + "center": { + "x": 2.105186939239502, + "y": 0.44784820079803467, + "z": 1.8880343437194824 + }, + "size": { + "x": 0.25391197204589844, + "y": 0.8956964015960693, + "z": 0.26027488708496094 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.2749667167663574, + 5.925539880990982e-08, + 1.8432307243347168 + ], + [ + 2.1496071815490723, + 9.278301149606705e-08, + 2.055009603500366 + ], + [ + 1.9312883615493774, + 4.44706529378891e-08, + 1.9257787466049194 + ], + [ + 2.056647777557373, + 1.0943040251731873e-08, + 1.7139999866485596 + ], + [ + 2.2749664783477783, + 0.8956964015960693, + 1.8432304859161377 + ], + [ + 2.1496071815490723, + 0.8956964015960693, + 2.055009365081787 + ], + [ + 1.9312883615493774, + 0.8956964015960693, + 1.9257786273956299 + ], + [ + 2.056647777557373, + 0.8956964015960693, + 1.71399986743927 + ] + ] + } + } + }, + { + "objectId": "Dresser|2|1", + "object_info": { + "name": "Dresser|2|1", + "position": { + "x": 0.336000919342041, + "y": -4.786252975463867e-05, + "z": 1.867034912109375 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Vase|surface|2|2", + "Watch|surface|2|4", + "KeyChain|surface|2|1" + ], + "distance": 4.870388031005859, + "objectType": "Dresser", + "objectId": "Dresser|2|1", + "assetId": "RoboTHOR_dresser_rast_v", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.6470012068748474, + 0.6992042660713196, + 2.0263736248016357 + ], + [ + 0.6470012068748474, + 0.6992042660713196, + 1.7118983268737793 + ], + [ + 0.6470012068748474, + 3.838539123535156e-05, + 2.0263736248016357 + ], + [ + 0.6470012068748474, + 3.838539123535156e-05, + 1.7118983268737793 + ], + [ + 0.02500063180923462, + 0.6992042660713196, + 2.0263736248016357 + ], + [ + 0.02500063180923462, + 0.6992042660713196, + 1.7118983268737793 + ], + [ + 0.02500063180923462, + 3.838539123535156e-05, + 2.0263736248016357 + ], + [ + 0.02500063180923462, + 3.838539123535156e-05, + 1.7118983268737793 + ] + ], + "center": { + "x": 0.336000919342041, + "y": 0.34962132573127747, + "z": 1.8691359758377075 + }, + "size": { + "x": 0.6220005750656128, + "y": 0.6991658806800842, + "z": 0.31447529792785645 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.6470009088516235, + 3.8564205169677734e-05, + 2.0263733863830566 + ], + [ + 0.025000929832458496, + 3.8564205169677734e-05, + 2.0263733863830566 + ], + [ + 0.025000929832458496, + 3.8564205169677734e-05, + 1.7118985652923584 + ], + [ + 0.6470009088516235, + 3.8564205169677734e-05, + 1.7118985652923584 + ], + [ + 0.6470009088516235, + 0.6992037892341614, + 2.0263733863830566 + ], + [ + 0.025000929832458496, + 0.6992037892341614, + 2.0263733863830566 + ], + [ + 0.025000929832458496, + 0.6992037892341614, + 1.7118985652923584 + ], + [ + 0.6470009088516235, + 0.6992037892341614, + 1.7118985652923584 + ] + ] + } + } + }, + { + "objectId": "Box|surface|2|9", + "object_info": { + "name": "Box|surface|2|9", + "position": { + "x": 4.330590724945068, + "y": 0.8344038128852844, + "z": 3.695225954055786 + }, + "rotation": { + "x": 0.00023052019241731614, + "y": 180.0, + "z": 359.9800109863281 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.30000001192092896, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": [], + "distance": 2.795475959777832, + "objectType": "Box", + "objectId": "Box|surface|2|9", + "assetId": "Box_26", + "parentReceptacles": [ + "DiningTable|2|3|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.512392044067383, + 0.9175490140914917, + 4.067845344543457 + ], + [ + 4.512392044067383, + 0.9175490140914917, + 3.606621742248535 + ], + [ + 4.512392044067383, + 0.6327282190322876, + 4.067845344543457 + ], + [ + 4.512392044067383, + 0.6327282190322876, + 3.606621742248535 + ], + [ + 4.148536682128906, + 0.9175490140914917, + 4.067845344543457 + ], + [ + 4.148536682128906, + 0.9175490140914917, + 3.606621742248535 + ], + [ + 4.148536682128906, + 0.6327282190322876, + 4.067845344543457 + ], + [ + 4.148536682128906, + 0.6327282190322876, + 3.606621742248535 + ] + ], + "center": { + "x": 4.3304643630981445, + "y": 0.7751386165618896, + "z": 3.837233543395996 + }, + "size": { + "x": 0.36385536193847656, + "y": 0.2848207950592041, + "z": 0.4612236022949219 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.148633003234863, + 0.6326298713684082, + 3.6066200733184814 + ], + [ + 4.512492656707764, + 0.632756769657135, + 3.6066200733184814 + ], + [ + 4.512493133544922, + 0.632758617401123, + 4.067849159240723 + ], + [ + 4.148633003234863, + 0.6326316595077515, + 4.067849159240723 + ], + [ + 4.148533821105957, + 0.9174219965934753, + 3.606618881225586 + ], + [ + 4.512393474578857, + 0.9175488948822021, + 3.606618881225586 + ], + [ + 4.512393474578857, + 0.9175507426261902, + 4.067848205566406 + ], + [ + 4.148533821105957, + 0.9174238443374634, + 4.067848205566406 + ] + ] + } + } + }, + { + "objectId": "Watch|surface|2|4", + "object_info": { + "name": "Watch|surface|2|4", + "position": { + "x": 0.4135294556617737, + "y": 0.6994122266769409, + "z": 1.8298429250717163 + }, + "rotation": { + "x": 1.8571752309799194, + "y": 359.9856872558594, + "z": 1.2905222177505493 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07000000029802322, + "salientMaterials": [ + "Metal", + "Glass", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.784343242645264, + "objectType": "Watch", + "objectId": "Watch|surface|2|4", + "assetId": "Watch_1", + "parentReceptacles": [ + "Dresser|2|1", + "Floor" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.4531009793281555, + 0.734585165977478, + 1.852339506149292 + ], + [ + 0.4531009793281555, + 0.734585165977478, + 1.8039939403533936 + ], + [ + 0.4531009793281555, + 0.6990681886672974, + 1.852339506149292 + ], + [ + 0.4531009793281555, + 0.6990681886672974, + 1.8039939403533936 + ], + [ + 0.3742009997367859, + 0.734585165977478, + 1.852339506149292 + ], + [ + 0.3742009997367859, + 0.734585165977478, + 1.8039939403533936 + ], + [ + 0.3742009997367859, + 0.6990681886672974, + 1.852339506149292 + ], + [ + 0.3742009997367859, + 0.6990681886672974, + 1.8039939403533936 + ] + ], + "center": { + "x": 0.4136509895324707, + "y": 0.7168266773223877, + "z": 1.8281667232513428 + }, + "size": { + "x": 0.07889997959136963, + "y": 0.035516977310180664, + "z": 0.04834556579589844 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.4532514214515686, + 0.6983696222305298, + 1.852268099784851 + ], + [ + 0.3747141361236572, + 0.6966013312339783, + 1.8521910905838013 + ], + [ + 0.3747263550758362, + 0.6981821656227112, + 1.8034368753433228 + ], + [ + 0.45326361060142517, + 0.6999505162239075, + 1.8035138845443726 + ], + [ + 0.4524242877960205, + 0.7350527048110962, + 1.8534573316574097 + ], + [ + 0.3738870322704315, + 0.7332843542098999, + 1.8533803224563599 + ], + [ + 0.3738992214202881, + 0.7348652482032776, + 1.804626226425171 + ], + [ + 0.45243650674819946, + 0.7366335391998291, + 1.8047031164169312 + ] + ] + } + } + }, + { + "objectId": "ArmChair|2|5|0", + "object_info": { + "name": "ArmChair|2|5|0", + "position": { + "x": 0.5206018090248108, + "y": -0.010606765747070312, + "z": 4.127284526824951 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 3.0509517192840576, + "objectType": "ArmChair", + "objectId": "ArmChair|2|5|0", + "assetId": "Armchair_222_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.0000998973846436, + 0.9451482892036438, + 4.693035125732422 + ], + [ + 1.0000998973846436, + 0.9451482892036438, + 3.553251266479492 + ], + [ + 1.0000998973846436, + 3.5762786865234375e-06, + 4.693035125732422 + ], + [ + 1.0000998973846436, + 3.5762786865234375e-06, + 3.553251266479492 + ], + [ + 0.024990439414978027, + 0.9451482892036438, + 4.693035125732422 + ], + [ + 0.024990439414978027, + 0.9451482892036438, + 3.553251266479492 + ], + [ + 0.024990439414978027, + 3.5762786865234375e-06, + 4.693035125732422 + ], + [ + 0.024990439414978027, + 3.5762786865234375e-06, + 3.553251266479492 + ] + ], + "center": { + "x": 0.5125451683998108, + "y": 0.47257593274116516, + "z": 4.123143196105957 + }, + "size": { + "x": 0.9751094579696655, + "y": 0.9451447129249573, + "z": 1.1397838592529297 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.0000996589660645, + 3.7550926208496094e-06, + 3.553251266479492 + ], + [ + 1.000099778175354, + 3.7550926208496094e-06, + 4.6930341720581055 + ], + [ + 0.02499067783355713, + 3.7550926208496094e-06, + 4.6930341720581055 + ], + [ + 0.024990558624267578, + 3.7550926208496094e-06, + 3.553251266479492 + ], + [ + 1.0000996589660645, + 0.9451481103897095, + 3.553251266479492 + ], + [ + 1.000099778175354, + 0.9451481103897095, + 4.6930341720581055 + ], + [ + 0.02499067783355713, + 0.9451481103897095, + 4.6930341720581055 + ], + [ + 0.024990558624267578, + 0.9451481103897095, + 3.553251266479492 + ] + ] + } + } + }, + { + "objectId": "window|2|0", + "object_info": { + "name": "window|2|0", + "position": { + "x": 4.403806686401367, + "y": 1.0646860599517822, + "z": 1.6890007257461548 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 4.620236396789551, + "objectType": "Window", + "objectId": "window|2|0", + "assetId": "Window_Hung_48x32", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.404592037200928, + 1.9362554550170898, + 1.8110367059707642 + ], + [ + 4.404592037200928, + 1.9362554550170898, + 1.5669633150100708 + ], + [ + 4.404592037200928, + 1.0637445449829102, + 1.8110367059707642 + ], + [ + 4.404592037200928, + 1.0637445449829102, + 1.5669633150100708 + ], + [ + 3.1326212882995605, + 1.9362554550170898, + 1.8110367059707642 + ], + [ + 3.1326212882995605, + 1.9362554550170898, + 1.5669633150100708 + ], + [ + 3.1326212882995605, + 1.0637445449829102, + 1.8110367059707642 + ], + [ + 3.1326212882995605, + 1.0637445449829102, + 1.5669633150100708 + ] + ], + "center": { + "x": 3.768606662750244, + "y": 1.5, + "z": 1.6890000104904175 + }, + "size": { + "x": 1.2719707489013672, + "y": 0.8725109100341797, + "z": 0.24407339096069336 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|2|1___2", + "object_info": { + "name": "Drawer (2)", + "position": { + "x": 0.33600085973739624, + "y": 0.20109392702579498, + "z": 2.0043113231658936 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 4.720464706420898, + "objectType": "Drawer", + "objectId": "Dresser|2|1___2", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.630402684211731, + 0.29416608810424805, + 2.028729200363159 + ], + [ + 0.630402684211731, + 0.29416608810424805, + 1.7607905864715576 + ], + [ + 0.630402684211731, + 0.10646450519561768, + 2.028729200363159 + ], + [ + 0.630402684211731, + 0.10646450519561768, + 1.7607905864715576 + ], + [ + 0.04253673553466797, + 0.29416608810424805, + 2.028729200363159 + ], + [ + 0.04253673553466797, + 0.29416608810424805, + 1.7607905864715576 + ], + [ + 0.04253673553466797, + 0.10646450519561768, + 2.028729200363159 + ], + [ + 0.04253673553466797, + 0.10646450519561768, + 1.7607905864715576 + ] + ], + "center": { + "x": 0.33646970987319946, + "y": 0.20031529664993286, + "z": 1.8947598934173584 + }, + "size": { + "x": 0.587865948677063, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|2|1___0", + "object_info": { + "name": "Drawer", + "position": { + "x": 0.33600085973739624, + "y": 0.5816994309425354, + "z": 2.0043113231658936 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 4.679195880889893, + "objectType": "Drawer", + "objectId": "Dresser|2|1___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.630402684211731, + 0.6747716069221497, + 2.028729200363159 + ], + [ + 0.630402684211731, + 0.6747716069221497, + 1.7607905864715576 + ], + [ + 0.630402684211731, + 0.4870700240135193, + 2.028729200363159 + ], + [ + 0.630402684211731, + 0.4870700240135193, + 1.7607905864715576 + ], + [ + 0.04253673553466797, + 0.6747716069221497, + 2.028729200363159 + ], + [ + 0.04253673553466797, + 0.6747716069221497, + 1.7607905864715576 + ], + [ + 0.04253673553466797, + 0.4870700240135193, + 2.028729200363159 + ], + [ + 0.04253673553466797, + 0.4870700240135193, + 1.7607905864715576 + ] + ], + "center": { + "x": 0.33646970987319946, + "y": 0.5809208154678345, + "z": 1.8947598934173584 + }, + "size": { + "x": 0.587865948677063, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 1.600000023841858, + "y": 0.9009997844696045, + "z": 6.400000095367432 + }, + "agent_rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "agent_cameraHorizon": 30.000003814697266, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 1.600000023841858, + "y": 1.5759997367858887, + "z": 6.400000095367432 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Box|surface|2|9", + "BasketBall|surface|2|12", + "CellPhone|surface|2|5", + "Chair|2|3|2", + "Pillow|surface|2|8", + "BaseballBat|surface|2|11", + "Chair|2|3|1", + "Laptop|surface|2|7", + "Bed|2|0", + "DiningTable|2|3|0" + ], + "different_object": [ + "Dresser|2|1", + "FloorLamp|2|5|1", + "HousePlant|2|2|0", + "TennisRacket|surface|2|13", + "Dresser|2|1___0", + "Dresser|2|1___1", + "Watch|surface|2|4", + "Vase|surface|2|2", + "Dresser|2|1___2", + "window|2|0", + "ArmChair|2|5|0" + ] +} \ No newline at end of file diff --git a/train/train1493/2/0_depth_npy.npy b/train/train1493/2/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..a272a5f9d6db896a0c2d098370b08a77b3fd64ed --- /dev/null +++ b/train/train1493/2/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2a2931910debd43a785430f0b1b477b027a1ba6ad52d861bbc05080789a16984 +size 3145856 diff --git a/train/train1493/2/0_semantic_sensor_npy.npy b/train/train1493/2/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..a15ec733bd3ddf47fa63dd2684c90b50c04e81e2 --- /dev/null +++ b/train/train1493/2/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cb255e16662a2c52f907a8b7a7ffb40f7afe484c8b5f8dba37afd12674aba8e4 +size 2359424 diff --git a/train/train1493/2/1.json b/train/train1493/2/1.json new file mode 100644 index 0000000000000000000000000000000000000000..3a9288fc74dc55714a8f582f77a1454455b43ff6 --- /dev/null +++ b/train/train1493/2/1.json @@ -0,0 +1,2626 @@ +{ + "object": [ + { + "objectId": "Laptop|surface|2|7", + "object_info": { + "name": "Laptop|surface|2|7", + "position": { + "x": 3.9795827865600586, + "y": 0.6327298879623413, + "z": 3.9410414695739746 + }, + "rotation": { + "x": 2.9829290724592283e-05, + "y": 89.99992370605469, + "z": -9.140297333942726e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 2.299999952316284, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 2.413120985031128, + "objectType": "Laptop", + "objectId": "Laptop|surface|2|7", + "assetId": "Laptop_2", + "parentReceptacles": [ + "DiningTable|2|3|0", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.123044490814209, + 0.6625616550445557, + 4.117736339569092 + ], + [ + 4.123044490814209, + 0.6625616550445557, + 3.7643465995788574 + ], + [ + 4.123044490814209, + 0.6327295303344727, + 4.117736339569092 + ], + [ + 4.123044490814209, + 0.6327295303344727, + 3.7643465995788574 + ], + [ + 3.844463348388672, + 0.6625616550445557, + 4.117736339569092 + ], + [ + 3.844463348388672, + 0.6625616550445557, + 3.7643465995788574 + ], + [ + 3.844463348388672, + 0.6327295303344727, + 4.117736339569092 + ], + [ + 3.844463348388672, + 0.6327295303344727, + 3.7643465995788574 + ] + ], + "center": { + "x": 3.9837539196014404, + "y": 0.6476455926895142, + "z": 3.9410414695739746 + }, + "size": { + "x": 0.2785811424255371, + "y": 0.029832124710083008, + "z": 0.3533897399902344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.123044490814209, + 0.6327295303344727, + 3.7643468379974365 + ], + [ + 4.123044013977051, + 0.6327300667762756, + 4.117736339569092 + ], + [ + 3.844463348388672, + 0.63273024559021, + 4.117736339569092 + ], + [ + 3.84446382522583, + 0.6327296495437622, + 3.7643465995788574 + ], + [ + 4.123044490814209, + 0.6625610589981079, + 3.7643468379974365 + ], + [ + 4.123044013977051, + 0.6625615954399109, + 4.117736339569092 + ], + [ + 3.844463348388672, + 0.6625617146492004, + 4.117735862731934 + ], + [ + 3.84446382522583, + 0.6625611782073975, + 3.7643463611602783 + ] + ] + } + } + }, + { + "objectId": "DiningTable|2|3|0", + "object_info": { + "name": "DiningTable|2|3|0", + "position": { + "x": 3.6285083293914795, + "y": -0.00032138824462890625, + "z": 3.9410417079925537 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Laptop|surface|2|7", + "Box|surface|2|9", + "TennisRacket|surface|2|13", + "Pen|surface|2|6", + "CellPhone|surface|2|5" + ], + "distance": 2.4131858348846436, + "objectType": "DiningTable", + "objectId": "DiningTable|2|3|0", + "assetId": "Dining_Table_227_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.034149646759033, + 0.6327300071716309, + 4.441042423248291 + ], + [ + 5.034149646759033, + 0.6327300071716309, + 3.4410409927368164 + ], + [ + 5.034149646759033, + 1.9073486328125e-06, + 4.441042423248291 + ], + [ + 5.034149646759033, + 1.9073486328125e-06, + 3.4410409927368164 + ], + [ + 2.222867012023926, + 0.6327300071716309, + 4.441042423248291 + ], + [ + 2.222867012023926, + 0.6327300071716309, + 3.4410409927368164 + ], + [ + 2.222867012023926, + 1.9073486328125e-06, + 4.441042423248291 + ], + [ + 2.222867012023926, + 1.9073486328125e-06, + 3.4410409927368164 + ] + ], + "center": { + "x": 3.6285083293914795, + "y": 0.31636595726013184, + "z": 3.9410417079925537 + }, + "size": { + "x": 2.8112826347351074, + "y": 0.632728099822998, + "z": 1.0000014305114746 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.222867488861084, + 2.0265579223632812e-06, + 3.4410412311553955 + ], + [ + 5.034149169921875, + 2.0265579223632812e-06, + 3.4410409927368164 + ], + [ + 5.034149169921875, + 2.0265579223632812e-06, + 4.441041946411133 + ], + [ + 2.222867488861084, + 2.0265579223632812e-06, + 4.441042423248291 + ], + [ + 2.222867488861084, + 0.6327301263809204, + 3.4410412311553955 + ], + [ + 5.034149169921875, + 0.6327301263809204, + 3.4410409927368164 + ], + [ + 5.034149169921875, + 0.6327301263809204, + 4.441041946411133 + ], + [ + 2.222867488861084, + 0.6327301263809204, + 4.441042423248291 + ] + ] + } + } + }, + { + "objectId": "Pillow|surface|2|8", + "object_info": { + "name": "Pillow|surface|2|8", + "position": { + "x": 5.780210971832275, + "y": 0.6417027711868286, + "z": 3.1587977409362793 + }, + "rotation": { + "x": 1.1183072956555407e-06, + "y": -1.1981211400780012e-06, + "z": 1.7818133528635371e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 4.161952018737793, + "objectType": "Pillow", + "objectId": "Pillow|surface|2|8", + "assetId": "pillow_4", + "parentReceptacles": [ + "Bed|2|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.991866111755371, + 0.6941037178039551, + 3.340888023376465 + ], + [ + 5.991866111755371, + 0.6941037178039551, + 2.9767074584960938 + ], + [ + 5.991866111755371, + 0.5893018245697021, + 3.340888023376465 + ], + [ + 5.991866111755371, + 0.5893018245697021, + 2.9767074584960938 + ], + [ + 5.563637733459473, + 0.6941037178039551, + 3.340888023376465 + ], + [ + 5.563637733459473, + 0.6941037178039551, + 2.9767074584960938 + ], + [ + 5.563637733459473, + 0.5893018245697021, + 3.340888023376465 + ], + [ + 5.563637733459473, + 0.5893018245697021, + 2.9767074584960938 + ] + ], + "center": { + "x": 5.777751922607422, + "y": 0.6417027711868286, + "z": 3.1587977409362793 + }, + "size": { + "x": 0.42822837829589844, + "y": 0.10480189323425293, + "z": 0.3641805648803711 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.9918670654296875, + 0.5893018245697021, + 3.3408877849578857 + ], + [ + 5.5636372566223145, + 0.5893018245697021, + 3.3408877849578857 + ], + [ + 5.5636372566223145, + 0.5893018245697021, + 2.976707696914673 + ], + [ + 5.9918670654296875, + 0.5893018245697021, + 2.976707696914673 + ], + [ + 5.9918670654296875, + 0.6941037178039551, + 3.3408877849578857 + ], + [ + 5.5636372566223145, + 0.6941037178039551, + 3.3408877849578857 + ], + [ + 5.5636372566223145, + 0.6941037178039551, + 2.976707696914673 + ], + [ + 5.9918670654296875, + 0.6941037178039551, + 2.976707696914673 + ] + ] + } + } + }, + { + "objectId": "BasketBall|surface|2|12", + "object_info": { + "name": "BasketBall|surface|2|12", + "position": { + "x": 6.237112522125244, + "y": 0.7089889645576477, + "z": 2.5962400436401367 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6000000238418579, + "salientMaterials": [ + "Rubber" + ], + "receptacleObjectIds": null, + "distance": 4.876720428466797, + "objectType": "BasketBall", + "objectId": "BasketBall|surface|2|12", + "assetId": "RoboTHOR_basketball_rhode_island_novelty_v", + "parentReceptacles": [ + "Bed|2|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.356799602508545, + 0.8286760449409485, + 2.7159271240234375 + ], + [ + 6.356799602508545, + 0.8286760449409485, + 2.476552963256836 + ], + [ + 6.356799602508545, + 0.5893018841743469, + 2.7159271240234375 + ], + [ + 6.356799602508545, + 0.5893018841743469, + 2.476552963256836 + ], + [ + 6.117425441741943, + 0.8286760449409485, + 2.7159271240234375 + ], + [ + 6.117425441741943, + 0.8286760449409485, + 2.476552963256836 + ], + [ + 6.117425441741943, + 0.5893018841743469, + 2.7159271240234375 + ], + [ + 6.117425441741943, + 0.5893018841743469, + 2.476552963256836 + ] + ], + "center": { + "x": 6.237112522125244, + "y": 0.7089889645576477, + "z": 2.5962400436401367 + }, + "size": { + "x": 0.23937416076660156, + "y": 0.23937416076660156, + "z": 0.23937416076660156 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.356799602508545, + 0.5893018841743469, + 2.7159271240234375 + ], + [ + 6.117425441741943, + 0.5893018841743469, + 2.7159271240234375 + ], + [ + 6.117425441741943, + 0.5893018841743469, + 2.476552963256836 + ], + [ + 6.356799602508545, + 0.5893018841743469, + 2.476552963256836 + ], + [ + 6.356799602508545, + 0.8286760449409485, + 2.7159271240234375 + ], + [ + 6.117425441741943, + 0.8286760449409485, + 2.7159271240234375 + ], + [ + 6.117425441741943, + 0.8286760449409485, + 2.476552963256836 + ], + [ + 6.356799602508545, + 0.8286760449409485, + 2.476552963256836 + ] + ] + } + } + }, + { + "objectId": "TVStand|2|4|0", + "object_info": { + "name": "TVStand|2|4|0", + "position": { + "x": 6.12821102142334, + "y": -0.0005604922771453857, + "z": 6.425413608551025 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood", + "Metal" + ], + "receptacleObjectIds": [ + "Television|2|4|1", + "Watch|surface|2|3" + ], + "distance": 3.522228956222534, + "objectType": "TVStand", + "objectId": "TVStand|2|4|0", + "assetId": "TV_Stand_206_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.731991767883301, + 0.7525230050086975, + 6.7320098876953125 + ], + [ + 6.731991767883301, + 0.7525230050086975, + 6.1284990310668945 + ], + [ + 6.731991767883301, + 6.616115570068359e-06, + 6.7320098876953125 + ], + [ + 6.731991767883301, + 6.616115570068359e-06, + 6.1284990310668945 + ], + [ + 5.5271406173706055, + 0.7525230050086975, + 6.7320098876953125 + ], + [ + 5.5271406173706055, + 0.7525230050086975, + 6.1284990310668945 + ], + [ + 5.5271406173706055, + 6.616115570068359e-06, + 6.7320098876953125 + ], + [ + 5.5271406173706055, + 6.616115570068359e-06, + 6.1284990310668945 + ] + ], + "center": { + "x": 6.129566192626953, + "y": 0.3762648105621338, + "z": 6.4302544593811035 + }, + "size": { + "x": 1.2048511505126953, + "y": 0.7525163888931274, + "z": 0.603510856628418 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.5271406173706055, + 6.765127182006836e-06, + 6.128499507904053 + ], + [ + 6.731991767883301, + 6.765127182006836e-06, + 6.128499507904053 + ], + [ + 6.731991767883301, + 6.765127182006836e-06, + 6.7320098876953125 + ], + [ + 5.5271406173706055, + 6.765127182006836e-06, + 6.7320098876953125 + ], + [ + 5.5271406173706055, + 0.7525230646133423, + 6.128499507904053 + ], + [ + 6.731991767883301, + 0.7525230646133423, + 6.128499507904053 + ], + [ + 6.731991767883301, + 0.7525230646133423, + 6.7320098876953125 + ], + [ + 5.5271406173706055, + 0.7525230646133423, + 6.7320098876953125 + ] + ] + } + } + }, + { + "objectId": "Bed|2|0", + "object_info": { + "name": "Bed|2|0", + "position": { + "x": 6.084811687469482, + "y": 0.0007693767547607422, + "z": 2.857921600341797 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": true, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "Pillow|surface|2|8", + "RemoteControl|surface|2|10", + "BasketBall|surface|2|12" + ], + "distance": 4.669479846954346, + "objectType": "Bed", + "objectId": "Bed|2|0", + "assetId": "Bed_26_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.732000350952148, + 0.7116310596466064, + 4.083568572998047 + ], + [ + 6.732000350952148, + 0.7116310596466064, + 1.7139997482299805 + ], + [ + 6.732000350952148, + 0.0, + 4.083568572998047 + ], + [ + 6.732000350952148, + 0.0, + 1.7139997482299805 + ], + [ + 5.4356231689453125, + 0.7116310596466064, + 4.083568572998047 + ], + [ + 5.4356231689453125, + 0.7116310596466064, + 1.7139997482299805 + ], + [ + 5.4356231689453125, + 0.0, + 4.083568572998047 + ], + [ + 5.4356231689453125, + 0.0, + 1.7139997482299805 + ] + ], + "center": { + "x": 6.0838117599487305, + "y": 0.3558155298233032, + "z": 2.8987841606140137 + }, + "size": { + "x": 1.296377182006836, + "y": 0.7116310596466064, + "z": 2.3695688247680664 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.732000350952148, + 0.0, + 4.083568572998047 + ], + [ + 5.4356231689453125, + 0.0, + 4.083568572998047 + ], + [ + 5.4356231689453125, + 0.0, + 1.7140001058578491 + ], + [ + 6.732000350952148, + 0.0, + 1.7140001058578491 + ], + [ + 6.732000350952148, + 0.7116310596466064, + 4.083568572998047 + ], + [ + 5.4356231689453125, + 0.7116310596466064, + 4.083568572998047 + ], + [ + 5.4356231689453125, + 0.7116310596466064, + 1.7140001058578491 + ], + [ + 6.732000350952148, + 0.7116310596466064, + 1.7140001058578491 + ] + ] + } + } + }, + { + "objectId": "Painting|2|7", + "object_info": { + "name": "Painting|2|7", + "position": { + "x": 6.752004146575928, + "y": 1.6251276731491089, + "z": 4.396982669830322 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 4.3715057373046875, + "objectType": "Painting", + "objectId": "Painting|2|7", + "assetId": "Wall_Decor_Photo_9", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.751999855041504, + 1.9585574865341187, + 4.831832408905029 + ], + [ + 6.751999855041504, + 1.9585574865341187, + 3.9621329307556152 + ], + [ + 6.751999855041504, + 1.2916978597640991, + 4.831832408905029 + ], + [ + 6.751999855041504, + 1.2916978597640991, + 3.9621329307556152 + ], + [ + 6.720258712768555, + 1.9585574865341187, + 4.831832408905029 + ], + [ + 6.720258712768555, + 1.9585574865341187, + 3.9621329307556152 + ], + [ + 6.720258712768555, + 1.2916978597640991, + 4.831832408905029 + ], + [ + 6.720258712768555, + 1.2916978597640991, + 3.9621329307556152 + ] + ], + "center": { + "x": 6.736129283905029, + "y": 1.6251276731491089, + "z": 4.396982669830322 + }, + "size": { + "x": 0.03174114227294922, + "y": 0.6668596267700195, + "z": 0.8696994781494141 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "BaseballBat|surface|2|11", + "object_info": { + "name": "BaseballBat|surface|2|11", + "position": { + "x": 2.4015605449676514, + "y": 0.04473770409822464, + "z": 4.699457168579102 + }, + "rotation": { + "x": 90.0, + "y": 306.43365478515625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.8999999761581421, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 1.5956209897994995, + "objectType": "BaseballBat", + "objectId": "BaseballBat|surface|2|11", + "assetId": "BaseballBat_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.6451220512390137, + 0.08947601914405823, + 5.138495445251465 + ], + [ + 2.6451220512390137, + 0.08947601914405823, + 4.504087448120117 + ], + [ + 2.6451220512390137, + -4.3213367462158203e-07, + 5.138495445251465 + ], + [ + 2.6451220512390137, + -4.3213367462158203e-07, + 4.504087448120117 + ], + [ + 1.8257765769958496, + 0.08947601914405823, + 5.138495445251465 + ], + [ + 1.8257765769958496, + 0.08947601914405823, + 4.504087448120117 + ], + [ + 1.8257765769958496, + -4.3213367462158203e-07, + 5.138495445251465 + ], + [ + 1.8257765769958496, + -4.3213367462158203e-07, + 4.504087448120117 + ] + ], + "center": { + "x": 2.2354493141174316, + "y": 0.0447377935051918, + "z": 4.821291446685791 + }, + "size": { + "x": 0.8193454742431641, + "y": 0.08947645127773285, + "z": 0.6344079971313477 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.645125150680542, + -4.6938657760620117e-07, + 4.569081783294678 + ], + [ + 2.597147226333618, + 7.450580596923828e-09, + 4.504086971282959 + ], + [ + 2.5971477031707764, + 0.08947569876909256, + 4.504087448120117 + ], + [ + 2.6451256275177, + 0.08947522193193436, + 4.569082260131836 + ], + [ + 1.873750925064087, + -1.1175870895385742e-07, + 5.138495445251465 + ], + [ + 1.825773000717163, + 3.650784492492676e-07, + 5.073500633239746 + ], + [ + 1.8257732391357422, + 0.08947599679231644, + 5.073500633239746 + ], + [ + 1.873751163482666, + 0.08947551995515823, + 5.138495922088623 + ] + ] + } + } + }, + { + "objectId": "RemoteControl|surface|2|10", + "object_info": { + "name": "RemoteControl|surface|2|10", + "position": { + "x": 6.237124919891357, + "y": 0.5910016298294067, + "z": 3.721357822418213 + }, + "rotation": { + "x": 359.9859313964844, + "y": 0.002990604843944311, + "z": 0.014017040841281414 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.15000000596046448, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.177122116088867, + "objectType": "RemoteControl", + "objectId": "RemoteControl|surface|2|10", + "assetId": "Remote_1", + "parentReceptacles": [ + "Bed|2|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.271141529083252, + 0.6079767346382141, + 3.8287644386291504 + ], + [ + 6.271141529083252, + 0.6079767346382141, + 3.613159656524658 + ], + [ + 6.271141529083252, + 0.5892768502235413, + 3.8287644386291504 + ], + [ + 6.271141529083252, + 0.5892768502235413, + 3.613159656524658 + ], + [ + 6.2031073570251465, + 0.6079767346382141, + 3.8287644386291504 + ], + [ + 6.2031073570251465, + 0.6079767346382141, + 3.613159656524658 + ], + [ + 6.2031073570251465, + 0.5892768502235413, + 3.8287644386291504 + ], + [ + 6.2031073570251465, + 0.5892768502235413, + 3.613159656524658 + ] + ], + "center": { + "x": 6.237124443054199, + "y": 0.5986267924308777, + "z": 3.7209620475769043 + }, + "size": { + "x": 0.06803417205810547, + "y": 0.01869988441467285, + "z": 0.2156047821044922 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.271141529083252, + 0.5893325209617615, + 3.828761100769043 + ], + [ + 6.203120231628418, + 0.5893158316612244, + 3.8287646770477295 + ], + [ + 6.203109264373779, + 0.5892629623413086, + 3.613166332244873 + ], + [ + 6.271130084991455, + 0.5892795920372009, + 3.6131627559661865 + ], + [ + 6.27113676071167, + 0.6079767942428589, + 3.828756332397461 + ], + [ + 6.203115940093994, + 0.6079601645469666, + 3.8287599086761475 + ], + [ + 6.203104496002197, + 0.607907235622406, + 3.613161563873291 + ], + [ + 6.271125793457031, + 0.6079238653182983, + 3.6131579875946045 + ] + ] + } + } + }, + { + "objectId": "Painting|2|8", + "object_info": { + "name": "Painting|2|8", + "position": { + "x": 2.394002676010132, + "y": 1.728537917137146, + "z": 6.755313396453857 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 1.1756069660186768, + "objectType": "Painting", + "objectId": "Painting|2|8", + "assetId": "Wall_Decor_Painting_6", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.7912027835845947, + 2.0293593406677246, + 6.739336967468262 + ], + [ + 2.7912027835845947, + 2.0293593406677246, + 6.731963157653809 + ], + [ + 2.7912027835845947, + 1.427976131439209, + 6.739336967468262 + ], + [ + 2.7912027835845947, + 1.427976131439209, + 6.731963157653809 + ], + [ + 1.9938080310821533, + 2.0293593406677246, + 6.739336967468262 + ], + [ + 1.9938080310821533, + 2.0293593406677246, + 6.731963157653809 + ], + [ + 1.9938080310821533, + 1.427976131439209, + 6.739336967468262 + ], + [ + 1.9938080310821533, + 1.427976131439209, + 6.731963157653809 + ] + ], + "center": { + "x": 2.392505407333374, + "y": 1.7286677360534668, + "z": 6.735650062561035 + }, + "size": { + "x": 0.7973947525024414, + "y": 0.6013832092285156, + "z": 0.007373809814453125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CellPhone|surface|2|5", + "object_info": { + "name": "CellPhone|surface|2|5", + "position": { + "x": 3.6285080909729004, + "y": 0.6334385275840759, + "z": 3.9410412311553955 + }, + "rotation": { + "x": 0.00010380728781456128, + "y": 90.00013732910156, + "z": -0.0012113000266253948 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1599999964237213, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 2.254479169845581, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|2|5", + "assetId": "Cellphone_8", + "parentReceptacles": [ + "DiningTable|2|3|0", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.7014195919036865, + 0.6436123251914978, + 3.9792797565460205 + ], + [ + 3.7014195919036865, + 0.6436123251914978, + 3.9028027057647705 + ], + [ + 3.7014195919036865, + 0.6327289938926697, + 3.9792797565460205 + ], + [ + 3.7014195919036865, + 0.6327289938926697, + 3.9028027057647705 + ], + [ + 3.5555965900421143, + 0.6436123251914978, + 3.9792797565460205 + ], + [ + 3.5555965900421143, + 0.6436123251914978, + 3.9028027057647705 + ], + [ + 3.5555965900421143, + 0.6327289938926697, + 3.9792797565460205 + ], + [ + 3.5555965900421143, + 0.6327289938926697, + 3.9028027057647705 + ] + ], + "center": { + "x": 3.6285080909729004, + "y": 0.6381706595420837, + "z": 3.9410412311553955 + }, + "size": { + "x": 0.14582300186157227, + "y": 0.010883331298828125, + "z": 0.07647705078125 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.7014193534851074, + 0.6327289938926697, + 3.9028027057647705 + ], + [ + 3.7014195919036865, + 0.6327306032180786, + 3.9792795181274414 + ], + [ + 3.5555968284606934, + 0.6327309012413025, + 3.9792797565460205 + ], + [ + 3.5555965900421143, + 0.6327292919158936, + 3.9028031826019287 + ], + [ + 3.7014193534851074, + 0.643610417842865, + 3.9028024673461914 + ], + [ + 3.7014195919036865, + 0.6436120867729187, + 3.9792792797088623 + ], + [ + 3.5555968284606934, + 0.6436123251914978, + 3.9792795181274414 + ], + [ + 3.5555965900421143, + 0.6436107158660889, + 3.9028029441833496 + ] + ] + } + } + }, + { + "objectId": "Watch|surface|2|3", + "object_info": { + "name": "Watch|surface|2|3", + "position": { + "x": 6.4297003746032715, + "y": 0.752732515335083, + "z": 6.507055759429932 + }, + "rotation": { + "x": 1.850002408027649, + "y": 269.91400146484375, + "z": 1.273842215538025 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07000000029802322, + "salientMaterials": [ + "Metal", + "Glass", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.7174296379089355, + "objectType": "Watch", + "objectId": "Watch|surface|2|3", + "assetId": "Watch_1", + "parentReceptacles": [ + "TVStand|2|4|0" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.455543518066406, + 0.7879065275192261, + 6.546625137329102 + ], + [ + 6.455543518066406, + 0.7879065275192261, + 6.467731475830078 + ], + [ + 6.455543518066406, + 0.752383828163147, + 6.546625137329102 + ], + [ + 6.455543518066406, + 0.752383828163147, + 6.467731475830078 + ], + [ + 6.407195091247559, + 0.7879065275192261, + 6.546625137329102 + ], + [ + 6.407195091247559, + 0.7879065275192261, + 6.467731475830078 + ], + [ + 6.407195091247559, + 0.752383828163147, + 6.546625137329102 + ], + [ + 6.407195091247559, + 0.752383828163147, + 6.467731475830078 + ] + ], + "center": { + "x": 6.431369304656982, + "y": 0.7701451778411865, + "z": 6.50717830657959 + }, + "size": { + "x": 0.048348426818847656, + "y": 0.0355226993560791, + "z": 0.07889366149902344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.407225608825684, + 0.7516812086105347, + 6.546749591827393 + ], + [ + 6.407400131225586, + 0.7499356865882874, + 6.468212127685547 + ], + [ + 6.4561543464660645, + 0.7515104413032532, + 6.468285083770752 + ], + [ + 6.45598030090332, + 0.7532559633255005, + 6.546822547912598 + ], + [ + 6.406042098999023, + 0.7883646488189697, + 6.545931816101074 + ], + [ + 6.406216621398926, + 0.7866191267967224, + 6.46739387512207 + ], + [ + 6.454970836639404, + 0.7881938815116882, + 6.467467308044434 + ], + [ + 6.454796314239502, + 0.7899394035339355, + 6.546004772186279 + ] + ] + } + } + }, + { + "objectId": "Television|2|4|1", + "object_info": { + "name": "Television|2|4|1", + "position": { + "x": 6.1295647621154785, + "y": 1.238361120223999, + "z": 6.426628112792969 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.423051595687866, + "objectType": "Television", + "objectId": "Television|2|4|1", + "assetId": "Television_4", + "parentReceptacles": [ + "TVStand|2|4|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.680386066436768, + 1.5389535427093506, + 6.555263519287109 + ], + [ + 6.680386066436768, + 1.5389535427093506, + 6.305231094360352 + ], + [ + 6.680386066436768, + 0.7525255680084229, + 6.555263519287109 + ], + [ + 6.680386066436768, + 0.7525255680084229, + 6.305231094360352 + ], + [ + 5.5787434577941895, + 1.5389535427093506, + 6.555263519287109 + ], + [ + 5.5787434577941895, + 1.5389535427093506, + 6.305231094360352 + ], + [ + 5.5787434577941895, + 0.7525255680084229, + 6.555263519287109 + ], + [ + 5.5787434577941895, + 0.7525255680084229, + 6.305231094360352 + ] + ], + "center": { + "x": 6.1295647621154785, + "y": 1.1457395553588867, + "z": 6.4302473068237305 + }, + "size": { + "x": 1.1016426086425781, + "y": 0.7864279747009277, + "z": 0.2500324249267578 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.5787434577941895, + 0.7525255084037781, + 6.305231094360352 + ], + [ + 6.680386066436768, + 0.7525255084037781, + 6.305231094360352 + ], + [ + 6.680386066436768, + 0.7525255084037781, + 6.555263519287109 + ], + [ + 5.5787434577941895, + 0.7525255084037781, + 6.555263519287109 + ], + [ + 5.5787434577941895, + 1.5389536619186401, + 6.305231094360352 + ], + [ + 6.680386066436768, + 1.5389536619186401, + 6.305231094360352 + ], + [ + 6.680386066436768, + 1.5389536619186401, + 6.555263519287109 + ], + [ + 5.5787434577941895, + 1.5389536619186401, + 6.555263519287109 + ] + ] + } + } + }, + { + "objectId": "Chair|2|3|2", + "object_info": { + "name": "Chair|2|3|2", + "position": { + "x": 3.6207263469696045, + "y": 0.006381243467330933, + "z": 4.512487411499023 + }, + "rotation": { + "x": 0.0, + "y": 196.23699951171875, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 1.9419578313827515, + "objectType": "Chair", + "objectId": "Chair|2|3|2", + "assetId": "Chair_303_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.9063186645507812, + 0.8342158198356628, + 4.866818428039551 + ], + [ + 3.9063186645507812, + 0.8342158198356628, + 4.199010848999023 + ], + [ + 3.9063186645507812, + -8.821487426757812e-06, + 4.866818428039551 + ], + [ + 3.9063186645507812, + -8.821487426757812e-06, + 4.199010848999023 + ], + [ + 3.331930637359619, + 0.8342158198356628, + 4.866818428039551 + ], + [ + 3.331930637359619, + 0.8342158198356628, + 4.199010848999023 + ], + [ + 3.331930637359619, + -8.821487426757812e-06, + 4.866818428039551 + ], + [ + 3.331930637359619, + -8.821487426757812e-06, + 4.199010848999023 + ] + ], + "center": { + "x": 3.6191246509552, + "y": 0.41710349917411804, + "z": 4.532914638519287 + }, + "size": { + "x": 0.5743880271911621, + "y": 0.8342246413230896, + "z": 0.6678075790405273 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.3253579139709473, + -8.851289749145508e-06, + 4.327392101287842 + ], + [ + 3.769542932510376, + -8.851289749145508e-06, + 4.198033332824707 + ], + [ + 3.9316635131835938, + -8.851289749145508e-06, + 4.754714012145996 + ], + [ + 3.487478494644165, + -8.851289749145508e-06, + 4.884072780609131 + ], + [ + 3.3253579139709473, + 0.8342158794403076, + 4.327392101287842 + ], + [ + 3.769542932510376, + 0.8342158794403076, + 4.198033332824707 + ], + [ + 3.9316635131835938, + 0.8342158794403076, + 4.754714012145996 + ], + [ + 3.487478494644165, + 0.8342158794403076, + 4.884072780609131 + ] + ] + } + } + }, + { + "objectId": "Chair|2|3|1", + "object_info": { + "name": "Chair|2|3|1", + "position": { + "x": 3.6328468322753906, + "y": 0.006381243467330933, + "z": 3.3703174591064453 + }, + "rotation": { + "x": -0.0, + "y": 9.422372817993164, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "CellPhone|surface|2|0" + ], + "distance": 2.914616823196411, + "objectType": "Chair", + "objectId": "Chair|2|3|1", + "assetId": "Chair_303_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.897411823272705, + 0.8342157602310181, + 3.6640021800994873 + ], + [ + 3.897411823272705, + 0.8342157602310181, + 3.027270555496216 + ], + [ + 3.897411823272705, + -8.702278137207031e-06, + 3.6640021800994873 + ], + [ + 3.897411823272705, + -8.702278137207031e-06, + 3.027270555496216 + ], + [ + 3.369459629058838, + 0.8342157602310181, + 3.6640021800994873 + ], + [ + 3.369459629058838, + 0.8342157602310181, + 3.027270555496216 + ], + [ + 3.369459629058838, + -8.702278137207031e-06, + 3.6640021800994873 + ], + [ + 3.369459629058838, + -8.702278137207031e-06, + 3.027270555496216 + ] + ], + "center": { + "x": 3.6334357261657715, + "y": 0.41710352897644043, + "z": 3.3456363677978516 + }, + "size": { + "x": 0.5279521942138672, + "y": 0.8342244625091553, + "z": 0.6367316246032715 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.904165506362915, + -8.851289749145508e-06, + 3.5891528129577637 + ], + [ + 3.4477694034576416, + -8.851289749145508e-06, + 3.6648917198181152 + ], + [ + 3.352848529815674, + -8.851289749145508e-06, + 3.092907190322876 + ], + [ + 3.8092446327209473, + -8.851289749145508e-06, + 3.0171680450439453 + ], + [ + 3.904165506362915, + 0.8342158794403076, + 3.5891528129577637 + ], + [ + 3.4477694034576416, + 0.8342158794403076, + 3.6648917198181152 + ], + [ + 3.352848529815674, + 0.8342158794403076, + 3.092907190322876 + ], + [ + 3.8092446327209473, + 0.8342158794403076, + 3.0171680450439453 + ] + ] + } + } + }, + { + "objectId": "Box|surface|2|9", + "object_info": { + "name": "Box|surface|2|9", + "position": { + "x": 4.330590724945068, + "y": 0.8344038128852844, + "z": 3.695225954055786 + }, + "rotation": { + "x": 0.00023052019241731614, + "y": 180.0, + "z": 359.9800109863281 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.30000001192092896, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": [], + "distance": 2.795475959777832, + "objectType": "Box", + "objectId": "Box|surface|2|9", + "assetId": "Box_26", + "parentReceptacles": [ + "DiningTable|2|3|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.512392044067383, + 0.9175490140914917, + 4.067845344543457 + ], + [ + 4.512392044067383, + 0.9175490140914917, + 3.606621742248535 + ], + [ + 4.512392044067383, + 0.6327282190322876, + 4.067845344543457 + ], + [ + 4.512392044067383, + 0.6327282190322876, + 3.606621742248535 + ], + [ + 4.148536682128906, + 0.9175490140914917, + 4.067845344543457 + ], + [ + 4.148536682128906, + 0.9175490140914917, + 3.606621742248535 + ], + [ + 4.148536682128906, + 0.6327282190322876, + 4.067845344543457 + ], + [ + 4.148536682128906, + 0.6327282190322876, + 3.606621742248535 + ] + ], + "center": { + "x": 4.3304643630981445, + "y": 0.7751386165618896, + "z": 3.837233543395996 + }, + "size": { + "x": 0.36385536193847656, + "y": 0.2848207950592041, + "z": 0.4612236022949219 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.148633003234863, + 0.6326298713684082, + 3.6066200733184814 + ], + [ + 4.512492656707764, + 0.632756769657135, + 3.6066200733184814 + ], + [ + 4.512493133544922, + 0.632758617401123, + 4.067849159240723 + ], + [ + 4.148633003234863, + 0.6326316595077515, + 4.067849159240723 + ], + [ + 4.148533821105957, + 0.9174219965934753, + 3.606618881225586 + ], + [ + 4.512393474578857, + 0.9175488948822021, + 3.606618881225586 + ], + [ + 4.512393474578857, + 0.9175507426261902, + 4.067848205566406 + ], + [ + 4.148533821105957, + 0.9174238443374634, + 4.067848205566406 + ] + ] + } + } + }, + { + "objectId": "Box|2|6", + "object_info": { + "name": "Box|2|6", + "position": { + "x": 4.2505645751953125, + "y": 0.15082219243049622, + "z": 6.450746536254883 + }, + "rotation": { + "x": 359.9891662597656, + "y": 179.99998474121094, + "z": 0.0039461394771933556 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.30000001192092896, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": [], + "distance": 1.737133502960205, + "objectType": "Box", + "objectId": "Box|2|6", + "assetId": "Box_23", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.509631156921387, + 0.26864856481552124, + 6.732048034667969 + ], + [ + 4.509631156921387, + 0.26864856481552124, + 6.316875457763672 + ], + [ + 4.509631156921387, + -2.7239322662353516e-05, + 6.732048034667969 + ], + [ + 4.509631156921387, + -2.7239322662353516e-05, + 6.316875457763672 + ], + [ + 3.998162269592285, + 0.26864856481552124, + 6.732048034667969 + ], + [ + 3.998162269592285, + 0.26864856481552124, + 6.316875457763672 + ], + [ + 3.998162269592285, + -2.7239322662353516e-05, + 6.732048034667969 + ], + [ + 3.998162269592285, + -2.7239322662353516e-05, + 6.316875457763672 + ] + ], + "center": { + "x": 4.253896713256836, + "y": 0.13431066274642944, + "z": 6.52446174621582 + }, + "size": { + "x": 0.5114688873291016, + "y": 0.2686758041381836, + "z": 0.4151725769042969 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.9981439113616943, + 6.669759750366211e-05, + 6.316826343536377 + ], + [ + 4.509615898132324, + 3.147125244140625e-05, + 6.316826343536377 + ], + [ + 4.509615421295166, + -4.70280647277832e-05, + 6.73199987411499 + ], + [ + 3.9981439113616943, + -1.1801719665527344e-05, + 6.731999397277832 + ], + [ + 3.9981625080108643, + 0.2687307596206665, + 6.316877365112305 + ], + [ + 4.509634017944336, + 0.26869553327560425, + 6.316877365112305 + ], + [ + 4.509634017944336, + 0.26861703395843506, + 6.73205041885376 + ], + [ + 3.998162269592285, + 0.2686522603034973, + 6.73205041885376 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 1.5, + "y": 0.9009997844696045, + "z": 6.5 + }, + "agent_rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "agent_cameraHorizon": 30.000003814697266, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 1.5, + "y": 1.5759997367858887, + "z": 6.5 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Box|surface|2|9", + "BasketBall|surface|2|12", + "CellPhone|surface|2|5", + "Chair|2|3|2", + "Pillow|surface|2|8", + "BaseballBat|surface|2|11", + "Chair|2|3|1", + "Laptop|surface|2|7", + "Bed|2|0", + "DiningTable|2|3|0" + ], + "different_object": [ + "Box|2|6", + "Painting|2|8", + "Television|2|4|1", + "RemoteControl|surface|2|10", + "Painting|2|7", + "Watch|surface|2|3", + "TVStand|2|4|0" + ] +} \ No newline at end of file diff --git a/train/train1493/2/1_depth_npy.npy b/train/train1493/2/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..ab3510cd42fb35a4556558638dd35bd6fa058f0a --- /dev/null +++ b/train/train1493/2/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eed11d1d5e135e60a9b87c2ff6710d611d2633d5592215c2300c91a6c330aeb2 +size 3145856 diff --git a/train/train1493/2/1_semantic_sensor_npy.npy b/train/train1493/2/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..a669e72f8fcba3c89d970b3008af7b594188e370 --- /dev/null +++ b/train/train1493/2/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4481a5b622e3570fc5846d981e89963d81bb90ac24990824a15f5d46debda668 +size 2359424 diff --git a/train/train1493/2/depth_0.png b/train/train1493/2/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..e03c042f6f05609dec1b3054c9ce844cb8219ff0 Binary files /dev/null and b/train/train1493/2/depth_0.png differ diff --git a/train/train1493/2/depth_1.png b/train/train1493/2/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..3bb204e1373b81fb919ae73ef59ddadab3d5db92 Binary files /dev/null and b/train/train1493/2/depth_1.png differ diff --git a/train/train1493/2/mask_questions.jsonl b/train/train1493/2/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d3fb7a5f6783d220cf6b3c8a9d02e4bfe685b80d --- /dev/null +++ b/train/train1493/2/mask_questions.jsonl @@ -0,0 +1,6 @@ +{"id": 11182, "folder_dir": "train1493/2", "pair_name": "0-1:Box|surface|2|9", "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. Box\nB. BasketBall\nC. Vase\nD. ArmChair", "answer": "A", "object_name": "Box", "image_1": "train1493/2/rgb_0.png", "image_2": "train1493/2/rgb_1.png", "mask_image": "train1493/2/rgb_1_mask_Box|surface|2|9.png", "options": ["Box", "BasketBall", "Vase", "ArmChair"]} +{"id": 11183, "folder_dir": "train1493/2", "pair_name": "0-1:Chair|2|3|2", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. ArmChair\nB. Chair\nC. Box\nD. Dresser", "answer": "B", "object_name": "Chair", "image_1": "train1493/2/rgb_0.png", "image_2": "train1493/2/rgb_1.png", "mask_image": "train1493/2/rgb_1_mask_Chair|2|3|2.png", "options": ["ArmChair", "Chair", "Box", "Dresser"]} +{"id": 11184, "folder_dir": "train1493/2", "pair_name": "0-1:BaseballBat|surface|2|11", "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. Box\nB. BaseballBat\nC. Dresser\nD. Watch", "answer": "B", "object_name": "BaseballBat", "image_1": "train1493/2/rgb_0.png", "image_2": "train1493/2/rgb_1.png", "mask_image": "train1493/2/rgb_1_mask_BaseballBat|surface|2|11.png", "options": ["Box", "BaseballBat", "Dresser", "Watch"]} +{"id": 11185, "folder_dir": "train1493/2", "pair_name": "1-0:Box|surface|2|9", "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. RemoteControl\nB. BasketBall\nC. Box\nD. Watch", "answer": "C", "object_name": "Box", "image_1": "train1493/2/rgb_1.png", "image_2": "train1493/2/rgb_0.png", "mask_image": "train1493/2/rgb_0_mask_Box|surface|2|9.png", "options": ["RemoteControl", "BasketBall", "Box", "Watch"]} +{"id": 11186, "folder_dir": "train1493/2", "pair_name": "1-0:Chair|2|3|2", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Painting\nB. Painting\nC. Chair\nD. Box", "answer": "C", "object_name": "Chair", "image_1": "train1493/2/rgb_1.png", "image_2": "train1493/2/rgb_0.png", "mask_image": "train1493/2/rgb_0_mask_Chair|2|3|2.png", "options": ["Painting", "Painting", "Chair", "Box"]} +{"id": 11187, "folder_dir": "train1493/2", "pair_name": "1-0:Chair|2|3|1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Box\nB. Painting\nC. Chair\nD. Television", "answer": "C", "object_name": "Chair", "image_1": "train1493/2/rgb_1.png", "image_2": "train1493/2/rgb_0.png", "mask_image": "train1493/2/rgb_0_mask_Chair|2|3|1.png", "options": ["Box", "Painting", "Chair", "Television"]} diff --git a/train/train1493/2/questions_distance.jsonl b/train/train1493/2/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..512e5b662868f77b89e34d6252fdffb6ceeeb2ec --- /dev/null +++ b/train/train1493/2/questions_distance.jsonl @@ -0,0 +1,3 @@ +{"id": 4553, "folder_dir": "train1493/2", "query": "Which of the following objects is closest to BaseballBat in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. TennisRacket\nB. CellPhone\nC. DiningTable\nD. Other\n", "answer": "A", "src_object": "BaseballBat", "target_object": "TennisRacket", "question": "Which of the following objects is closest to BaseballBat in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "TennisRacket", "semantic_id": "TennisRacket|surface|2|13", "distance": 1.457113873325007, "com": {"x": 2.9283061027526855, "y": 0.6577919125556946, "z": 3.695549488067627}}, {"text": "CellPhone", "semantic_id": "CellPhone|surface|2|5", "distance": 1.7514610370225545, "com": {"x": 3.6285080909729004, "y": 0.6381706595420837, "z": 3.9410412311553955}}, {"text": "DiningTable", "semantic_id": "DiningTable|2|3|0", "distance": 1.6701002610174913, "com": {"x": 3.6285083293914795, "y": 0.31636595726013184, "z": 3.9410417079925537}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1493/2/rgb_0.png", "image_2": "train1493/2/rgb_1.png"} +{"id": 4554, "folder_dir": "train1493/2", "query": "Which of the following objects is closest to Bed in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Pillow\nB. RemoteControl\nC. BasketBall\nD. Other\n", "answer": "C", "src_object": "Bed", "target_object": "BasketBall", "question": "Which of the following objects is closest to Bed in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Pillow", "semantic_id": "Pillow|surface|2|8", "distance": 0.4929616625660034, "com": {"x": 5.777751922607422, "y": 0.6417027711868286, "z": 3.1587977409362793}}, {"text": "RemoteControl", "semantic_id": "RemoteControl|surface|2|10", "distance": 0.8708837843597997, "com": {"x": 6.237124443054199, "y": 0.5986267924308777, "z": 3.7209620475769043}}, {"text": "BasketBall", "semantic_id": "BasketBall|surface|2|12", "distance": 0.48965859678091755, "com": {"x": 6.237112522125244, "y": 0.7089889645576477, "z": 2.5962400436401367}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1493/2/rgb_0.png", "image_2": "train1493/2/rgb_1.png"} +{"id": 4555, "folder_dir": "train1493/2", "query": "Which of the following objects is closest to DiningTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Laptop\nB. TennisRacket\nC. CellPhone\nD. Other\n", "answer": "C", "src_object": "DiningTable", "target_object": "CellPhone", "question": "Which of the following objects is closest to DiningTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Laptop", "semantic_id": "Laptop|surface|2|7", "distance": 0.485742345502124, "com": {"x": 3.9837539196014404, "y": 0.6476455926895142, "z": 3.9410414695739746}}, {"text": "TennisRacket", "semantic_id": "TennisRacket|surface|2|13", "distance": 0.8167749207603532, "com": {"x": 2.9283061027526855, "y": 0.6577919125556946, "z": 3.695549488067627}}, {"text": "CellPhone", "semantic_id": "CellPhone|surface|2|5", "distance": 0.3218047022823935, "com": {"x": 3.6285080909729004, "y": 0.6381706595420837, "z": 3.9410412311553955}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1493/2/rgb_0.png", "image_2": "train1493/2/rgb_1.png"} diff --git a/train/train1493/2/rgb_0.png b/train/train1493/2/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..bc6116a8708078249c9cd33a01dfd16cb5599bdd --- /dev/null +++ b/train/train1493/2/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:39cdbdc2dd6bcb929cfcaff83d8136ceacf9d312468537571fe655beed50e61e +size 1082445 diff --git a/train/train1493/2/rgb_0_mask_Box|surface|2|9.png b/train/train1493/2/rgb_0_mask_Box|surface|2|9.png new file mode 100644 index 0000000000000000000000000000000000000000..2a5fdac24cba73ca3e7d281388bbab5b0c0d94dd --- /dev/null +++ b/train/train1493/2/rgb_0_mask_Box|surface|2|9.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:41b278196552d8ad6f26ddf0c47e35deb95f0ee4963915e8577dbc11643e76f9 +size 948884 diff --git a/train/train1493/2/rgb_0_mask_Chair|2|3|1.png b/train/train1493/2/rgb_0_mask_Chair|2|3|1.png new file mode 100644 index 0000000000000000000000000000000000000000..24597475d75f4f50d509199adced4ce8dd83dcb5 --- /dev/null +++ b/train/train1493/2/rgb_0_mask_Chair|2|3|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0891e532c6cc8c4a4a8bd5570bc8ca64955a2af95bdecc91f28b2ff325178751 +size 951839 diff --git a/train/train1493/2/rgb_0_mask_Chair|2|3|2.png b/train/train1493/2/rgb_0_mask_Chair|2|3|2.png new file mode 100644 index 0000000000000000000000000000000000000000..d09c8bcc683217e4d7e38367ea0e28a68684724e --- /dev/null +++ b/train/train1493/2/rgb_0_mask_Chair|2|3|2.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e7d0e9262c3ec769b76dacae2dc50b8150df5e514a80051e257e18e1184b485b +size 939413 diff --git a/train/train1493/2/rgb_1.png b/train/train1493/2/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..fa7a066869b0ec480372f60e91cce9c4ae29d58b --- /dev/null +++ b/train/train1493/2/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:daaac3d095f4a34b0918adeb4664713d9b5317ff45c1112e5649cb007ac03c1d +size 1066625 diff --git a/train/train1493/2/rgb_1_mask_BaseballBat|surface|2|11.png b/train/train1493/2/rgb_1_mask_BaseballBat|surface|2|11.png new file mode 100644 index 0000000000000000000000000000000000000000..5dc80b8da69e0c8c327210e943710f7caf1877e7 --- /dev/null +++ b/train/train1493/2/rgb_1_mask_BaseballBat|surface|2|11.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e2b167eb2cc15dd1f01bc2b1d220239b9816ef5b9713255467b6fd1177e303fe +size 920400 diff --git a/train/train1493/2/rgb_1_mask_Box|surface|2|9.png b/train/train1493/2/rgb_1_mask_Box|surface|2|9.png new file mode 100644 index 0000000000000000000000000000000000000000..7302e39c6bfa456f4d9065f40f115cd586f82445 --- /dev/null +++ b/train/train1493/2/rgb_1_mask_Box|surface|2|9.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f240c00650fd2242ac9eb77589d57469ebf5e2c9509fc0ff824a34128dccc30d +size 934458 diff --git a/train/train1493/2/rgb_1_mask_Chair|2|3|2.png b/train/train1493/2/rgb_1_mask_Chair|2|3|2.png new file mode 100644 index 0000000000000000000000000000000000000000..c6673a87e2630137b7c3170876ca92258f7cc959 --- /dev/null +++ b/train/train1493/2/rgb_1_mask_Chair|2|3|2.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:917ac1d226bf1ac01efd94c077ee4f33515733f3c3db8d1844d00c13fb75ce45 +size 924053 diff --git a/train/train1493/2/semantic_0.png b/train/train1493/2/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..cc34e6b590f018c013fecbb30d91711ca3eea22d Binary files /dev/null and b/train/train1493/2/semantic_0.png differ diff --git a/train/train1493/2/semantic_1.png b/train/train1493/2/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..b498c888c0ebb06d314f7f755a6d4d38c9d1a901 Binary files /dev/null and b/train/train1493/2/semantic_1.png differ diff --git a/train/train1493/3/0.json b/train/train1493/3/0.json new file mode 100644 index 0000000000000000000000000000000000000000..c576b05b582d1fbea7175d38db40a339d52216b2 --- /dev/null +++ b/train/train1493/3/0.json @@ -0,0 +1,1785 @@ +{ + "object": [ + { + "objectId": "Vase|surface|2|2", + "object_info": { + "name": "Vase|surface|2|2", + "position": { + "x": 0.10326104611158371, + "y": 0.6992400288581848, + "z": 1.82970130443573 + }, + "rotation": { + "x": -0.0001268632331630215, + "y": 2.1344292690628208e-05, + "z": 4.1369763494003564e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 4.9434123039245605, + "objectType": "Vase", + "objectId": "Vase|surface|2|2", + "assetId": "Vase_Flat_5", + "parentReceptacles": [ + "Dresser|2|1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.17875802516937256, + 0.7693721055984497, + 1.9054481983184814 + ], + [ + 0.17875802516937256, + 0.7693721055984497, + 1.7544562816619873 + ], + [ + 0.17875802516937256, + 0.6992040872573853, + 1.9054481983184814 + ], + [ + 0.17875802516937256, + 0.6992040872573853, + 1.7544562816619873 + ], + [ + 0.027765020728111267, + 0.7693721055984497, + 1.9054481983184814 + ], + [ + 0.027765020728111267, + 0.7693721055984497, + 1.7544562816619873 + ], + [ + 0.027765020728111267, + 0.6992040872573853, + 1.9054481983184814 + ], + [ + 0.027765020728111267, + 0.6992040872573853, + 1.7544562816619873 + ] + ], + "center": { + "x": 0.10326152294874191, + "y": 0.7342880964279175, + "z": 1.8299522399902344 + }, + "size": { + "x": 0.1509930044412613, + "y": 0.07016801834106445, + "z": 0.15099191665649414 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.17875808477401733, + 0.6992042660713196, + 1.905448317527771 + ], + [ + 0.027765072882175446, + 0.69920414686203, + 1.905448317527771 + ], + [ + 0.02776501327753067, + 0.6992037892341614, + 1.7544562816619873 + ], + [ + 0.17875802516937256, + 0.6992039084434509, + 1.7544562816619873 + ], + [ + 0.17875802516937256, + 0.7693723440170288, + 1.905448079109192 + ], + [ + 0.027765020728111267, + 0.769372284412384, + 1.9054481983184814 + ], + [ + 0.02776496112346649, + 0.7693719267845154, + 1.7544561624526978 + ], + [ + 0.17875796556472778, + 0.7693720459938049, + 1.7544561624526978 + ] + ] + } + } + }, + { + "objectId": "FloorLamp|2|5|1", + "object_info": { + "name": "FloorLamp|2|5|1", + "position": { + "x": 0.5131568908691406, + "y": 0.0011234283447265625, + "z": 5.162453651428223 + }, + "rotation": { + "x": 0.04141491651535034, + "y": 88.94591522216797, + "z": 0.027018219232559204 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": true, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 2.552396535873413, + "objectType": "FloorLamp", + "objectId": "FloorLamp|2|5|1", + "assetId": "Floor_Lamp_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": [], + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.7597269415855408, + 1.9035091400146484, + 5.43923807144165 + ], + [ + 0.7597269415855408, + 1.9035091400146484, + 4.8882832527160645 + ], + [ + 0.7597269415855408, + -7.3909759521484375e-06, + 5.43923807144165 + ], + [ + 0.7597269415855408, + -7.3909759521484375e-06, + 4.8882832527160645 + ], + [ + 0.26757150888442993, + 1.9035091400146484, + 5.43923807144165 + ], + [ + 0.26757150888442993, + 1.9035091400146484, + 4.8882832527160645 + ], + [ + 0.26757150888442993, + -7.3909759521484375e-06, + 5.43923807144165 + ], + [ + 0.26757150888442993, + -7.3909759521484375e-06, + 4.8882832527160645 + ] + ], + "center": { + "x": 0.5136492252349854, + "y": 0.9517508745193481, + "z": 5.163760662078857 + }, + "size": { + "x": 0.49215543270111084, + "y": 1.9035165309906006, + "z": 0.5509548187255859 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.7613488435745239, + 0.00013861071784049273, + 4.891992568969727 + ], + [ + 0.7512140870094299, + -0.00012117309961467981, + 5.442806243896484 + ], + [ + 0.2637823224067688, + 0.00023121514823287725, + 5.433837890625 + ], + [ + 0.27391713857650757, + 0.0004909990238957107, + 4.883024215698242 + ], + [ + 0.7627078294754028, + 1.9033949375152588, + 4.89291524887085 + ], + [ + 0.7525730729103088, + 1.9031351804733276, + 5.443728923797607 + ], + [ + 0.2651413083076477, + 1.9034875631332397, + 5.434760570526123 + ], + [ + 0.2752761244773865, + 1.903747320175171, + 4.883946895599365 + ] + ] + } + } + }, + { + "objectId": "Bed|2|0", + "object_info": { + "name": "Bed|2|0", + "position": { + "x": 6.084811687469482, + "y": 0.0007693767547607422, + "z": 2.857921600341797 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": true, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "Pillow|surface|2|8", + "RemoteControl|surface|2|10", + "BasketBall|surface|2|12" + ], + "distance": 4.669479846954346, + "objectType": "Bed", + "objectId": "Bed|2|0", + "assetId": "Bed_26_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.732000350952148, + 0.7116310596466064, + 4.083568572998047 + ], + [ + 6.732000350952148, + 0.7116310596466064, + 1.7139997482299805 + ], + [ + 6.732000350952148, + 0.0, + 4.083568572998047 + ], + [ + 6.732000350952148, + 0.0, + 1.7139997482299805 + ], + [ + 5.4356231689453125, + 0.7116310596466064, + 4.083568572998047 + ], + [ + 5.4356231689453125, + 0.7116310596466064, + 1.7139997482299805 + ], + [ + 5.4356231689453125, + 0.0, + 4.083568572998047 + ], + [ + 5.4356231689453125, + 0.0, + 1.7139997482299805 + ] + ], + "center": { + "x": 6.0838117599487305, + "y": 0.3558155298233032, + "z": 2.8987841606140137 + }, + "size": { + "x": 1.296377182006836, + "y": 0.7116310596466064, + "z": 2.3695688247680664 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.732000350952148, + 0.0, + 4.083568572998047 + ], + [ + 5.4356231689453125, + 0.0, + 4.083568572998047 + ], + [ + 5.4356231689453125, + 0.0, + 1.7140001058578491 + ], + [ + 6.732000350952148, + 0.0, + 1.7140001058578491 + ], + [ + 6.732000350952148, + 0.7116310596466064, + 4.083568572998047 + ], + [ + 5.4356231689453125, + 0.7116310596466064, + 4.083568572998047 + ], + [ + 5.4356231689453125, + 0.7116310596466064, + 1.7140001058578491 + ], + [ + 6.732000350952148, + 0.7116310596466064, + 1.7140001058578491 + ] + ] + } + } + }, + { + "objectId": "Dresser|2|1___1", + "object_info": { + "name": "Drawer (1)", + "position": { + "x": 0.33600085973739624, + "y": 0.39762961864471436, + "z": 2.0043113231658936 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 4.695348739624023, + "objectType": "Drawer", + "objectId": "Dresser|2|1___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.630402684211731, + 0.4907017946243286, + 2.028729200363159 + ], + [ + 0.630402684211731, + 0.4907017946243286, + 1.7607905864715576 + ], + [ + 0.630402684211731, + 0.30300021171569824, + 2.028729200363159 + ], + [ + 0.630402684211731, + 0.30300021171569824, + 1.7607905864715576 + ], + [ + 0.04253673553466797, + 0.4907017946243286, + 2.028729200363159 + ], + [ + 0.04253673553466797, + 0.4907017946243286, + 1.7607905864715576 + ], + [ + 0.04253673553466797, + 0.30300021171569824, + 2.028729200363159 + ], + [ + 0.04253673553466797, + 0.30300021171569824, + 1.7607905864715576 + ] + ], + "center": { + "x": 0.33646970987319946, + "y": 0.3968510031700134, + "z": 1.8947598934173584 + }, + "size": { + "x": 0.587865948677063, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Chair|2|3|1", + "object_info": { + "name": "Chair|2|3|1", + "position": { + "x": 3.6328468322753906, + "y": 0.006381243467330933, + "z": 3.3703174591064453 + }, + "rotation": { + "x": -0.0, + "y": 9.422372817993164, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "CellPhone|surface|2|0" + ], + "distance": 2.914616823196411, + "objectType": "Chair", + "objectId": "Chair|2|3|1", + "assetId": "Chair_303_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.897411823272705, + 0.8342157602310181, + 3.6640021800994873 + ], + [ + 3.897411823272705, + 0.8342157602310181, + 3.027270555496216 + ], + [ + 3.897411823272705, + -8.702278137207031e-06, + 3.6640021800994873 + ], + [ + 3.897411823272705, + -8.702278137207031e-06, + 3.027270555496216 + ], + [ + 3.369459629058838, + 0.8342157602310181, + 3.6640021800994873 + ], + [ + 3.369459629058838, + 0.8342157602310181, + 3.027270555496216 + ], + [ + 3.369459629058838, + -8.702278137207031e-06, + 3.6640021800994873 + ], + [ + 3.369459629058838, + -8.702278137207031e-06, + 3.027270555496216 + ] + ], + "center": { + "x": 3.6334357261657715, + "y": 0.41710352897644043, + "z": 3.3456363677978516 + }, + "size": { + "x": 0.5279521942138672, + "y": 0.8342244625091553, + "z": 0.6367316246032715 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.904165506362915, + -8.851289749145508e-06, + 3.5891528129577637 + ], + [ + 3.4477694034576416, + -8.851289749145508e-06, + 3.6648917198181152 + ], + [ + 3.352848529815674, + -8.851289749145508e-06, + 3.092907190322876 + ], + [ + 3.8092446327209473, + -8.851289749145508e-06, + 3.0171680450439453 + ], + [ + 3.904165506362915, + 0.8342158794403076, + 3.5891528129577637 + ], + [ + 3.4477694034576416, + 0.8342158794403076, + 3.6648917198181152 + ], + [ + 3.352848529815674, + 0.8342158794403076, + 3.092907190322876 + ], + [ + 3.8092446327209473, + 0.8342158794403076, + 3.0171680450439453 + ] + ] + } + } + }, + { + "objectId": "HousePlant|2|2|0", + "object_info": { + "name": "HousePlant|2|2|0", + "position": { + "x": 2.105461597442627, + "y": 0.0007963702082633972, + "z": 1.8847824335098267 + }, + "rotation": { + "x": -1.0909427146543749e-05, + "y": 59.377197265625, + "z": -7.802341315255035e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.0, + "salientMaterials": [ + "Ceramic", + "Organic" + ], + "receptacleObjectIds": null, + "distance": 4.261550426483154, + "objectType": "HousePlant", + "objectId": "HousePlant|2|2|0", + "assetId": "Houseplant_27", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.232142925262451, + 0.8956964015960693, + 2.018171787261963 + ], + [ + 2.232142925262451, + 0.8956964015960693, + 1.757896900177002 + ], + [ + 2.232142925262451, + 0.0, + 2.018171787261963 + ], + [ + 2.232142925262451, + 0.0, + 1.757896900177002 + ], + [ + 1.9782309532165527, + 0.8956964015960693, + 2.018171787261963 + ], + [ + 1.9782309532165527, + 0.8956964015960693, + 1.757896900177002 + ], + [ + 1.9782309532165527, + 0.0, + 2.018171787261963 + ], + [ + 1.9782309532165527, + 0.0, + 1.757896900177002 + ] + ], + "center": { + "x": 2.105186939239502, + "y": 0.44784820079803467, + "z": 1.8880343437194824 + }, + "size": { + "x": 0.25391197204589844, + "y": 0.8956964015960693, + "z": 0.26027488708496094 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.2749667167663574, + 5.925539880990982e-08, + 1.8432307243347168 + ], + [ + 2.1496071815490723, + 9.278301149606705e-08, + 2.055009603500366 + ], + [ + 1.9312883615493774, + 4.44706529378891e-08, + 1.9257787466049194 + ], + [ + 2.056647777557373, + 1.0943040251731873e-08, + 1.7139999866485596 + ], + [ + 2.2749664783477783, + 0.8956964015960693, + 1.8432304859161377 + ], + [ + 2.1496071815490723, + 0.8956964015960693, + 2.055009365081787 + ], + [ + 1.9312883615493774, + 0.8956964015960693, + 1.9257786273956299 + ], + [ + 2.056647777557373, + 0.8956964015960693, + 1.71399986743927 + ] + ] + } + } + }, + { + "objectId": "Dresser|2|1", + "object_info": { + "name": "Dresser|2|1", + "position": { + "x": 0.336000919342041, + "y": -4.786252975463867e-05, + "z": 1.867034912109375 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Vase|surface|2|2", + "Watch|surface|2|4", + "KeyChain|surface|2|1" + ], + "distance": 4.870388031005859, + "objectType": "Dresser", + "objectId": "Dresser|2|1", + "assetId": "RoboTHOR_dresser_rast_v", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.6470012068748474, + 0.6992042660713196, + 2.0263736248016357 + ], + [ + 0.6470012068748474, + 0.6992042660713196, + 1.7118983268737793 + ], + [ + 0.6470012068748474, + 3.838539123535156e-05, + 2.0263736248016357 + ], + [ + 0.6470012068748474, + 3.838539123535156e-05, + 1.7118983268737793 + ], + [ + 0.02500063180923462, + 0.6992042660713196, + 2.0263736248016357 + ], + [ + 0.02500063180923462, + 0.6992042660713196, + 1.7118983268737793 + ], + [ + 0.02500063180923462, + 3.838539123535156e-05, + 2.0263736248016357 + ], + [ + 0.02500063180923462, + 3.838539123535156e-05, + 1.7118983268737793 + ] + ], + "center": { + "x": 0.336000919342041, + "y": 0.34962132573127747, + "z": 1.8691359758377075 + }, + "size": { + "x": 0.6220005750656128, + "y": 0.6991658806800842, + "z": 0.31447529792785645 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.6470009088516235, + 3.8564205169677734e-05, + 2.0263733863830566 + ], + [ + 0.025000929832458496, + 3.8564205169677734e-05, + 2.0263733863830566 + ], + [ + 0.025000929832458496, + 3.8564205169677734e-05, + 1.7118985652923584 + ], + [ + 0.6470009088516235, + 3.8564205169677734e-05, + 1.7118985652923584 + ], + [ + 0.6470009088516235, + 0.6992037892341614, + 2.0263733863830566 + ], + [ + 0.025000929832458496, + 0.6992037892341614, + 2.0263733863830566 + ], + [ + 0.025000929832458496, + 0.6992037892341614, + 1.7118985652923584 + ], + [ + 0.6470009088516235, + 0.6992037892341614, + 1.7118985652923584 + ] + ] + } + } + }, + { + "objectId": "Box|surface|2|9", + "object_info": { + "name": "Box|surface|2|9", + "position": { + "x": 4.330590724945068, + "y": 0.8344038128852844, + "z": 3.695225954055786 + }, + "rotation": { + "x": 0.00023052019241731614, + "y": 180.0, + "z": 359.9800109863281 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.30000001192092896, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": [], + "distance": 2.795475959777832, + "objectType": "Box", + "objectId": "Box|surface|2|9", + "assetId": "Box_26", + "parentReceptacles": [ + "DiningTable|2|3|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.512392044067383, + 0.9175490140914917, + 4.067845344543457 + ], + [ + 4.512392044067383, + 0.9175490140914917, + 3.606621742248535 + ], + [ + 4.512392044067383, + 0.6327282190322876, + 4.067845344543457 + ], + [ + 4.512392044067383, + 0.6327282190322876, + 3.606621742248535 + ], + [ + 4.148536682128906, + 0.9175490140914917, + 4.067845344543457 + ], + [ + 4.148536682128906, + 0.9175490140914917, + 3.606621742248535 + ], + [ + 4.148536682128906, + 0.6327282190322876, + 4.067845344543457 + ], + [ + 4.148536682128906, + 0.6327282190322876, + 3.606621742248535 + ] + ], + "center": { + "x": 4.3304643630981445, + "y": 0.7751386165618896, + "z": 3.837233543395996 + }, + "size": { + "x": 0.36385536193847656, + "y": 0.2848207950592041, + "z": 0.4612236022949219 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.148633003234863, + 0.6326298713684082, + 3.6066200733184814 + ], + [ + 4.512492656707764, + 0.632756769657135, + 3.6066200733184814 + ], + [ + 4.512493133544922, + 0.632758617401123, + 4.067849159240723 + ], + [ + 4.148633003234863, + 0.6326316595077515, + 4.067849159240723 + ], + [ + 4.148533821105957, + 0.9174219965934753, + 3.606618881225586 + ], + [ + 4.512393474578857, + 0.9175488948822021, + 3.606618881225586 + ], + [ + 4.512393474578857, + 0.9175507426261902, + 4.067848205566406 + ], + [ + 4.148533821105957, + 0.9174238443374634, + 4.067848205566406 + ] + ] + } + } + }, + { + "objectId": "Watch|surface|2|4", + "object_info": { + "name": "Watch|surface|2|4", + "position": { + "x": 0.4135294556617737, + "y": 0.6994122266769409, + "z": 1.8298429250717163 + }, + "rotation": { + "x": 1.8571752309799194, + "y": 359.9856872558594, + "z": 1.2905222177505493 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07000000029802322, + "salientMaterials": [ + "Metal", + "Glass", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.784343242645264, + "objectType": "Watch", + "objectId": "Watch|surface|2|4", + "assetId": "Watch_1", + "parentReceptacles": [ + "Dresser|2|1", + "Floor" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.4531009793281555, + 0.734585165977478, + 1.852339506149292 + ], + [ + 0.4531009793281555, + 0.734585165977478, + 1.8039939403533936 + ], + [ + 0.4531009793281555, + 0.6990681886672974, + 1.852339506149292 + ], + [ + 0.4531009793281555, + 0.6990681886672974, + 1.8039939403533936 + ], + [ + 0.3742009997367859, + 0.734585165977478, + 1.852339506149292 + ], + [ + 0.3742009997367859, + 0.734585165977478, + 1.8039939403533936 + ], + [ + 0.3742009997367859, + 0.6990681886672974, + 1.852339506149292 + ], + [ + 0.3742009997367859, + 0.6990681886672974, + 1.8039939403533936 + ] + ], + "center": { + "x": 0.4136509895324707, + "y": 0.7168266773223877, + "z": 1.8281667232513428 + }, + "size": { + "x": 0.07889997959136963, + "y": 0.035516977310180664, + "z": 0.04834556579589844 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.4532514214515686, + 0.6983696222305298, + 1.852268099784851 + ], + [ + 0.3747141361236572, + 0.6966013312339783, + 1.8521910905838013 + ], + [ + 0.3747263550758362, + 0.6981821656227112, + 1.8034368753433228 + ], + [ + 0.45326361060142517, + 0.6999505162239075, + 1.8035138845443726 + ], + [ + 0.4524242877960205, + 0.7350527048110962, + 1.8534573316574097 + ], + [ + 0.3738870322704315, + 0.7332843542098999, + 1.8533803224563599 + ], + [ + 0.3738992214202881, + 0.7348652482032776, + 1.804626226425171 + ], + [ + 0.45243650674819946, + 0.7366335391998291, + 1.8047031164169312 + ] + ] + } + } + }, + { + "objectId": "ArmChair|2|5|0", + "object_info": { + "name": "ArmChair|2|5|0", + "position": { + "x": 0.5206018090248108, + "y": -0.010606765747070312, + "z": 4.127284526824951 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 3.0509517192840576, + "objectType": "ArmChair", + "objectId": "ArmChair|2|5|0", + "assetId": "Armchair_222_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.0000998973846436, + 0.9451482892036438, + 4.693035125732422 + ], + [ + 1.0000998973846436, + 0.9451482892036438, + 3.553251266479492 + ], + [ + 1.0000998973846436, + 3.5762786865234375e-06, + 4.693035125732422 + ], + [ + 1.0000998973846436, + 3.5762786865234375e-06, + 3.553251266479492 + ], + [ + 0.024990439414978027, + 0.9451482892036438, + 4.693035125732422 + ], + [ + 0.024990439414978027, + 0.9451482892036438, + 3.553251266479492 + ], + [ + 0.024990439414978027, + 3.5762786865234375e-06, + 4.693035125732422 + ], + [ + 0.024990439414978027, + 3.5762786865234375e-06, + 3.553251266479492 + ] + ], + "center": { + "x": 0.5125451683998108, + "y": 0.47257593274116516, + "z": 4.123143196105957 + }, + "size": { + "x": 0.9751094579696655, + "y": 0.9451447129249573, + "z": 1.1397838592529297 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.0000996589660645, + 3.7550926208496094e-06, + 3.553251266479492 + ], + [ + 1.000099778175354, + 3.7550926208496094e-06, + 4.6930341720581055 + ], + [ + 0.02499067783355713, + 3.7550926208496094e-06, + 4.6930341720581055 + ], + [ + 0.024990558624267578, + 3.7550926208496094e-06, + 3.553251266479492 + ], + [ + 1.0000996589660645, + 0.9451481103897095, + 3.553251266479492 + ], + [ + 1.000099778175354, + 0.9451481103897095, + 4.6930341720581055 + ], + [ + 0.02499067783355713, + 0.9451481103897095, + 4.6930341720581055 + ], + [ + 0.024990558624267578, + 0.9451481103897095, + 3.553251266479492 + ] + ] + } + } + }, + { + "objectId": "window|2|0", + "object_info": { + "name": "window|2|0", + "position": { + "x": 4.403806686401367, + "y": 1.0646860599517822, + "z": 1.6890007257461548 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 4.620236396789551, + "objectType": "Window", + "objectId": "window|2|0", + "assetId": "Window_Hung_48x32", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.404592037200928, + 1.9362554550170898, + 1.8110367059707642 + ], + [ + 4.404592037200928, + 1.9362554550170898, + 1.5669633150100708 + ], + [ + 4.404592037200928, + 1.0637445449829102, + 1.8110367059707642 + ], + [ + 4.404592037200928, + 1.0637445449829102, + 1.5669633150100708 + ], + [ + 3.1326212882995605, + 1.9362554550170898, + 1.8110367059707642 + ], + [ + 3.1326212882995605, + 1.9362554550170898, + 1.5669633150100708 + ], + [ + 3.1326212882995605, + 1.0637445449829102, + 1.8110367059707642 + ], + [ + 3.1326212882995605, + 1.0637445449829102, + 1.5669633150100708 + ] + ], + "center": { + "x": 3.768606662750244, + "y": 1.5, + "z": 1.6890000104904175 + }, + "size": { + "x": 1.2719707489013672, + "y": 0.8725109100341797, + "z": 0.24407339096069336 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|2|1___0", + "object_info": { + "name": "Drawer", + "position": { + "x": 0.33600085973739624, + "y": 0.5816994309425354, + "z": 2.0043113231658936 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 4.679195880889893, + "objectType": "Drawer", + "objectId": "Dresser|2|1___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.630402684211731, + 0.6747716069221497, + 2.028729200363159 + ], + [ + 0.630402684211731, + 0.6747716069221497, + 1.7607905864715576 + ], + [ + 0.630402684211731, + 0.4870700240135193, + 2.028729200363159 + ], + [ + 0.630402684211731, + 0.4870700240135193, + 1.7607905864715576 + ], + [ + 0.04253673553466797, + 0.6747716069221497, + 2.028729200363159 + ], + [ + 0.04253673553466797, + 0.6747716069221497, + 1.7607905864715576 + ], + [ + 0.04253673553466797, + 0.4870700240135193, + 2.028729200363159 + ], + [ + 0.04253673553466797, + 0.4870700240135193, + 1.7607905864715576 + ] + ], + "center": { + "x": 0.33646970987319946, + "y": 0.5809208154678345, + "z": 1.8947598934173584 + }, + "size": { + "x": 0.587865948677063, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 1.5, + "y": 0.9009997844696045, + "z": 6.5 + }, + "agent_rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "agent_cameraHorizon": -30.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 1.5, + "y": 1.5759997367858887, + "z": 6.5 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Box|surface|2|9", + "Bed|2|0" + ], + "different_object": [ + "Dresser|2|1", + "FloorLamp|2|5|1", + "HousePlant|2|2|0", + "Dresser|2|1___1", + "Watch|surface|2|4", + "Vase|surface|2|2", + "Chair|2|3|1", + "window|2|0", + "Dresser|2|1___0", + "ArmChair|2|5|0" + ] +} \ No newline at end of file diff --git a/train/train1493/3/0_depth_npy.npy b/train/train1493/3/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..1c9e6c9750494da3d9eb7fee7e544b2855500469 --- /dev/null +++ b/train/train1493/3/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:abfda7bbe2d0c03e2eebcd5e7ea583f601fd6b35ceee7c328b0f0ee3f0ccfda2 +size 3145856 diff --git a/train/train1493/3/0_semantic_sensor_npy.npy b/train/train1493/3/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..f81754112d69b1f0a0bc33a03e4c519e8c07135e --- /dev/null +++ b/train/train1493/3/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8f808f36f62054ebc23f93c33ef006c3b59a7f6b8ab9cdfd341b755d0032d397 +size 2359424 diff --git a/train/train1493/3/1.json b/train/train1493/3/1.json new file mode 100644 index 0000000000000000000000000000000000000000..1ebf1cd5b78651309f2d279ac88662563a6fcc2a --- /dev/null +++ b/train/train1493/3/1.json @@ -0,0 +1,1519 @@ +{ + "object": [ + { + "objectId": "Pillow|surface|2|8", + "object_info": { + "name": "Pillow|surface|2|8", + "position": { + "x": 5.780210971832275, + "y": 0.6417027711868286, + "z": 3.1587977409362793 + }, + "rotation": { + "x": 1.1183072956555407e-06, + "y": -1.1981211400780012e-06, + "z": 1.7818133528635371e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 4.161952018737793, + "objectType": "Pillow", + "objectId": "Pillow|surface|2|8", + "assetId": "pillow_4", + "parentReceptacles": [ + "Bed|2|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.991866111755371, + 0.6941037178039551, + 3.340888023376465 + ], + [ + 5.991866111755371, + 0.6941037178039551, + 2.9767074584960938 + ], + [ + 5.991866111755371, + 0.5893018245697021, + 3.340888023376465 + ], + [ + 5.991866111755371, + 0.5893018245697021, + 2.9767074584960938 + ], + [ + 5.563637733459473, + 0.6941037178039551, + 3.340888023376465 + ], + [ + 5.563637733459473, + 0.6941037178039551, + 2.9767074584960938 + ], + [ + 5.563637733459473, + 0.5893018245697021, + 3.340888023376465 + ], + [ + 5.563637733459473, + 0.5893018245697021, + 2.9767074584960938 + ] + ], + "center": { + "x": 5.777751922607422, + "y": 0.6417027711868286, + "z": 3.1587977409362793 + }, + "size": { + "x": 0.42822837829589844, + "y": 0.10480189323425293, + "z": 0.3641805648803711 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.9918670654296875, + 0.5893018245697021, + 3.3408877849578857 + ], + [ + 5.5636372566223145, + 0.5893018245697021, + 3.3408877849578857 + ], + [ + 5.5636372566223145, + 0.5893018245697021, + 2.976707696914673 + ], + [ + 5.9918670654296875, + 0.5893018245697021, + 2.976707696914673 + ], + [ + 5.9918670654296875, + 0.6941037178039551, + 3.3408877849578857 + ], + [ + 5.5636372566223145, + 0.6941037178039551, + 3.3408877849578857 + ], + [ + 5.5636372566223145, + 0.6941037178039551, + 2.976707696914673 + ], + [ + 5.9918670654296875, + 0.6941037178039551, + 2.976707696914673 + ] + ] + } + } + }, + { + "objectId": "BasketBall|surface|2|12", + "object_info": { + "name": "BasketBall|surface|2|12", + "position": { + "x": 6.237112522125244, + "y": 0.7089889645576477, + "z": 2.5962400436401367 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6000000238418579, + "salientMaterials": [ + "Rubber" + ], + "receptacleObjectIds": null, + "distance": 4.876720428466797, + "objectType": "BasketBall", + "objectId": "BasketBall|surface|2|12", + "assetId": "RoboTHOR_basketball_rhode_island_novelty_v", + "parentReceptacles": [ + "Bed|2|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.356799602508545, + 0.8286760449409485, + 2.7159271240234375 + ], + [ + 6.356799602508545, + 0.8286760449409485, + 2.476552963256836 + ], + [ + 6.356799602508545, + 0.5893018841743469, + 2.7159271240234375 + ], + [ + 6.356799602508545, + 0.5893018841743469, + 2.476552963256836 + ], + [ + 6.117425441741943, + 0.8286760449409485, + 2.7159271240234375 + ], + [ + 6.117425441741943, + 0.8286760449409485, + 2.476552963256836 + ], + [ + 6.117425441741943, + 0.5893018841743469, + 2.7159271240234375 + ], + [ + 6.117425441741943, + 0.5893018841743469, + 2.476552963256836 + ] + ], + "center": { + "x": 6.237112522125244, + "y": 0.7089889645576477, + "z": 2.5962400436401367 + }, + "size": { + "x": 0.23937416076660156, + "y": 0.23937416076660156, + "z": 0.23937416076660156 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.356799602508545, + 0.5893018841743469, + 2.7159271240234375 + ], + [ + 6.117425441741943, + 0.5893018841743469, + 2.7159271240234375 + ], + [ + 6.117425441741943, + 0.5893018841743469, + 2.476552963256836 + ], + [ + 6.356799602508545, + 0.5893018841743469, + 2.476552963256836 + ], + [ + 6.356799602508545, + 0.8286760449409485, + 2.7159271240234375 + ], + [ + 6.117425441741943, + 0.8286760449409485, + 2.7159271240234375 + ], + [ + 6.117425441741943, + 0.8286760449409485, + 2.476552963256836 + ], + [ + 6.356799602508545, + 0.8286760449409485, + 2.476552963256836 + ] + ] + } + } + }, + { + "objectId": "TVStand|2|4|0", + "object_info": { + "name": "TVStand|2|4|0", + "position": { + "x": 6.12821102142334, + "y": -0.0005604922771453857, + "z": 6.425413608551025 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood", + "Metal" + ], + "receptacleObjectIds": [ + "Television|2|4|1", + "Watch|surface|2|3" + ], + "distance": 3.522228956222534, + "objectType": "TVStand", + "objectId": "TVStand|2|4|0", + "assetId": "TV_Stand_206_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.731991767883301, + 0.7525230050086975, + 6.7320098876953125 + ], + [ + 6.731991767883301, + 0.7525230050086975, + 6.1284990310668945 + ], + [ + 6.731991767883301, + 6.616115570068359e-06, + 6.7320098876953125 + ], + [ + 6.731991767883301, + 6.616115570068359e-06, + 6.1284990310668945 + ], + [ + 5.5271406173706055, + 0.7525230050086975, + 6.7320098876953125 + ], + [ + 5.5271406173706055, + 0.7525230050086975, + 6.1284990310668945 + ], + [ + 5.5271406173706055, + 6.616115570068359e-06, + 6.7320098876953125 + ], + [ + 5.5271406173706055, + 6.616115570068359e-06, + 6.1284990310668945 + ] + ], + "center": { + "x": 6.129566192626953, + "y": 0.3762648105621338, + "z": 6.4302544593811035 + }, + "size": { + "x": 1.2048511505126953, + "y": 0.7525163888931274, + "z": 0.603510856628418 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.5271406173706055, + 6.765127182006836e-06, + 6.128499507904053 + ], + [ + 6.731991767883301, + 6.765127182006836e-06, + 6.128499507904053 + ], + [ + 6.731991767883301, + 6.765127182006836e-06, + 6.7320098876953125 + ], + [ + 5.5271406173706055, + 6.765127182006836e-06, + 6.7320098876953125 + ], + [ + 5.5271406173706055, + 0.7525230646133423, + 6.128499507904053 + ], + [ + 6.731991767883301, + 0.7525230646133423, + 6.128499507904053 + ], + [ + 6.731991767883301, + 0.7525230646133423, + 6.7320098876953125 + ], + [ + 5.5271406173706055, + 0.7525230646133423, + 6.7320098876953125 + ] + ] + } + } + }, + { + "objectId": "Bed|2|0", + "object_info": { + "name": "Bed|2|0", + "position": { + "x": 6.084811687469482, + "y": 0.0007693767547607422, + "z": 2.857921600341797 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": true, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "Pillow|surface|2|8", + "RemoteControl|surface|2|10", + "BasketBall|surface|2|12" + ], + "distance": 4.669479846954346, + "objectType": "Bed", + "objectId": "Bed|2|0", + "assetId": "Bed_26_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.732000350952148, + 0.7116310596466064, + 4.083568572998047 + ], + [ + 6.732000350952148, + 0.7116310596466064, + 1.7139997482299805 + ], + [ + 6.732000350952148, + 0.0, + 4.083568572998047 + ], + [ + 6.732000350952148, + 0.0, + 1.7139997482299805 + ], + [ + 5.4356231689453125, + 0.7116310596466064, + 4.083568572998047 + ], + [ + 5.4356231689453125, + 0.7116310596466064, + 1.7139997482299805 + ], + [ + 5.4356231689453125, + 0.0, + 4.083568572998047 + ], + [ + 5.4356231689453125, + 0.0, + 1.7139997482299805 + ] + ], + "center": { + "x": 6.0838117599487305, + "y": 0.3558155298233032, + "z": 2.8987841606140137 + }, + "size": { + "x": 1.296377182006836, + "y": 0.7116310596466064, + "z": 2.3695688247680664 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.732000350952148, + 0.0, + 4.083568572998047 + ], + [ + 5.4356231689453125, + 0.0, + 4.083568572998047 + ], + [ + 5.4356231689453125, + 0.0, + 1.7140001058578491 + ], + [ + 6.732000350952148, + 0.0, + 1.7140001058578491 + ], + [ + 6.732000350952148, + 0.7116310596466064, + 4.083568572998047 + ], + [ + 5.4356231689453125, + 0.7116310596466064, + 4.083568572998047 + ], + [ + 5.4356231689453125, + 0.7116310596466064, + 1.7140001058578491 + ], + [ + 6.732000350952148, + 0.7116310596466064, + 1.7140001058578491 + ] + ] + } + } + }, + { + "objectId": "Painting|2|7", + "object_info": { + "name": "Painting|2|7", + "position": { + "x": 6.752004146575928, + "y": 1.6251276731491089, + "z": 4.396982669830322 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 4.3715057373046875, + "objectType": "Painting", + "objectId": "Painting|2|7", + "assetId": "Wall_Decor_Photo_9", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.751999855041504, + 1.9585574865341187, + 4.831832408905029 + ], + [ + 6.751999855041504, + 1.9585574865341187, + 3.9621329307556152 + ], + [ + 6.751999855041504, + 1.2916978597640991, + 4.831832408905029 + ], + [ + 6.751999855041504, + 1.2916978597640991, + 3.9621329307556152 + ], + [ + 6.720258712768555, + 1.9585574865341187, + 4.831832408905029 + ], + [ + 6.720258712768555, + 1.9585574865341187, + 3.9621329307556152 + ], + [ + 6.720258712768555, + 1.2916978597640991, + 4.831832408905029 + ], + [ + 6.720258712768555, + 1.2916978597640991, + 3.9621329307556152 + ] + ], + "center": { + "x": 6.736129283905029, + "y": 1.6251276731491089, + "z": 4.396982669830322 + }, + "size": { + "x": 0.03174114227294922, + "y": 0.6668596267700195, + "z": 0.8696994781494141 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "RemoteControl|surface|2|10", + "object_info": { + "name": "RemoteControl|surface|2|10", + "position": { + "x": 6.237124919891357, + "y": 0.5910016298294067, + "z": 3.721357822418213 + }, + "rotation": { + "x": 359.9859313964844, + "y": 0.002990604843944311, + "z": 0.014017040841281414 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.15000000596046448, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.177122116088867, + "objectType": "RemoteControl", + "objectId": "RemoteControl|surface|2|10", + "assetId": "Remote_1", + "parentReceptacles": [ + "Bed|2|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.271141529083252, + 0.6079767346382141, + 3.8287644386291504 + ], + [ + 6.271141529083252, + 0.6079767346382141, + 3.613159656524658 + ], + [ + 6.271141529083252, + 0.5892768502235413, + 3.8287644386291504 + ], + [ + 6.271141529083252, + 0.5892768502235413, + 3.613159656524658 + ], + [ + 6.2031073570251465, + 0.6079767346382141, + 3.8287644386291504 + ], + [ + 6.2031073570251465, + 0.6079767346382141, + 3.613159656524658 + ], + [ + 6.2031073570251465, + 0.5892768502235413, + 3.8287644386291504 + ], + [ + 6.2031073570251465, + 0.5892768502235413, + 3.613159656524658 + ] + ], + "center": { + "x": 6.237124443054199, + "y": 0.5986267924308777, + "z": 3.7209620475769043 + }, + "size": { + "x": 0.06803417205810547, + "y": 0.01869988441467285, + "z": 0.2156047821044922 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.271141529083252, + 0.5893325209617615, + 3.828761100769043 + ], + [ + 6.203120231628418, + 0.5893158316612244, + 3.8287646770477295 + ], + [ + 6.203109264373779, + 0.5892629623413086, + 3.613166332244873 + ], + [ + 6.271130084991455, + 0.5892795920372009, + 3.6131627559661865 + ], + [ + 6.27113676071167, + 0.6079767942428589, + 3.828756332397461 + ], + [ + 6.203115940093994, + 0.6079601645469666, + 3.8287599086761475 + ], + [ + 6.203104496002197, + 0.607907235622406, + 3.613161563873291 + ], + [ + 6.271125793457031, + 0.6079238653182983, + 3.6131579875946045 + ] + ] + } + } + }, + { + "objectId": "Painting|2|8", + "object_info": { + "name": "Painting|2|8", + "position": { + "x": 2.394002676010132, + "y": 1.728537917137146, + "z": 6.755313396453857 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 1.1756069660186768, + "objectType": "Painting", + "objectId": "Painting|2|8", + "assetId": "Wall_Decor_Painting_6", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.7912027835845947, + 2.0293593406677246, + 6.739336967468262 + ], + [ + 2.7912027835845947, + 2.0293593406677246, + 6.731963157653809 + ], + [ + 2.7912027835845947, + 1.427976131439209, + 6.739336967468262 + ], + [ + 2.7912027835845947, + 1.427976131439209, + 6.731963157653809 + ], + [ + 1.9938080310821533, + 2.0293593406677246, + 6.739336967468262 + ], + [ + 1.9938080310821533, + 2.0293593406677246, + 6.731963157653809 + ], + [ + 1.9938080310821533, + 1.427976131439209, + 6.739336967468262 + ], + [ + 1.9938080310821533, + 1.427976131439209, + 6.731963157653809 + ] + ], + "center": { + "x": 2.392505407333374, + "y": 1.7286677360534668, + "z": 6.735650062561035 + }, + "size": { + "x": 0.7973947525024414, + "y": 0.6013832092285156, + "z": 0.007373809814453125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Watch|surface|2|3", + "object_info": { + "name": "Watch|surface|2|3", + "position": { + "x": 6.4297003746032715, + "y": 0.752732515335083, + "z": 6.507055759429932 + }, + "rotation": { + "x": 1.850002408027649, + "y": 269.91400146484375, + "z": 1.273842215538025 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07000000029802322, + "salientMaterials": [ + "Metal", + "Glass", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.7174296379089355, + "objectType": "Watch", + "objectId": "Watch|surface|2|3", + "assetId": "Watch_1", + "parentReceptacles": [ + "TVStand|2|4|0" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.455543518066406, + 0.7879065275192261, + 6.546625137329102 + ], + [ + 6.455543518066406, + 0.7879065275192261, + 6.467731475830078 + ], + [ + 6.455543518066406, + 0.752383828163147, + 6.546625137329102 + ], + [ + 6.455543518066406, + 0.752383828163147, + 6.467731475830078 + ], + [ + 6.407195091247559, + 0.7879065275192261, + 6.546625137329102 + ], + [ + 6.407195091247559, + 0.7879065275192261, + 6.467731475830078 + ], + [ + 6.407195091247559, + 0.752383828163147, + 6.546625137329102 + ], + [ + 6.407195091247559, + 0.752383828163147, + 6.467731475830078 + ] + ], + "center": { + "x": 6.431369304656982, + "y": 0.7701451778411865, + "z": 6.50717830657959 + }, + "size": { + "x": 0.048348426818847656, + "y": 0.0355226993560791, + "z": 0.07889366149902344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.407225608825684, + 0.7516812086105347, + 6.546749591827393 + ], + [ + 6.407400131225586, + 0.7499356865882874, + 6.468212127685547 + ], + [ + 6.4561543464660645, + 0.7515104413032532, + 6.468285083770752 + ], + [ + 6.45598030090332, + 0.7532559633255005, + 6.546822547912598 + ], + [ + 6.406042098999023, + 0.7883646488189697, + 6.545931816101074 + ], + [ + 6.406216621398926, + 0.7866191267967224, + 6.46739387512207 + ], + [ + 6.454970836639404, + 0.7881938815116882, + 6.467467308044434 + ], + [ + 6.454796314239502, + 0.7899394035339355, + 6.546004772186279 + ] + ] + } + } + }, + { + "objectId": "Television|2|4|1", + "object_info": { + "name": "Television|2|4|1", + "position": { + "x": 6.1295647621154785, + "y": 1.238361120223999, + "z": 6.426628112792969 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.423051595687866, + "objectType": "Television", + "objectId": "Television|2|4|1", + "assetId": "Television_4", + "parentReceptacles": [ + "TVStand|2|4|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.680386066436768, + 1.5389535427093506, + 6.555263519287109 + ], + [ + 6.680386066436768, + 1.5389535427093506, + 6.305231094360352 + ], + [ + 6.680386066436768, + 0.7525255680084229, + 6.555263519287109 + ], + [ + 6.680386066436768, + 0.7525255680084229, + 6.305231094360352 + ], + [ + 5.5787434577941895, + 1.5389535427093506, + 6.555263519287109 + ], + [ + 5.5787434577941895, + 1.5389535427093506, + 6.305231094360352 + ], + [ + 5.5787434577941895, + 0.7525255680084229, + 6.555263519287109 + ], + [ + 5.5787434577941895, + 0.7525255680084229, + 6.305231094360352 + ] + ], + "center": { + "x": 6.1295647621154785, + "y": 1.1457395553588867, + "z": 6.4302473068237305 + }, + "size": { + "x": 1.1016426086425781, + "y": 0.7864279747009277, + "z": 0.2500324249267578 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.5787434577941895, + 0.7525255084037781, + 6.305231094360352 + ], + [ + 6.680386066436768, + 0.7525255084037781, + 6.305231094360352 + ], + [ + 6.680386066436768, + 0.7525255084037781, + 6.555263519287109 + ], + [ + 5.5787434577941895, + 0.7525255084037781, + 6.555263519287109 + ], + [ + 5.5787434577941895, + 1.5389536619186401, + 6.305231094360352 + ], + [ + 6.680386066436768, + 1.5389536619186401, + 6.305231094360352 + ], + [ + 6.680386066436768, + 1.5389536619186401, + 6.555263519287109 + ], + [ + 5.5787434577941895, + 1.5389536619186401, + 6.555263519287109 + ] + ] + } + } + }, + { + "objectId": "Box|surface|2|9", + "object_info": { + "name": "Box|surface|2|9", + "position": { + "x": 4.330590724945068, + "y": 0.8344038128852844, + "z": 3.695225954055786 + }, + "rotation": { + "x": 0.00023052019241731614, + "y": 180.0, + "z": 359.9800109863281 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.30000001192092896, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": [], + "distance": 2.795475959777832, + "objectType": "Box", + "objectId": "Box|surface|2|9", + "assetId": "Box_26", + "parentReceptacles": [ + "DiningTable|2|3|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.512392044067383, + 0.9175490140914917, + 4.067845344543457 + ], + [ + 4.512392044067383, + 0.9175490140914917, + 3.606621742248535 + ], + [ + 4.512392044067383, + 0.6327282190322876, + 4.067845344543457 + ], + [ + 4.512392044067383, + 0.6327282190322876, + 3.606621742248535 + ], + [ + 4.148536682128906, + 0.9175490140914917, + 4.067845344543457 + ], + [ + 4.148536682128906, + 0.9175490140914917, + 3.606621742248535 + ], + [ + 4.148536682128906, + 0.6327282190322876, + 4.067845344543457 + ], + [ + 4.148536682128906, + 0.6327282190322876, + 3.606621742248535 + ] + ], + "center": { + "x": 4.3304643630981445, + "y": 0.7751386165618896, + "z": 3.837233543395996 + }, + "size": { + "x": 0.36385536193847656, + "y": 0.2848207950592041, + "z": 0.4612236022949219 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.148633003234863, + 0.6326298713684082, + 3.6066200733184814 + ], + [ + 4.512492656707764, + 0.632756769657135, + 3.6066200733184814 + ], + [ + 4.512493133544922, + 0.632758617401123, + 4.067849159240723 + ], + [ + 4.148633003234863, + 0.6326316595077515, + 4.067849159240723 + ], + [ + 4.148533821105957, + 0.9174219965934753, + 3.606618881225586 + ], + [ + 4.512393474578857, + 0.9175488948822021, + 3.606618881225586 + ], + [ + 4.512393474578857, + 0.9175507426261902, + 4.067848205566406 + ], + [ + 4.148533821105957, + 0.9174238443374634, + 4.067848205566406 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 1.600000023841858, + "y": 0.9009997844696045, + "z": 6.400000095367432 + }, + "agent_rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "agent_cameraHorizon": -30.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 1.600000023841858, + "y": 1.5759997367858887, + "z": 6.400000095367432 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Box|surface|2|9", + "Bed|2|0" + ], + "different_object": [ + "BasketBall|surface|2|12", + "Pillow|surface|2|8", + "Painting|2|8", + "Television|2|4|1", + "RemoteControl|surface|2|10", + "Painting|2|7", + "Watch|surface|2|3", + "TVStand|2|4|0" + ] +} \ No newline at end of file diff --git a/train/train1493/3/1_depth_npy.npy b/train/train1493/3/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..b59884e2e9c0fc9306b34ace16613bfb8aed75f6 --- /dev/null +++ b/train/train1493/3/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:46c483af3d5409f05e15e50b56b0bf09f4ef737e3a36c4703c3c8828766c7ab2 +size 3145856 diff --git a/train/train1493/3/1_semantic_sensor_npy.npy b/train/train1493/3/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..b3ac32d54313eaafc234e478577bfe11c8ffa835 --- /dev/null +++ b/train/train1493/3/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3c0f7f9aa661b00f096222137175fbab1d92c7553655f73e49c67df35c93ef8a +size 2359424 diff --git a/train/train1493/3/depth_0.png b/train/train1493/3/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..e1eacbedd8a1e194c2047ed9ac870d921c69f412 Binary files /dev/null and b/train/train1493/3/depth_0.png differ diff --git a/train/train1493/3/depth_1.png b/train/train1493/3/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..1086c8c773eb1420d83840f3556bad58cb4e2085 Binary files /dev/null and b/train/train1493/3/depth_1.png differ diff --git a/train/train1493/3/mask_questions.jsonl b/train/train1493/3/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/train/train1493/3/questions_direction.jsonl b/train/train1493/3/questions_direction.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..457e8a5cb07fd9dea2b83fe2d3de867b2a72992b --- /dev/null +++ b/train/train1493/3/questions_direction.jsonl @@ -0,0 +1,44 @@ +{"id": 18004, "folder_dir": "train1493/3", "pair_name": "Vase-Pillow", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Vase. Where is the centroid position of Pillow in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "A", "src_object": "Vase", "tgt_object": "Pillow", "src_com": {"x": 0.10326152294874191, "y": 0.7342880964279175, "z": 1.8299522399902344}, "tgt_com": {"x": 5.777751922607422, "y": 0.6417027711868286, "z": 3.1587977409362793}, "agent_pos": {"x": 1.5, "y": 1.5759997367858887, "z": 6.5}, "image_1": "train1493/3/rgb_0.png", "image_2": "train1493/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 18005, "folder_dir": "train1493/3", "pair_name": "Vase-BasketBall", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Vase. Where is the centroid position of BasketBall in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "A", "src_object": "Vase", "tgt_object": "BasketBall", "src_com": {"x": 0.10326152294874191, "y": 0.7342880964279175, "z": 1.8299522399902344}, "tgt_com": {"x": 6.237112522125244, "y": 0.7089889645576477, "z": 2.5962400436401367}, "agent_pos": {"x": 1.5, "y": 1.5759997367858887, "z": 6.5}, "image_1": "train1493/3/rgb_0.png", "image_2": "train1493/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 18006, "folder_dir": "train1493/3", "pair_name": "Vase-TVStand", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Vase. Where is the centroid position of TVStand in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Vase", "tgt_object": "TVStand", "src_com": {"x": 0.10326152294874191, "y": 0.7342880964279175, "z": 1.8299522399902344}, "tgt_com": {"x": 6.129566192626953, "y": 0.3762648105621338, "z": 6.4302544593811035}, "agent_pos": {"x": 1.5, "y": 1.5759997367858887, "z": 6.5}, "image_1": "train1493/3/rgb_0.png", "image_2": "train1493/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 18007, "folder_dir": "train1493/3", "pair_name": "Vase-Television", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Vase. Where is the centroid position of Television in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Vase", "tgt_object": "Television", "src_com": {"x": 0.10326152294874191, "y": 0.7342880964279175, "z": 1.8299522399902344}, "tgt_com": {"x": 6.1295647621154785, "y": 1.1457395553588867, "z": 6.4302473068237305}, "agent_pos": {"x": 1.5, "y": 1.5759997367858887, "z": 6.5}, "image_1": "train1493/3/rgb_0.png", "image_2": "train1493/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 18008, "folder_dir": "train1493/3", "pair_name": "FloorLamp-TVStand", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of FloorLamp. Where is the centroid position of TVStand in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "FloorLamp", "tgt_object": "TVStand", "src_com": {"x": 0.5136492252349854, "y": 0.9517508745193481, "z": 5.163760662078857}, "tgt_com": {"x": 6.129566192626953, "y": 0.3762648105621338, "z": 6.4302544593811035}, "agent_pos": {"x": 1.5, "y": 1.5759997367858887, "z": 6.5}, "image_1": "train1493/3/rgb_0.png", "image_2": "train1493/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 18009, "folder_dir": "train1493/3", "pair_name": "FloorLamp-Television", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of FloorLamp. Where is the centroid position of Television in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "FloorLamp", "tgt_object": "Television", "src_com": {"x": 0.5136492252349854, "y": 0.9517508745193481, "z": 5.163760662078857}, "tgt_com": {"x": 6.1295647621154785, "y": 1.1457395553588867, "z": 6.4302473068237305}, "agent_pos": {"x": 1.5, "y": 1.5759997367858887, "z": 6.5}, "image_1": "train1493/3/rgb_0.png", "image_2": "train1493/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 18010, "folder_dir": "train1493/3", "pair_name": "Chair-Pillow", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Chair. Where is the centroid position of Pillow in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "A", "src_object": "Chair", "tgt_object": "Pillow", "src_com": {"x": 3.6334357261657715, "y": 0.41710352897644043, "z": 3.3456363677978516}, "tgt_com": {"x": 5.777751922607422, "y": 0.6417027711868286, "z": 3.1587977409362793}, "agent_pos": {"x": 1.5, "y": 1.5759997367858887, "z": 6.5}, "image_1": "train1493/3/rgb_0.png", "image_2": "train1493/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 18011, "folder_dir": "train1493/3", "pair_name": "Chair-BasketBall", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Chair. Where is the centroid position of BasketBall 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": "Chair", "tgt_object": "BasketBall", "src_com": {"x": 3.6334357261657715, "y": 0.41710352897644043, "z": 3.3456363677978516}, "tgt_com": {"x": 6.237112522125244, "y": 0.7089889645576477, "z": 2.5962400436401367}, "agent_pos": {"x": 1.5, "y": 1.5759997367858887, "z": 6.5}, "image_1": "train1493/3/rgb_0.png", "image_2": "train1493/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 18012, "folder_dir": "train1493/3", "pair_name": "Chair-TVStand", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Chair. Where is the centroid position of TVStand in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "A", "src_object": "Chair", "tgt_object": "TVStand", "src_com": {"x": 3.6334357261657715, "y": 0.41710352897644043, "z": 3.3456363677978516}, "tgt_com": {"x": 6.129566192626953, "y": 0.3762648105621338, "z": 6.4302544593811035}, "agent_pos": {"x": 1.5, "y": 1.5759997367858887, "z": 6.5}, "image_1": "train1493/3/rgb_0.png", "image_2": "train1493/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 18013, "folder_dir": "train1493/3", "pair_name": "Chair-RemoteControl", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Chair. Where is the centroid position of RemoteControl 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": "Chair", "tgt_object": "RemoteControl", "src_com": {"x": 3.6334357261657715, "y": 0.41710352897644043, "z": 3.3456363677978516}, "tgt_com": {"x": 6.237124443054199, "y": 0.5986267924308777, "z": 3.7209620475769043}, "agent_pos": {"x": 1.5, "y": 1.5759997367858887, "z": 6.5}, "image_1": "train1493/3/rgb_0.png", "image_2": "train1493/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 18014, "folder_dir": "train1493/3", "pair_name": "Chair-Television", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Chair. Where is the centroid position of Television in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "A", "src_object": "Chair", "tgt_object": "Television", "src_com": {"x": 3.6334357261657715, "y": 0.41710352897644043, "z": 3.3456363677978516}, "tgt_com": {"x": 6.1295647621154785, "y": 1.1457395553588867, "z": 6.4302473068237305}, "agent_pos": {"x": 1.5, "y": 1.5759997367858887, "z": 6.5}, "image_1": "train1493/3/rgb_0.png", "image_2": "train1493/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 18015, "folder_dir": "train1493/3", "pair_name": "HousePlant-Pillow", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of HousePlant. Where is the centroid position of Pillow in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "A", "src_object": "HousePlant", "tgt_object": "Pillow", "src_com": {"x": 2.105186939239502, "y": 0.44784820079803467, "z": 1.8880343437194824}, "tgt_com": {"x": 5.777751922607422, "y": 0.6417027711868286, "z": 3.1587977409362793}, "agent_pos": {"x": 1.5, "y": 1.5759997367858887, "z": 6.5}, "image_1": "train1493/3/rgb_0.png", "image_2": "train1493/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 18016, "folder_dir": "train1493/3", "pair_name": "HousePlant-BasketBall", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of HousePlant. Where is the centroid position of BasketBall 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": "HousePlant", "tgt_object": "BasketBall", "src_com": {"x": 2.105186939239502, "y": 0.44784820079803467, "z": 1.8880343437194824}, "tgt_com": {"x": 6.237112522125244, "y": 0.7089889645576477, "z": 2.5962400436401367}, "agent_pos": {"x": 1.5, "y": 1.5759997367858887, "z": 6.5}, "image_1": "train1493/3/rgb_0.png", "image_2": "train1493/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 18017, "folder_dir": "train1493/3", "pair_name": "HousePlant-RemoteControl", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of HousePlant. Where is the centroid position of RemoteControl 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": "HousePlant", "tgt_object": "RemoteControl", "src_com": {"x": 2.105186939239502, "y": 0.44784820079803467, "z": 1.8880343437194824}, "tgt_com": {"x": 6.237124443054199, "y": 0.5986267924308777, "z": 3.7209620475769043}, "agent_pos": {"x": 1.5, "y": 1.5759997367858887, "z": 6.5}, "image_1": "train1493/3/rgb_0.png", "image_2": "train1493/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 18018, "folder_dir": "train1493/3", "pair_name": "ArmChair-Pillow", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of ArmChair. Where is the centroid position of Pillow in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "A", "src_object": "ArmChair", "tgt_object": "Pillow", "src_com": {"x": 0.5125451683998108, "y": 0.47257593274116516, "z": 4.123143196105957}, "tgt_com": {"x": 5.777751922607422, "y": 0.6417027711868286, "z": 3.1587977409362793}, "agent_pos": {"x": 1.5, "y": 1.5759997367858887, "z": 6.5}, "image_1": "train1493/3/rgb_0.png", "image_2": "train1493/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 18019, "folder_dir": "train1493/3", "pair_name": "ArmChair-BasketBall", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of ArmChair. Where is the centroid position of BasketBall 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": "ArmChair", "tgt_object": "BasketBall", "src_com": {"x": 0.5125451683998108, "y": 0.47257593274116516, "z": 4.123143196105957}, "tgt_com": {"x": 6.237112522125244, "y": 0.7089889645576477, "z": 2.5962400436401367}, "agent_pos": {"x": 1.5, "y": 1.5759997367858887, "z": 6.5}, "image_1": "train1493/3/rgb_0.png", "image_2": "train1493/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 18020, "folder_dir": "train1493/3", "pair_name": "ArmChair-TVStand", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of ArmChair. Where is the centroid position of TVStand in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "ArmChair", "tgt_object": "TVStand", "src_com": {"x": 0.5125451683998108, "y": 0.47257593274116516, "z": 4.123143196105957}, "tgt_com": {"x": 6.129566192626953, "y": 0.3762648105621338, "z": 6.4302544593811035}, "agent_pos": {"x": 1.5, "y": 1.5759997367858887, "z": 6.5}, "image_1": "train1493/3/rgb_0.png", "image_2": "train1493/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 18021, "folder_dir": "train1493/3", "pair_name": "ArmChair-Television", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of ArmChair. Where is the centroid position of Television in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "ArmChair", "tgt_object": "Television", "src_com": {"x": 0.5125451683998108, "y": 0.47257593274116516, "z": 4.123143196105957}, "tgt_com": {"x": 6.1295647621154785, "y": 1.1457395553588867, "z": 6.4302473068237305}, "agent_pos": {"x": 1.5, "y": 1.5759997367858887, "z": 6.5}, "image_1": "train1493/3/rgb_0.png", "image_2": "train1493/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 18022, "folder_dir": "train1493/3", "pair_name": "Window-Pillow", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Window. Where is the centroid position of Pillow in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "A", "src_object": "Window", "tgt_object": "Pillow", "src_com": {"x": 3.768606662750244, "y": 1.5, "z": 1.6890000104904175}, "tgt_com": {"x": 5.777751922607422, "y": 0.6417027711868286, "z": 3.1587977409362793}, "agent_pos": {"x": 1.5, "y": 1.5759997367858887, "z": 6.5}, "image_1": "train1493/3/rgb_0.png", "image_2": "train1493/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 18023, "folder_dir": "train1493/3", "pair_name": "Window-BasketBall", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Window. Where is the centroid position of BasketBall 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": "Window", "tgt_object": "BasketBall", "src_com": {"x": 3.768606662750244, "y": 1.5, "z": 1.6890000104904175}, "tgt_com": {"x": 6.237112522125244, "y": 0.7089889645576477, "z": 2.5962400436401367}, "agent_pos": {"x": 1.5, "y": 1.5759997367858887, "z": 6.5}, "image_1": "train1493/3/rgb_0.png", "image_2": "train1493/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 18024, "folder_dir": "train1493/3", "pair_name": "Window-TVStand", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Window. Where is the centroid position of TVStand in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "A", "src_object": "Window", "tgt_object": "TVStand", "src_com": {"x": 3.768606662750244, "y": 1.5, "z": 1.6890000104904175}, "tgt_com": {"x": 6.129566192626953, "y": 0.3762648105621338, "z": 6.4302544593811035}, "agent_pos": {"x": 1.5, "y": 1.5759997367858887, "z": 6.5}, "image_1": "train1493/3/rgb_0.png", "image_2": "train1493/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 18025, "folder_dir": "train1493/3", "pair_name": "Window-RemoteControl", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Window. Where is the centroid position of RemoteControl 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": "Window", "tgt_object": "RemoteControl", "src_com": {"x": 3.768606662750244, "y": 1.5, "z": 1.6890000104904175}, "tgt_com": {"x": 6.237124443054199, "y": 0.5986267924308777, "z": 3.7209620475769043}, "agent_pos": {"x": 1.5, "y": 1.5759997367858887, "z": 6.5}, "image_1": "train1493/3/rgb_0.png", "image_2": "train1493/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 18026, "folder_dir": "train1493/3", "pair_name": "Window-Television", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Window. Where is the centroid position of Television in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "A", "src_object": "Window", "tgt_object": "Television", "src_com": {"x": 3.768606662750244, "y": 1.5, "z": 1.6890000104904175}, "tgt_com": {"x": 6.1295647621154785, "y": 1.1457395553588867, "z": 6.4302473068237305}, "agent_pos": {"x": 1.5, "y": 1.5759997367858887, "z": 6.5}, "image_1": "train1493/3/rgb_0.png", "image_2": "train1493/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 18027, "folder_dir": "train1493/3", "pair_name": "Pillow-Vase", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Pillow. Where is the centroid position of Vase in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "C", "src_object": "Pillow", "tgt_object": "Vase", "src_com": {"x": 5.777751922607422, "y": 0.6417027711868286, "z": 3.1587977409362793}, "tgt_com": {"x": 0.10326152294874191, "y": 0.7342880964279175, "z": 1.8299522399902344}, "agent_pos": {"x": 1.600000023841858, "y": 1.5759997367858887, "z": 6.400000095367432}, "image_1": "train1493/3/rgb_1.png", "image_2": "train1493/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 18028, "folder_dir": "train1493/3", "pair_name": "Pillow-Chair", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Pillow. Where is the centroid position of Chair in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "C", "src_object": "Pillow", "tgt_object": "Chair", "src_com": {"x": 5.777751922607422, "y": 0.6417027711868286, "z": 3.1587977409362793}, "tgt_com": {"x": 3.6334357261657715, "y": 0.41710352897644043, "z": 3.3456363677978516}, "agent_pos": {"x": 1.600000023841858, "y": 1.5759997367858887, "z": 6.400000095367432}, "image_1": "train1493/3/rgb_1.png", "image_2": "train1493/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 18029, "folder_dir": "train1493/3", "pair_name": "Pillow-HousePlant", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Pillow. Where is the centroid position of HousePlant in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "C", "src_object": "Pillow", "tgt_object": "HousePlant", "src_com": {"x": 5.777751922607422, "y": 0.6417027711868286, "z": 3.1587977409362793}, "tgt_com": {"x": 2.105186939239502, "y": 0.44784820079803467, "z": 1.8880343437194824}, "agent_pos": {"x": 1.600000023841858, "y": 1.5759997367858887, "z": 6.400000095367432}, "image_1": "train1493/3/rgb_1.png", "image_2": "train1493/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 18030, "folder_dir": "train1493/3", "pair_name": "Pillow-Window", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Pillow. Where is the centroid position of Window in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "C", "src_object": "Pillow", "tgt_object": "Window", "src_com": {"x": 5.777751922607422, "y": 0.6417027711868286, "z": 3.1587977409362793}, "tgt_com": {"x": 3.768606662750244, "y": 1.5, "z": 1.6890000104904175}, "agent_pos": {"x": 1.600000023841858, "y": 1.5759997367858887, "z": 6.400000095367432}, "image_1": "train1493/3/rgb_1.png", "image_2": "train1493/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 18031, "folder_dir": "train1493/3", "pair_name": "BasketBall-Vase", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of BasketBall. Where is the centroid position of Vase in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "C", "src_object": "BasketBall", "tgt_object": "Vase", "src_com": {"x": 6.237112522125244, "y": 0.7089889645576477, "z": 2.5962400436401367}, "tgt_com": {"x": 0.10326152294874191, "y": 0.7342880964279175, "z": 1.8299522399902344}, "agent_pos": {"x": 1.600000023841858, "y": 1.5759997367858887, "z": 6.400000095367432}, "image_1": "train1493/3/rgb_1.png", "image_2": "train1493/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 18032, "folder_dir": "train1493/3", "pair_name": "BasketBall-Chair", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of BasketBall. Where is the centroid position of Chair in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "C", "src_object": "BasketBall", "tgt_object": "Chair", "src_com": {"x": 6.237112522125244, "y": 0.7089889645576477, "z": 2.5962400436401367}, "tgt_com": {"x": 3.6334357261657715, "y": 0.41710352897644043, "z": 3.3456363677978516}, "agent_pos": {"x": 1.600000023841858, "y": 1.5759997367858887, "z": 6.400000095367432}, "image_1": "train1493/3/rgb_1.png", "image_2": "train1493/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 18033, "folder_dir": "train1493/3", "pair_name": "BasketBall-HousePlant", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of BasketBall. Where is the centroid position of HousePlant in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "C", "src_object": "BasketBall", "tgt_object": "HousePlant", "src_com": {"x": 6.237112522125244, "y": 0.7089889645576477, "z": 2.5962400436401367}, "tgt_com": {"x": 2.105186939239502, "y": 0.44784820079803467, "z": 1.8880343437194824}, "agent_pos": {"x": 1.600000023841858, "y": 1.5759997367858887, "z": 6.400000095367432}, "image_1": "train1493/3/rgb_1.png", "image_2": "train1493/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 18034, "folder_dir": "train1493/3", "pair_name": "BasketBall-Window", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of BasketBall. Where is the centroid position of Window 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": "BasketBall", "tgt_object": "Window", "src_com": {"x": 6.237112522125244, "y": 0.7089889645576477, "z": 2.5962400436401367}, "tgt_com": {"x": 3.768606662750244, "y": 1.5, "z": 1.6890000104904175}, "agent_pos": {"x": 1.600000023841858, "y": 1.5759997367858887, "z": 6.400000095367432}, "image_1": "train1493/3/rgb_1.png", "image_2": "train1493/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 18035, "folder_dir": "train1493/3", "pair_name": "TVStand-Vase", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of TVStand. Where is the centroid position of Vase in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "TVStand", "tgt_object": "Vase", "src_com": {"x": 6.129566192626953, "y": 0.3762648105621338, "z": 6.4302544593811035}, "tgt_com": {"x": 0.10326152294874191, "y": 0.7342880964279175, "z": 1.8299522399902344}, "agent_pos": {"x": 1.600000023841858, "y": 1.5759997367858887, "z": 6.400000095367432}, "image_1": "train1493/3/rgb_1.png", "image_2": "train1493/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 18036, "folder_dir": "train1493/3", "pair_name": "TVStand-FloorLamp", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of TVStand. Where is the centroid position of FloorLamp in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "TVStand", "tgt_object": "FloorLamp", "src_com": {"x": 6.129566192626953, "y": 0.3762648105621338, "z": 6.4302544593811035}, "tgt_com": {"x": 0.5136492252349854, "y": 0.9517508745193481, "z": 5.163760662078857}, "agent_pos": {"x": 1.600000023841858, "y": 1.5759997367858887, "z": 6.400000095367432}, "image_1": "train1493/3/rgb_1.png", "image_2": "train1493/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 18037, "folder_dir": "train1493/3", "pair_name": "TVStand-Chair", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of TVStand. Where is the centroid position of Chair in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "C", "src_object": "TVStand", "tgt_object": "Chair", "src_com": {"x": 6.129566192626953, "y": 0.3762648105621338, "z": 6.4302544593811035}, "tgt_com": {"x": 3.6334357261657715, "y": 0.41710352897644043, "z": 3.3456363677978516}, "agent_pos": {"x": 1.600000023841858, "y": 1.5759997367858887, "z": 6.400000095367432}, "image_1": "train1493/3/rgb_1.png", "image_2": "train1493/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 18038, "folder_dir": "train1493/3", "pair_name": "TVStand-ArmChair", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of TVStand. Where is the centroid position of ArmChair in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "TVStand", "tgt_object": "ArmChair", "src_com": {"x": 6.129566192626953, "y": 0.3762648105621338, "z": 6.4302544593811035}, "tgt_com": {"x": 0.5125451683998108, "y": 0.47257593274116516, "z": 4.123143196105957}, "agent_pos": {"x": 1.600000023841858, "y": 1.5759997367858887, "z": 6.400000095367432}, "image_1": "train1493/3/rgb_1.png", "image_2": "train1493/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 18039, "folder_dir": "train1493/3", "pair_name": "TVStand-Window", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of TVStand. Where is the centroid position of Window 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": "TVStand", "tgt_object": "Window", "src_com": {"x": 6.129566192626953, "y": 0.3762648105621338, "z": 6.4302544593811035}, "tgt_com": {"x": 3.768606662750244, "y": 1.5, "z": 1.6890000104904175}, "agent_pos": {"x": 1.600000023841858, "y": 1.5759997367858887, "z": 6.400000095367432}, "image_1": "train1493/3/rgb_1.png", "image_2": "train1493/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 18040, "folder_dir": "train1493/3", "pair_name": "RemoteControl-Chair", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of RemoteControl. Where is the centroid position of Chair in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "C", "src_object": "RemoteControl", "tgt_object": "Chair", "src_com": {"x": 6.237124443054199, "y": 0.5986267924308777, "z": 3.7209620475769043}, "tgt_com": {"x": 3.6334357261657715, "y": 0.41710352897644043, "z": 3.3456363677978516}, "agent_pos": {"x": 1.600000023841858, "y": 1.5759997367858887, "z": 6.400000095367432}, "image_1": "train1493/3/rgb_1.png", "image_2": "train1493/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 18041, "folder_dir": "train1493/3", "pair_name": "RemoteControl-HousePlant", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of RemoteControl. Where is the centroid position of HousePlant in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "C", "src_object": "RemoteControl", "tgt_object": "HousePlant", "src_com": {"x": 6.237124443054199, "y": 0.5986267924308777, "z": 3.7209620475769043}, "tgt_com": {"x": 2.105186939239502, "y": 0.44784820079803467, "z": 1.8880343437194824}, "agent_pos": {"x": 1.600000023841858, "y": 1.5759997367858887, "z": 6.400000095367432}, "image_1": "train1493/3/rgb_1.png", "image_2": "train1493/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 18042, "folder_dir": "train1493/3", "pair_name": "RemoteControl-Window", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of RemoteControl. Where is the centroid position of Window 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": "RemoteControl", "tgt_object": "Window", "src_com": {"x": 6.237124443054199, "y": 0.5986267924308777, "z": 3.7209620475769043}, "tgt_com": {"x": 3.768606662750244, "y": 1.5, "z": 1.6890000104904175}, "agent_pos": {"x": 1.600000023841858, "y": 1.5759997367858887, "z": 6.400000095367432}, "image_1": "train1493/3/rgb_1.png", "image_2": "train1493/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 18043, "folder_dir": "train1493/3", "pair_name": "Television-Vase", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Television. Where is the centroid position of Vase in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Television", "tgt_object": "Vase", "src_com": {"x": 6.1295647621154785, "y": 1.1457395553588867, "z": 6.4302473068237305}, "tgt_com": {"x": 0.10326152294874191, "y": 0.7342880964279175, "z": 1.8299522399902344}, "agent_pos": {"x": 1.600000023841858, "y": 1.5759997367858887, "z": 6.400000095367432}, "image_1": "train1493/3/rgb_1.png", "image_2": "train1493/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 18044, "folder_dir": "train1493/3", "pair_name": "Television-FloorLamp", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Television. Where is the centroid position of FloorLamp in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Television", "tgt_object": "FloorLamp", "src_com": {"x": 6.1295647621154785, "y": 1.1457395553588867, "z": 6.4302473068237305}, "tgt_com": {"x": 0.5136492252349854, "y": 0.9517508745193481, "z": 5.163760662078857}, "agent_pos": {"x": 1.600000023841858, "y": 1.5759997367858887, "z": 6.400000095367432}, "image_1": "train1493/3/rgb_1.png", "image_2": "train1493/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 18045, "folder_dir": "train1493/3", "pair_name": "Television-Chair", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Television. Where is the centroid position of Chair in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "C", "src_object": "Television", "tgt_object": "Chair", "src_com": {"x": 6.1295647621154785, "y": 1.1457395553588867, "z": 6.4302473068237305}, "tgt_com": {"x": 3.6334357261657715, "y": 0.41710352897644043, "z": 3.3456363677978516}, "agent_pos": {"x": 1.600000023841858, "y": 1.5759997367858887, "z": 6.400000095367432}, "image_1": "train1493/3/rgb_1.png", "image_2": "train1493/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 18046, "folder_dir": "train1493/3", "pair_name": "Television-ArmChair", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Television. Where is the centroid position of ArmChair in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Television", "tgt_object": "ArmChair", "src_com": {"x": 6.1295647621154785, "y": 1.1457395553588867, "z": 6.4302473068237305}, "tgt_com": {"x": 0.5125451683998108, "y": 0.47257593274116516, "z": 4.123143196105957}, "agent_pos": {"x": 1.600000023841858, "y": 1.5759997367858887, "z": 6.400000095367432}, "image_1": "train1493/3/rgb_1.png", "image_2": "train1493/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 18047, "folder_dir": "train1493/3", "pair_name": "Television-Window", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Television. Where is the centroid position of Window 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": "Television", "tgt_object": "Window", "src_com": {"x": 6.1295647621154785, "y": 1.1457395553588867, "z": 6.4302473068237305}, "tgt_com": {"x": 3.768606662750244, "y": 1.5, "z": 1.6890000104904175}, "agent_pos": {"x": 1.600000023841858, "y": 1.5759997367858887, "z": 6.400000095367432}, "image_1": "train1493/3/rgb_1.png", "image_2": "train1493/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} diff --git a/train/train1493/3/questions_distance.jsonl b/train/train1493/3/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bf902bcf8c88001583cb6238852caa4bda60ceeb --- /dev/null +++ b/train/train1493/3/questions_distance.jsonl @@ -0,0 +1 @@ +{"id": 4547, "folder_dir": "train1493/3", "query": "Which of the following objects is closest to Bed in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Pillow\nB. RemoteControl\nC. BasketBall\nD. Other\n", "answer": "C", "src_object": "Bed", "target_object": "BasketBall", "question": "Which of the following objects is closest to Bed in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Pillow", "semantic_id": "Pillow|surface|2|8", "distance": 0.4929616625660034, "com": {"x": 5.777751922607422, "y": 0.6417027711868286, "z": 3.1587977409362793}}, {"text": "RemoteControl", "semantic_id": "RemoteControl|surface|2|10", "distance": 0.8708837843597997, "com": {"x": 6.237124443054199, "y": 0.5986267924308777, "z": 3.7209620475769043}}, {"text": "BasketBall", "semantic_id": "BasketBall|surface|2|12", "distance": 0.48965859678091755, "com": {"x": 6.237112522125244, "y": 0.7089889645576477, "z": 2.5962400436401367}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1493/3/rgb_0.png", "image_2": "train1493/3/rgb_1.png"} diff --git a/train/train1493/3/rgb_0.png b/train/train1493/3/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..6dc89277dc77744997700ed92d4c80dbef7bcc1e --- /dev/null +++ b/train/train1493/3/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:929d543ad55cf83b08357c2875f8fe9072ad4ebd65f1c3ff0a65c90d73434ad9 +size 857660 diff --git a/train/train1493/3/rgb_1.png b/train/train1493/3/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..718c5f50eefc2a7c288bf8d221a0cb8a44f4a00f --- /dev/null +++ b/train/train1493/3/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:061a6a45e3f52bbc01de4f32b4bda2abecfa130bd573501f682c22c70ceff61c +size 967021 diff --git a/train/train1493/3/semantic_0.png b/train/train1493/3/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..6ee8de2037b3e9bb86e90512e5d614a68e0ee664 Binary files /dev/null and b/train/train1493/3/semantic_0.png differ diff --git a/train/train1493/3/semantic_1.png b/train/train1493/3/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..82a844e9127c6006e564ae2c1ec87d649d907d28 Binary files /dev/null and b/train/train1493/3/semantic_1.png differ diff --git a/train/train1493/4/0.json b/train/train1493/4/0.json new file mode 100644 index 0000000000000000000000000000000000000000..6ffa5ad2cd3c0a5c85871b9bdf51f08720b8d363 --- /dev/null +++ b/train/train1493/4/0.json @@ -0,0 +1,1571 @@ +{ + "object": [ + { + "objectId": "Laptop|surface|2|7", + "object_info": { + "name": "Laptop|surface|2|7", + "position": { + "x": 3.9795827865600586, + "y": 0.6327298879623413, + "z": 3.9410414695739746 + }, + "rotation": { + "x": 2.9829290724592283e-05, + "y": 89.99992370605469, + "z": -9.140297333942726e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 2.299999952316284, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 2.413120985031128, + "objectType": "Laptop", + "objectId": "Laptop|surface|2|7", + "assetId": "Laptop_2", + "parentReceptacles": [ + "DiningTable|2|3|0", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.123044490814209, + 0.6625616550445557, + 4.117736339569092 + ], + [ + 4.123044490814209, + 0.6625616550445557, + 3.7643465995788574 + ], + [ + 4.123044490814209, + 0.6327295303344727, + 4.117736339569092 + ], + [ + 4.123044490814209, + 0.6327295303344727, + 3.7643465995788574 + ], + [ + 3.844463348388672, + 0.6625616550445557, + 4.117736339569092 + ], + [ + 3.844463348388672, + 0.6625616550445557, + 3.7643465995788574 + ], + [ + 3.844463348388672, + 0.6327295303344727, + 4.117736339569092 + ], + [ + 3.844463348388672, + 0.6327295303344727, + 3.7643465995788574 + ] + ], + "center": { + "x": 3.9837539196014404, + "y": 0.6476455926895142, + "z": 3.9410414695739746 + }, + "size": { + "x": 0.2785811424255371, + "y": 0.029832124710083008, + "z": 0.3533897399902344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.123044490814209, + 0.6327295303344727, + 3.7643468379974365 + ], + [ + 4.123044013977051, + 0.6327300667762756, + 4.117736339569092 + ], + [ + 3.844463348388672, + 0.63273024559021, + 4.117736339569092 + ], + [ + 3.84446382522583, + 0.6327296495437622, + 3.7643465995788574 + ], + [ + 4.123044490814209, + 0.6625610589981079, + 3.7643468379974365 + ], + [ + 4.123044013977051, + 0.6625615954399109, + 4.117736339569092 + ], + [ + 3.844463348388672, + 0.6625617146492004, + 4.117735862731934 + ], + [ + 3.84446382522583, + 0.6625611782073975, + 3.7643463611602783 + ] + ] + } + } + }, + { + "objectId": "DiningTable|2|3|0", + "object_info": { + "name": "DiningTable|2|3|0", + "position": { + "x": 3.6285083293914795, + "y": -0.00032138824462890625, + "z": 3.9410417079925537 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Laptop|surface|2|7", + "Box|surface|2|9", + "TennisRacket|surface|2|13", + "Pen|surface|2|6", + "CellPhone|surface|2|5" + ], + "distance": 2.4131858348846436, + "objectType": "DiningTable", + "objectId": "DiningTable|2|3|0", + "assetId": "Dining_Table_227_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.034149646759033, + 0.6327300071716309, + 4.441042423248291 + ], + [ + 5.034149646759033, + 0.6327300071716309, + 3.4410409927368164 + ], + [ + 5.034149646759033, + 1.9073486328125e-06, + 4.441042423248291 + ], + [ + 5.034149646759033, + 1.9073486328125e-06, + 3.4410409927368164 + ], + [ + 2.222867012023926, + 0.6327300071716309, + 4.441042423248291 + ], + [ + 2.222867012023926, + 0.6327300071716309, + 3.4410409927368164 + ], + [ + 2.222867012023926, + 1.9073486328125e-06, + 4.441042423248291 + ], + [ + 2.222867012023926, + 1.9073486328125e-06, + 3.4410409927368164 + ] + ], + "center": { + "x": 3.6285083293914795, + "y": 0.31636595726013184, + "z": 3.9410417079925537 + }, + "size": { + "x": 2.8112826347351074, + "y": 0.632728099822998, + "z": 1.0000014305114746 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.222867488861084, + 2.0265579223632812e-06, + 3.4410412311553955 + ], + [ + 5.034149169921875, + 2.0265579223632812e-06, + 3.4410409927368164 + ], + [ + 5.034149169921875, + 2.0265579223632812e-06, + 4.441041946411133 + ], + [ + 2.222867488861084, + 2.0265579223632812e-06, + 4.441042423248291 + ], + [ + 2.222867488861084, + 0.6327301263809204, + 3.4410412311553955 + ], + [ + 5.034149169921875, + 0.6327301263809204, + 3.4410409927368164 + ], + [ + 5.034149169921875, + 0.6327301263809204, + 4.441041946411133 + ], + [ + 2.222867488861084, + 0.6327301263809204, + 4.441042423248291 + ] + ] + } + } + }, + { + "objectId": "TVStand|2|4|0", + "object_info": { + "name": "TVStand|2|4|0", + "position": { + "x": 6.12821102142334, + "y": -0.0005604922771453857, + "z": 6.425413608551025 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood", + "Metal" + ], + "receptacleObjectIds": [ + "Television|2|4|1", + "Watch|surface|2|3" + ], + "distance": 3.522228956222534, + "objectType": "TVStand", + "objectId": "TVStand|2|4|0", + "assetId": "TV_Stand_206_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.731991767883301, + 0.7525230050086975, + 6.7320098876953125 + ], + [ + 6.731991767883301, + 0.7525230050086975, + 6.1284990310668945 + ], + [ + 6.731991767883301, + 6.616115570068359e-06, + 6.7320098876953125 + ], + [ + 6.731991767883301, + 6.616115570068359e-06, + 6.1284990310668945 + ], + [ + 5.5271406173706055, + 0.7525230050086975, + 6.7320098876953125 + ], + [ + 5.5271406173706055, + 0.7525230050086975, + 6.1284990310668945 + ], + [ + 5.5271406173706055, + 6.616115570068359e-06, + 6.7320098876953125 + ], + [ + 5.5271406173706055, + 6.616115570068359e-06, + 6.1284990310668945 + ] + ], + "center": { + "x": 6.129566192626953, + "y": 0.3762648105621338, + "z": 6.4302544593811035 + }, + "size": { + "x": 1.2048511505126953, + "y": 0.7525163888931274, + "z": 0.603510856628418 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.5271406173706055, + 6.765127182006836e-06, + 6.128499507904053 + ], + [ + 6.731991767883301, + 6.765127182006836e-06, + 6.128499507904053 + ], + [ + 6.731991767883301, + 6.765127182006836e-06, + 6.7320098876953125 + ], + [ + 5.5271406173706055, + 6.765127182006836e-06, + 6.7320098876953125 + ], + [ + 5.5271406173706055, + 0.7525230646133423, + 6.128499507904053 + ], + [ + 6.731991767883301, + 0.7525230646133423, + 6.128499507904053 + ], + [ + 6.731991767883301, + 0.7525230646133423, + 6.7320098876953125 + ], + [ + 5.5271406173706055, + 0.7525230646133423, + 6.7320098876953125 + ] + ] + } + } + }, + { + "objectId": "Bed|2|0", + "object_info": { + "name": "Bed|2|0", + "position": { + "x": 6.084811687469482, + "y": 0.0007693767547607422, + "z": 2.857921600341797 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": true, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "Pillow|surface|2|8", + "RemoteControl|surface|2|10", + "BasketBall|surface|2|12" + ], + "distance": 4.669479846954346, + "objectType": "Bed", + "objectId": "Bed|2|0", + "assetId": "Bed_26_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.732000350952148, + 0.7116310596466064, + 4.083568572998047 + ], + [ + 6.732000350952148, + 0.7116310596466064, + 1.7139997482299805 + ], + [ + 6.732000350952148, + 0.0, + 4.083568572998047 + ], + [ + 6.732000350952148, + 0.0, + 1.7139997482299805 + ], + [ + 5.4356231689453125, + 0.7116310596466064, + 4.083568572998047 + ], + [ + 5.4356231689453125, + 0.7116310596466064, + 1.7139997482299805 + ], + [ + 5.4356231689453125, + 0.0, + 4.083568572998047 + ], + [ + 5.4356231689453125, + 0.0, + 1.7139997482299805 + ] + ], + "center": { + "x": 6.0838117599487305, + "y": 0.3558155298233032, + "z": 2.8987841606140137 + }, + "size": { + "x": 1.296377182006836, + "y": 0.7116310596466064, + "z": 2.3695688247680664 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.732000350952148, + 0.0, + 4.083568572998047 + ], + [ + 5.4356231689453125, + 0.0, + 4.083568572998047 + ], + [ + 5.4356231689453125, + 0.0, + 1.7140001058578491 + ], + [ + 6.732000350952148, + 0.0, + 1.7140001058578491 + ], + [ + 6.732000350952148, + 0.7116310596466064, + 4.083568572998047 + ], + [ + 5.4356231689453125, + 0.7116310596466064, + 4.083568572998047 + ], + [ + 5.4356231689453125, + 0.7116310596466064, + 1.7140001058578491 + ], + [ + 6.732000350952148, + 0.7116310596466064, + 1.7140001058578491 + ] + ] + } + } + }, + { + "objectId": "BaseballBat|surface|2|11", + "object_info": { + "name": "BaseballBat|surface|2|11", + "position": { + "x": 2.4015605449676514, + "y": 0.04473770409822464, + "z": 4.699457168579102 + }, + "rotation": { + "x": 90.0, + "y": 306.43365478515625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.8999999761581421, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 1.5956209897994995, + "objectType": "BaseballBat", + "objectId": "BaseballBat|surface|2|11", + "assetId": "BaseballBat_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.6451220512390137, + 0.08947601914405823, + 5.138495445251465 + ], + [ + 2.6451220512390137, + 0.08947601914405823, + 4.504087448120117 + ], + [ + 2.6451220512390137, + -4.3213367462158203e-07, + 5.138495445251465 + ], + [ + 2.6451220512390137, + -4.3213367462158203e-07, + 4.504087448120117 + ], + [ + 1.8257765769958496, + 0.08947601914405823, + 5.138495445251465 + ], + [ + 1.8257765769958496, + 0.08947601914405823, + 4.504087448120117 + ], + [ + 1.8257765769958496, + -4.3213367462158203e-07, + 5.138495445251465 + ], + [ + 1.8257765769958496, + -4.3213367462158203e-07, + 4.504087448120117 + ] + ], + "center": { + "x": 2.2354493141174316, + "y": 0.0447377935051918, + "z": 4.821291446685791 + }, + "size": { + "x": 0.8193454742431641, + "y": 0.08947645127773285, + "z": 0.6344079971313477 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.645125150680542, + -4.6938657760620117e-07, + 4.569081783294678 + ], + [ + 2.597147226333618, + 7.450580596923828e-09, + 4.504086971282959 + ], + [ + 2.5971477031707764, + 0.08947569876909256, + 4.504087448120117 + ], + [ + 2.6451256275177, + 0.08947522193193436, + 4.569082260131836 + ], + [ + 1.873750925064087, + -1.1175870895385742e-07, + 5.138495445251465 + ], + [ + 1.825773000717163, + 3.650784492492676e-07, + 5.073500633239746 + ], + [ + 1.8257732391357422, + 0.08947599679231644, + 5.073500633239746 + ], + [ + 1.873751163482666, + 0.08947551995515823, + 5.138495922088623 + ] + ] + } + } + }, + { + "objectId": "Painting|2|8", + "object_info": { + "name": "Painting|2|8", + "position": { + "x": 2.394002676010132, + "y": 1.728537917137146, + "z": 6.755313396453857 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 1.1756069660186768, + "objectType": "Painting", + "objectId": "Painting|2|8", + "assetId": "Wall_Decor_Painting_6", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.7912027835845947, + 2.0293593406677246, + 6.739336967468262 + ], + [ + 2.7912027835845947, + 2.0293593406677246, + 6.731963157653809 + ], + [ + 2.7912027835845947, + 1.427976131439209, + 6.739336967468262 + ], + [ + 2.7912027835845947, + 1.427976131439209, + 6.731963157653809 + ], + [ + 1.9938080310821533, + 2.0293593406677246, + 6.739336967468262 + ], + [ + 1.9938080310821533, + 2.0293593406677246, + 6.731963157653809 + ], + [ + 1.9938080310821533, + 1.427976131439209, + 6.739336967468262 + ], + [ + 1.9938080310821533, + 1.427976131439209, + 6.731963157653809 + ] + ], + "center": { + "x": 2.392505407333374, + "y": 1.7286677360534668, + "z": 6.735650062561035 + }, + "size": { + "x": 0.7973947525024414, + "y": 0.6013832092285156, + "z": 0.007373809814453125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Chair|2|3|2", + "object_info": { + "name": "Chair|2|3|2", + "position": { + "x": 3.6207263469696045, + "y": 0.006381243467330933, + "z": 4.512487411499023 + }, + "rotation": { + "x": 0.0, + "y": 196.23699951171875, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 1.9419578313827515, + "objectType": "Chair", + "objectId": "Chair|2|3|2", + "assetId": "Chair_303_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.9063186645507812, + 0.8342158198356628, + 4.866818428039551 + ], + [ + 3.9063186645507812, + 0.8342158198356628, + 4.199010848999023 + ], + [ + 3.9063186645507812, + -8.821487426757812e-06, + 4.866818428039551 + ], + [ + 3.9063186645507812, + -8.821487426757812e-06, + 4.199010848999023 + ], + [ + 3.331930637359619, + 0.8342158198356628, + 4.866818428039551 + ], + [ + 3.331930637359619, + 0.8342158198356628, + 4.199010848999023 + ], + [ + 3.331930637359619, + -8.821487426757812e-06, + 4.866818428039551 + ], + [ + 3.331930637359619, + -8.821487426757812e-06, + 4.199010848999023 + ] + ], + "center": { + "x": 3.6191246509552, + "y": 0.41710349917411804, + "z": 4.532914638519287 + }, + "size": { + "x": 0.5743880271911621, + "y": 0.8342246413230896, + "z": 0.6678075790405273 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.3253579139709473, + -8.851289749145508e-06, + 4.327392101287842 + ], + [ + 3.769542932510376, + -8.851289749145508e-06, + 4.198033332824707 + ], + [ + 3.9316635131835938, + -8.851289749145508e-06, + 4.754714012145996 + ], + [ + 3.487478494644165, + -8.851289749145508e-06, + 4.884072780609131 + ], + [ + 3.3253579139709473, + 0.8342158794403076, + 4.327392101287842 + ], + [ + 3.769542932510376, + 0.8342158794403076, + 4.198033332824707 + ], + [ + 3.9316635131835938, + 0.8342158794403076, + 4.754714012145996 + ], + [ + 3.487478494644165, + 0.8342158794403076, + 4.884072780609131 + ] + ] + } + } + }, + { + "objectId": "Chair|2|3|1", + "object_info": { + "name": "Chair|2|3|1", + "position": { + "x": 3.6328468322753906, + "y": 0.006381243467330933, + "z": 3.3703174591064453 + }, + "rotation": { + "x": -0.0, + "y": 9.422372817993164, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "CellPhone|surface|2|0" + ], + "distance": 2.914616823196411, + "objectType": "Chair", + "objectId": "Chair|2|3|1", + "assetId": "Chair_303_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.897411823272705, + 0.8342157602310181, + 3.6640021800994873 + ], + [ + 3.897411823272705, + 0.8342157602310181, + 3.027270555496216 + ], + [ + 3.897411823272705, + -8.702278137207031e-06, + 3.6640021800994873 + ], + [ + 3.897411823272705, + -8.702278137207031e-06, + 3.027270555496216 + ], + [ + 3.369459629058838, + 0.8342157602310181, + 3.6640021800994873 + ], + [ + 3.369459629058838, + 0.8342157602310181, + 3.027270555496216 + ], + [ + 3.369459629058838, + -8.702278137207031e-06, + 3.6640021800994873 + ], + [ + 3.369459629058838, + -8.702278137207031e-06, + 3.027270555496216 + ] + ], + "center": { + "x": 3.6334357261657715, + "y": 0.41710352897644043, + "z": 3.3456363677978516 + }, + "size": { + "x": 0.5279521942138672, + "y": 0.8342244625091553, + "z": 0.6367316246032715 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.904165506362915, + -8.851289749145508e-06, + 3.5891528129577637 + ], + [ + 3.4477694034576416, + -8.851289749145508e-06, + 3.6648917198181152 + ], + [ + 3.352848529815674, + -8.851289749145508e-06, + 3.092907190322876 + ], + [ + 3.8092446327209473, + -8.851289749145508e-06, + 3.0171680450439453 + ], + [ + 3.904165506362915, + 0.8342158794403076, + 3.5891528129577637 + ], + [ + 3.4477694034576416, + 0.8342158794403076, + 3.6648917198181152 + ], + [ + 3.352848529815674, + 0.8342158794403076, + 3.092907190322876 + ], + [ + 3.8092446327209473, + 0.8342158794403076, + 3.0171680450439453 + ] + ] + } + } + }, + { + "objectId": "Box|surface|2|9", + "object_info": { + "name": "Box|surface|2|9", + "position": { + "x": 4.330590724945068, + "y": 0.8344038128852844, + "z": 3.695225954055786 + }, + "rotation": { + "x": 0.00023052019241731614, + "y": 180.0, + "z": 359.9800109863281 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.30000001192092896, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": [], + "distance": 2.795475959777832, + "objectType": "Box", + "objectId": "Box|surface|2|9", + "assetId": "Box_26", + "parentReceptacles": [ + "DiningTable|2|3|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.512392044067383, + 0.9175490140914917, + 4.067845344543457 + ], + [ + 4.512392044067383, + 0.9175490140914917, + 3.606621742248535 + ], + [ + 4.512392044067383, + 0.6327282190322876, + 4.067845344543457 + ], + [ + 4.512392044067383, + 0.6327282190322876, + 3.606621742248535 + ], + [ + 4.148536682128906, + 0.9175490140914917, + 4.067845344543457 + ], + [ + 4.148536682128906, + 0.9175490140914917, + 3.606621742248535 + ], + [ + 4.148536682128906, + 0.6327282190322876, + 4.067845344543457 + ], + [ + 4.148536682128906, + 0.6327282190322876, + 3.606621742248535 + ] + ], + "center": { + "x": 4.3304643630981445, + "y": 0.7751386165618896, + "z": 3.837233543395996 + }, + "size": { + "x": 0.36385536193847656, + "y": 0.2848207950592041, + "z": 0.4612236022949219 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.148633003234863, + 0.6326298713684082, + 3.6066200733184814 + ], + [ + 4.512492656707764, + 0.632756769657135, + 3.6066200733184814 + ], + [ + 4.512493133544922, + 0.632758617401123, + 4.067849159240723 + ], + [ + 4.148633003234863, + 0.6326316595077515, + 4.067849159240723 + ], + [ + 4.148533821105957, + 0.9174219965934753, + 3.606618881225586 + ], + [ + 4.512393474578857, + 0.9175488948822021, + 3.606618881225586 + ], + [ + 4.512393474578857, + 0.9175507426261902, + 4.067848205566406 + ], + [ + 4.148533821105957, + 0.9174238443374634, + 4.067848205566406 + ] + ] + } + } + }, + { + "objectId": "Box|2|6", + "object_info": { + "name": "Box|2|6", + "position": { + "x": 4.2505645751953125, + "y": 0.15082219243049622, + "z": 6.450746536254883 + }, + "rotation": { + "x": 359.9891662597656, + "y": 179.99998474121094, + "z": 0.0039461394771933556 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.30000001192092896, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": [], + "distance": 1.737133502960205, + "objectType": "Box", + "objectId": "Box|2|6", + "assetId": "Box_23", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.509631156921387, + 0.26864856481552124, + 6.732048034667969 + ], + [ + 4.509631156921387, + 0.26864856481552124, + 6.316875457763672 + ], + [ + 4.509631156921387, + -2.7239322662353516e-05, + 6.732048034667969 + ], + [ + 4.509631156921387, + -2.7239322662353516e-05, + 6.316875457763672 + ], + [ + 3.998162269592285, + 0.26864856481552124, + 6.732048034667969 + ], + [ + 3.998162269592285, + 0.26864856481552124, + 6.316875457763672 + ], + [ + 3.998162269592285, + -2.7239322662353516e-05, + 6.732048034667969 + ], + [ + 3.998162269592285, + -2.7239322662353516e-05, + 6.316875457763672 + ] + ], + "center": { + "x": 4.253896713256836, + "y": 0.13431066274642944, + "z": 6.52446174621582 + }, + "size": { + "x": 0.5114688873291016, + "y": 0.2686758041381836, + "z": 0.4151725769042969 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.9981439113616943, + 6.669759750366211e-05, + 6.316826343536377 + ], + [ + 4.509615898132324, + 3.147125244140625e-05, + 6.316826343536377 + ], + [ + 4.509615421295166, + -4.70280647277832e-05, + 6.73199987411499 + ], + [ + 3.9981439113616943, + -1.1801719665527344e-05, + 6.731999397277832 + ], + [ + 3.9981625080108643, + 0.2687307596206665, + 6.316877365112305 + ], + [ + 4.509634017944336, + 0.26869553327560425, + 6.316877365112305 + ], + [ + 4.509634017944336, + 0.26861703395843506, + 6.73205041885376 + ], + [ + 3.998162269592285, + 0.2686522603034973, + 6.73205041885376 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 1.7000000476837158, + "y": 0.9009997844696045, + "z": 6.5 + }, + "agent_rotation": { + "x": -0.0, + "y": 90.0, + "z": 0.0 + }, + "agent_cameraHorizon": 60.00001525878906, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 1.7000000476837158, + "y": 1.5759997367858887, + "z": 6.5 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Box|surface|2|9", + "Chair|2|3|2", + "BaseballBat|surface|2|11", + "Chair|2|3|1", + "Laptop|surface|2|7", + "Bed|2|0", + "DiningTable|2|3|0" + ], + "different_object": [ + "Painting|2|8", + "TVStand|2|4|0", + "Box|2|6" + ] +} \ No newline at end of file diff --git a/train/train1493/4/0_depth_npy.npy b/train/train1493/4/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..8ff7a818cc2b8ebbf7719560ad6e801175ccee26 --- /dev/null +++ b/train/train1493/4/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:655db2ec4f40e1013834b1c402f936bcc6c02e06ef03b2e8b683782297dffe43 +size 3145856 diff --git a/train/train1493/4/0_semantic_sensor_npy.npy b/train/train1493/4/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..6dbb544757ee21d427046b6188900acca7346def --- /dev/null +++ b/train/train1493/4/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:df1eee44d7c5fa241f7d5394fc79ef5abeb1663cea945723f4c987fe1f857b4e +size 2359424 diff --git a/train/train1493/4/1.json b/train/train1493/4/1.json new file mode 100644 index 0000000000000000000000000000000000000000..2bf17401e7b9acb24e04f3054f561bac8f07c8de --- /dev/null +++ b/train/train1493/4/1.json @@ -0,0 +1,3160 @@ +{ + "object": [ + { + "objectId": "Laptop|surface|2|7", + "object_info": { + "name": "Laptop|surface|2|7", + "position": { + "x": 3.9795827865600586, + "y": 0.6327298879623413, + "z": 3.9410414695739746 + }, + "rotation": { + "x": 2.9829290724592283e-05, + "y": 89.99992370605469, + "z": -9.140297333942726e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 2.299999952316284, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 2.413120985031128, + "objectType": "Laptop", + "objectId": "Laptop|surface|2|7", + "assetId": "Laptop_2", + "parentReceptacles": [ + "DiningTable|2|3|0", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.123044490814209, + 0.6625616550445557, + 4.117736339569092 + ], + [ + 4.123044490814209, + 0.6625616550445557, + 3.7643465995788574 + ], + [ + 4.123044490814209, + 0.6327295303344727, + 4.117736339569092 + ], + [ + 4.123044490814209, + 0.6327295303344727, + 3.7643465995788574 + ], + [ + 3.844463348388672, + 0.6625616550445557, + 4.117736339569092 + ], + [ + 3.844463348388672, + 0.6625616550445557, + 3.7643465995788574 + ], + [ + 3.844463348388672, + 0.6327295303344727, + 4.117736339569092 + ], + [ + 3.844463348388672, + 0.6327295303344727, + 3.7643465995788574 + ] + ], + "center": { + "x": 3.9837539196014404, + "y": 0.6476455926895142, + "z": 3.9410414695739746 + }, + "size": { + "x": 0.2785811424255371, + "y": 0.029832124710083008, + "z": 0.3533897399902344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.123044490814209, + 0.6327295303344727, + 3.7643468379974365 + ], + [ + 4.123044013977051, + 0.6327300667762756, + 4.117736339569092 + ], + [ + 3.844463348388672, + 0.63273024559021, + 4.117736339569092 + ], + [ + 3.84446382522583, + 0.6327296495437622, + 3.7643465995788574 + ], + [ + 4.123044490814209, + 0.6625610589981079, + 3.7643468379974365 + ], + [ + 4.123044013977051, + 0.6625615954399109, + 4.117736339569092 + ], + [ + 3.844463348388672, + 0.6625617146492004, + 4.117735862731934 + ], + [ + 3.84446382522583, + 0.6625611782073975, + 3.7643463611602783 + ] + ] + } + } + }, + { + "objectId": "DiningTable|2|3|0", + "object_info": { + "name": "DiningTable|2|3|0", + "position": { + "x": 3.6285083293914795, + "y": -0.00032138824462890625, + "z": 3.9410417079925537 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Laptop|surface|2|7", + "Box|surface|2|9", + "TennisRacket|surface|2|13", + "Pen|surface|2|6", + "CellPhone|surface|2|5" + ], + "distance": 2.4131858348846436, + "objectType": "DiningTable", + "objectId": "DiningTable|2|3|0", + "assetId": "Dining_Table_227_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.034149646759033, + 0.6327300071716309, + 4.441042423248291 + ], + [ + 5.034149646759033, + 0.6327300071716309, + 3.4410409927368164 + ], + [ + 5.034149646759033, + 1.9073486328125e-06, + 4.441042423248291 + ], + [ + 5.034149646759033, + 1.9073486328125e-06, + 3.4410409927368164 + ], + [ + 2.222867012023926, + 0.6327300071716309, + 4.441042423248291 + ], + [ + 2.222867012023926, + 0.6327300071716309, + 3.4410409927368164 + ], + [ + 2.222867012023926, + 1.9073486328125e-06, + 4.441042423248291 + ], + [ + 2.222867012023926, + 1.9073486328125e-06, + 3.4410409927368164 + ] + ], + "center": { + "x": 3.6285083293914795, + "y": 0.31636595726013184, + "z": 3.9410417079925537 + }, + "size": { + "x": 2.8112826347351074, + "y": 0.632728099822998, + "z": 1.0000014305114746 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.222867488861084, + 2.0265579223632812e-06, + 3.4410412311553955 + ], + [ + 5.034149169921875, + 2.0265579223632812e-06, + 3.4410409927368164 + ], + [ + 5.034149169921875, + 2.0265579223632812e-06, + 4.441041946411133 + ], + [ + 2.222867488861084, + 2.0265579223632812e-06, + 4.441042423248291 + ], + [ + 2.222867488861084, + 0.6327301263809204, + 3.4410412311553955 + ], + [ + 5.034149169921875, + 0.6327301263809204, + 3.4410409927368164 + ], + [ + 5.034149169921875, + 0.6327301263809204, + 4.441041946411133 + ], + [ + 2.222867488861084, + 0.6327301263809204, + 4.441042423248291 + ] + ] + } + } + }, + { + "objectId": "Pillow|surface|2|8", + "object_info": { + "name": "Pillow|surface|2|8", + "position": { + "x": 5.780210971832275, + "y": 0.6417027711868286, + "z": 3.1587977409362793 + }, + "rotation": { + "x": 1.1183072956555407e-06, + "y": -1.1981211400780012e-06, + "z": 1.7818133528635371e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 4.161952018737793, + "objectType": "Pillow", + "objectId": "Pillow|surface|2|8", + "assetId": "pillow_4", + "parentReceptacles": [ + "Bed|2|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.991866111755371, + 0.6941037178039551, + 3.340888023376465 + ], + [ + 5.991866111755371, + 0.6941037178039551, + 2.9767074584960938 + ], + [ + 5.991866111755371, + 0.5893018245697021, + 3.340888023376465 + ], + [ + 5.991866111755371, + 0.5893018245697021, + 2.9767074584960938 + ], + [ + 5.563637733459473, + 0.6941037178039551, + 3.340888023376465 + ], + [ + 5.563637733459473, + 0.6941037178039551, + 2.9767074584960938 + ], + [ + 5.563637733459473, + 0.5893018245697021, + 3.340888023376465 + ], + [ + 5.563637733459473, + 0.5893018245697021, + 2.9767074584960938 + ] + ], + "center": { + "x": 5.777751922607422, + "y": 0.6417027711868286, + "z": 3.1587977409362793 + }, + "size": { + "x": 0.42822837829589844, + "y": 0.10480189323425293, + "z": 0.3641805648803711 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.9918670654296875, + 0.5893018245697021, + 3.3408877849578857 + ], + [ + 5.5636372566223145, + 0.5893018245697021, + 3.3408877849578857 + ], + [ + 5.5636372566223145, + 0.5893018245697021, + 2.976707696914673 + ], + [ + 5.9918670654296875, + 0.5893018245697021, + 2.976707696914673 + ], + [ + 5.9918670654296875, + 0.6941037178039551, + 3.3408877849578857 + ], + [ + 5.5636372566223145, + 0.6941037178039551, + 3.3408877849578857 + ], + [ + 5.5636372566223145, + 0.6941037178039551, + 2.976707696914673 + ], + [ + 5.9918670654296875, + 0.6941037178039551, + 2.976707696914673 + ] + ] + } + } + }, + { + "objectId": "Vase|surface|2|2", + "object_info": { + "name": "Vase|surface|2|2", + "position": { + "x": 0.10326104611158371, + "y": 0.6992400288581848, + "z": 1.82970130443573 + }, + "rotation": { + "x": -0.0001268632331630215, + "y": 2.1344292690628208e-05, + "z": 4.1369763494003564e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 4.9434123039245605, + "objectType": "Vase", + "objectId": "Vase|surface|2|2", + "assetId": "Vase_Flat_5", + "parentReceptacles": [ + "Dresser|2|1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.17875802516937256, + 0.7693721055984497, + 1.9054481983184814 + ], + [ + 0.17875802516937256, + 0.7693721055984497, + 1.7544562816619873 + ], + [ + 0.17875802516937256, + 0.6992040872573853, + 1.9054481983184814 + ], + [ + 0.17875802516937256, + 0.6992040872573853, + 1.7544562816619873 + ], + [ + 0.027765020728111267, + 0.7693721055984497, + 1.9054481983184814 + ], + [ + 0.027765020728111267, + 0.7693721055984497, + 1.7544562816619873 + ], + [ + 0.027765020728111267, + 0.6992040872573853, + 1.9054481983184814 + ], + [ + 0.027765020728111267, + 0.6992040872573853, + 1.7544562816619873 + ] + ], + "center": { + "x": 0.10326152294874191, + "y": 0.7342880964279175, + "z": 1.8299522399902344 + }, + "size": { + "x": 0.1509930044412613, + "y": 0.07016801834106445, + "z": 0.15099191665649414 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.17875808477401733, + 0.6992042660713196, + 1.905448317527771 + ], + [ + 0.027765072882175446, + 0.69920414686203, + 1.905448317527771 + ], + [ + 0.02776501327753067, + 0.6992037892341614, + 1.7544562816619873 + ], + [ + 0.17875802516937256, + 0.6992039084434509, + 1.7544562816619873 + ], + [ + 0.17875802516937256, + 0.7693723440170288, + 1.905448079109192 + ], + [ + 0.027765020728111267, + 0.769372284412384, + 1.9054481983184814 + ], + [ + 0.02776496112346649, + 0.7693719267845154, + 1.7544561624526978 + ], + [ + 0.17875796556472778, + 0.7693720459938049, + 1.7544561624526978 + ] + ] + } + } + }, + { + "objectId": "BasketBall|surface|2|12", + "object_info": { + "name": "BasketBall|surface|2|12", + "position": { + "x": 6.237112522125244, + "y": 0.7089889645576477, + "z": 2.5962400436401367 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6000000238418579, + "salientMaterials": [ + "Rubber" + ], + "receptacleObjectIds": null, + "distance": 4.876720428466797, + "objectType": "BasketBall", + "objectId": "BasketBall|surface|2|12", + "assetId": "RoboTHOR_basketball_rhode_island_novelty_v", + "parentReceptacles": [ + "Bed|2|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.356799602508545, + 0.8286760449409485, + 2.7159271240234375 + ], + [ + 6.356799602508545, + 0.8286760449409485, + 2.476552963256836 + ], + [ + 6.356799602508545, + 0.5893018841743469, + 2.7159271240234375 + ], + [ + 6.356799602508545, + 0.5893018841743469, + 2.476552963256836 + ], + [ + 6.117425441741943, + 0.8286760449409485, + 2.7159271240234375 + ], + [ + 6.117425441741943, + 0.8286760449409485, + 2.476552963256836 + ], + [ + 6.117425441741943, + 0.5893018841743469, + 2.7159271240234375 + ], + [ + 6.117425441741943, + 0.5893018841743469, + 2.476552963256836 + ] + ], + "center": { + "x": 6.237112522125244, + "y": 0.7089889645576477, + "z": 2.5962400436401367 + }, + "size": { + "x": 0.23937416076660156, + "y": 0.23937416076660156, + "z": 0.23937416076660156 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.356799602508545, + 0.5893018841743469, + 2.7159271240234375 + ], + [ + 6.117425441741943, + 0.5893018841743469, + 2.7159271240234375 + ], + [ + 6.117425441741943, + 0.5893018841743469, + 2.476552963256836 + ], + [ + 6.356799602508545, + 0.5893018841743469, + 2.476552963256836 + ], + [ + 6.356799602508545, + 0.8286760449409485, + 2.7159271240234375 + ], + [ + 6.117425441741943, + 0.8286760449409485, + 2.7159271240234375 + ], + [ + 6.117425441741943, + 0.8286760449409485, + 2.476552963256836 + ], + [ + 6.356799602508545, + 0.8286760449409485, + 2.476552963256836 + ] + ] + } + } + }, + { + "objectId": "TennisRacket|surface|2|13", + "object_info": { + "name": "TennisRacket|surface|2|13", + "position": { + "x": 2.9256436824798584, + "y": 0.6512746214866638, + "z": 3.695225715637207 + }, + "rotation": { + "x": 358.3580017089844, + "y": 89.97605895996094, + "z": 359.9327697753906 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.3100000023841858, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.3249082565307617, + "objectType": "TennisRacket", + "objectId": "TennisRacket|surface|2|13", + "assetId": "Tennis_Racquet_3", + "parentReceptacles": [ + "DiningTable|2|3|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.255030632019043, + 0.6829039454460144, + 3.8234567642211914 + ], + [ + 3.255030632019043, + 0.6829039454460144, + 3.5676422119140625 + ], + [ + 3.255030632019043, + 0.6326798796653748, + 3.8234567642211914 + ], + [ + 3.255030632019043, + 0.6326798796653748, + 3.5676422119140625 + ], + [ + 2.601581573486328, + 0.6829039454460144, + 3.8234567642211914 + ], + [ + 2.601581573486328, + 0.6829039454460144, + 3.5676422119140625 + ], + [ + 2.601581573486328, + 0.6326798796653748, + 3.8234567642211914 + ], + [ + 2.601581573486328, + 0.6326798796653748, + 3.5676422119140625 + ] + ], + "center": { + "x": 2.9283061027526855, + "y": 0.6577919125556946, + "z": 3.695549488067627 + }, + "size": { + "x": 0.6534490585327148, + "y": 0.05022406578063965, + "z": 0.2558145523071289 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.255077362060547, + 0.6383706331253052, + 3.5679354667663574 + ], + [ + 3.2549619674682617, + 0.6386706233024597, + 3.823687791824341 + ], + [ + 2.6022543907165527, + 0.6199600100517273, + 3.8234150409698486 + ], + [ + 2.602369785308838, + 0.6196600198745728, + 3.5676627159118652 + ], + [ + 3.2538061141967773, + 0.6827270984649658, + 3.567883014678955 + ], + [ + 3.253690481185913, + 0.6830270886421204, + 3.8236351013183594 + ], + [ + 2.600982904434204, + 0.6643164753913879, + 3.8233625888824463 + ], + [ + 2.6010985374450684, + 0.6640164852142334, + 3.567610263824463 + ] + ] + } + } + }, + { + "objectId": "FloorLamp|2|5|1", + "object_info": { + "name": "FloorLamp|2|5|1", + "position": { + "x": 0.5131568908691406, + "y": 0.0011234283447265625, + "z": 5.162453651428223 + }, + "rotation": { + "x": 0.04141491651535034, + "y": 88.94591522216797, + "z": 0.027018219232559204 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": true, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 2.552396535873413, + "objectType": "FloorLamp", + "objectId": "FloorLamp|2|5|1", + "assetId": "Floor_Lamp_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": [], + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.7597269415855408, + 1.9035091400146484, + 5.43923807144165 + ], + [ + 0.7597269415855408, + 1.9035091400146484, + 4.8882832527160645 + ], + [ + 0.7597269415855408, + -7.3909759521484375e-06, + 5.43923807144165 + ], + [ + 0.7597269415855408, + -7.3909759521484375e-06, + 4.8882832527160645 + ], + [ + 0.26757150888442993, + 1.9035091400146484, + 5.43923807144165 + ], + [ + 0.26757150888442993, + 1.9035091400146484, + 4.8882832527160645 + ], + [ + 0.26757150888442993, + -7.3909759521484375e-06, + 5.43923807144165 + ], + [ + 0.26757150888442993, + -7.3909759521484375e-06, + 4.8882832527160645 + ] + ], + "center": { + "x": 0.5136492252349854, + "y": 0.9517508745193481, + "z": 5.163760662078857 + }, + "size": { + "x": 0.49215543270111084, + "y": 1.9035165309906006, + "z": 0.5509548187255859 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.7613488435745239, + 0.00013861071784049273, + 4.891992568969727 + ], + [ + 0.7512140870094299, + -0.00012117309961467981, + 5.442806243896484 + ], + [ + 0.2637823224067688, + 0.00023121514823287725, + 5.433837890625 + ], + [ + 0.27391713857650757, + 0.0004909990238957107, + 4.883024215698242 + ], + [ + 0.7627078294754028, + 1.9033949375152588, + 4.89291524887085 + ], + [ + 0.7525730729103088, + 1.9031351804733276, + 5.443728923797607 + ], + [ + 0.2651413083076477, + 1.9034875631332397, + 5.434760570526123 + ], + [ + 0.2752761244773865, + 1.903747320175171, + 4.883946895599365 + ] + ] + } + } + }, + { + "objectId": "Bed|2|0", + "object_info": { + "name": "Bed|2|0", + "position": { + "x": 6.084811687469482, + "y": 0.0007693767547607422, + "z": 2.857921600341797 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": true, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "Pillow|surface|2|8", + "RemoteControl|surface|2|10", + "BasketBall|surface|2|12" + ], + "distance": 4.669479846954346, + "objectType": "Bed", + "objectId": "Bed|2|0", + "assetId": "Bed_26_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.732000350952148, + 0.7116310596466064, + 4.083568572998047 + ], + [ + 6.732000350952148, + 0.7116310596466064, + 1.7139997482299805 + ], + [ + 6.732000350952148, + 0.0, + 4.083568572998047 + ], + [ + 6.732000350952148, + 0.0, + 1.7139997482299805 + ], + [ + 5.4356231689453125, + 0.7116310596466064, + 4.083568572998047 + ], + [ + 5.4356231689453125, + 0.7116310596466064, + 1.7139997482299805 + ], + [ + 5.4356231689453125, + 0.0, + 4.083568572998047 + ], + [ + 5.4356231689453125, + 0.0, + 1.7139997482299805 + ] + ], + "center": { + "x": 6.0838117599487305, + "y": 0.3558155298233032, + "z": 2.8987841606140137 + }, + "size": { + "x": 1.296377182006836, + "y": 0.7116310596466064, + "z": 2.3695688247680664 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.732000350952148, + 0.0, + 4.083568572998047 + ], + [ + 5.4356231689453125, + 0.0, + 4.083568572998047 + ], + [ + 5.4356231689453125, + 0.0, + 1.7140001058578491 + ], + [ + 6.732000350952148, + 0.0, + 1.7140001058578491 + ], + [ + 6.732000350952148, + 0.7116310596466064, + 4.083568572998047 + ], + [ + 5.4356231689453125, + 0.7116310596466064, + 4.083568572998047 + ], + [ + 5.4356231689453125, + 0.7116310596466064, + 1.7140001058578491 + ], + [ + 6.732000350952148, + 0.7116310596466064, + 1.7140001058578491 + ] + ] + } + } + }, + { + "objectId": "BaseballBat|surface|2|11", + "object_info": { + "name": "BaseballBat|surface|2|11", + "position": { + "x": 2.4015605449676514, + "y": 0.04473770409822464, + "z": 4.699457168579102 + }, + "rotation": { + "x": 90.0, + "y": 306.43365478515625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.8999999761581421, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 1.5956209897994995, + "objectType": "BaseballBat", + "objectId": "BaseballBat|surface|2|11", + "assetId": "BaseballBat_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.6451220512390137, + 0.08947601914405823, + 5.138495445251465 + ], + [ + 2.6451220512390137, + 0.08947601914405823, + 4.504087448120117 + ], + [ + 2.6451220512390137, + -4.3213367462158203e-07, + 5.138495445251465 + ], + [ + 2.6451220512390137, + -4.3213367462158203e-07, + 4.504087448120117 + ], + [ + 1.8257765769958496, + 0.08947601914405823, + 5.138495445251465 + ], + [ + 1.8257765769958496, + 0.08947601914405823, + 4.504087448120117 + ], + [ + 1.8257765769958496, + -4.3213367462158203e-07, + 5.138495445251465 + ], + [ + 1.8257765769958496, + -4.3213367462158203e-07, + 4.504087448120117 + ] + ], + "center": { + "x": 2.2354493141174316, + "y": 0.0447377935051918, + "z": 4.821291446685791 + }, + "size": { + "x": 0.8193454742431641, + "y": 0.08947645127773285, + "z": 0.6344079971313477 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.645125150680542, + -4.6938657760620117e-07, + 4.569081783294678 + ], + [ + 2.597147226333618, + 7.450580596923828e-09, + 4.504086971282959 + ], + [ + 2.5971477031707764, + 0.08947569876909256, + 4.504087448120117 + ], + [ + 2.6451256275177, + 0.08947522193193436, + 4.569082260131836 + ], + [ + 1.873750925064087, + -1.1175870895385742e-07, + 5.138495445251465 + ], + [ + 1.825773000717163, + 3.650784492492676e-07, + 5.073500633239746 + ], + [ + 1.8257732391357422, + 0.08947599679231644, + 5.073500633239746 + ], + [ + 1.873751163482666, + 0.08947551995515823, + 5.138495922088623 + ] + ] + } + } + }, + { + "objectId": "CellPhone|surface|2|5", + "object_info": { + "name": "CellPhone|surface|2|5", + "position": { + "x": 3.6285080909729004, + "y": 0.6334385275840759, + "z": 3.9410412311553955 + }, + "rotation": { + "x": 0.00010380728781456128, + "y": 90.00013732910156, + "z": -0.0012113000266253948 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1599999964237213, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 2.254479169845581, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|2|5", + "assetId": "Cellphone_8", + "parentReceptacles": [ + "DiningTable|2|3|0", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.7014195919036865, + 0.6436123251914978, + 3.9792797565460205 + ], + [ + 3.7014195919036865, + 0.6436123251914978, + 3.9028027057647705 + ], + [ + 3.7014195919036865, + 0.6327289938926697, + 3.9792797565460205 + ], + [ + 3.7014195919036865, + 0.6327289938926697, + 3.9028027057647705 + ], + [ + 3.5555965900421143, + 0.6436123251914978, + 3.9792797565460205 + ], + [ + 3.5555965900421143, + 0.6436123251914978, + 3.9028027057647705 + ], + [ + 3.5555965900421143, + 0.6327289938926697, + 3.9792797565460205 + ], + [ + 3.5555965900421143, + 0.6327289938926697, + 3.9028027057647705 + ] + ], + "center": { + "x": 3.6285080909729004, + "y": 0.6381706595420837, + "z": 3.9410412311553955 + }, + "size": { + "x": 0.14582300186157227, + "y": 0.010883331298828125, + "z": 0.07647705078125 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.7014193534851074, + 0.6327289938926697, + 3.9028027057647705 + ], + [ + 3.7014195919036865, + 0.6327306032180786, + 3.9792795181274414 + ], + [ + 3.5555968284606934, + 0.6327309012413025, + 3.9792797565460205 + ], + [ + 3.5555965900421143, + 0.6327292919158936, + 3.9028031826019287 + ], + [ + 3.7014193534851074, + 0.643610417842865, + 3.9028024673461914 + ], + [ + 3.7014195919036865, + 0.6436120867729187, + 3.9792792797088623 + ], + [ + 3.5555968284606934, + 0.6436123251914978, + 3.9792795181274414 + ], + [ + 3.5555965900421143, + 0.6436107158660889, + 3.9028029441833496 + ] + ] + } + } + }, + { + "objectId": "Dresser|2|1___1", + "object_info": { + "name": "Drawer (1)", + "position": { + "x": 0.33600085973739624, + "y": 0.39762961864471436, + "z": 2.0043113231658936 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 4.695348739624023, + "objectType": "Drawer", + "objectId": "Dresser|2|1___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.630402684211731, + 0.4907017946243286, + 2.028729200363159 + ], + [ + 0.630402684211731, + 0.4907017946243286, + 1.7607905864715576 + ], + [ + 0.630402684211731, + 0.30300021171569824, + 2.028729200363159 + ], + [ + 0.630402684211731, + 0.30300021171569824, + 1.7607905864715576 + ], + [ + 0.04253673553466797, + 0.4907017946243286, + 2.028729200363159 + ], + [ + 0.04253673553466797, + 0.4907017946243286, + 1.7607905864715576 + ], + [ + 0.04253673553466797, + 0.30300021171569824, + 2.028729200363159 + ], + [ + 0.04253673553466797, + 0.30300021171569824, + 1.7607905864715576 + ] + ], + "center": { + "x": 0.33646970987319946, + "y": 0.3968510031700134, + "z": 1.8947598934173584 + }, + "size": { + "x": 0.587865948677063, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Chair|2|3|2", + "object_info": { + "name": "Chair|2|3|2", + "position": { + "x": 3.6207263469696045, + "y": 0.006381243467330933, + "z": 4.512487411499023 + }, + "rotation": { + "x": 0.0, + "y": 196.23699951171875, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 1.9419578313827515, + "objectType": "Chair", + "objectId": "Chair|2|3|2", + "assetId": "Chair_303_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.9063186645507812, + 0.8342158198356628, + 4.866818428039551 + ], + [ + 3.9063186645507812, + 0.8342158198356628, + 4.199010848999023 + ], + [ + 3.9063186645507812, + -8.821487426757812e-06, + 4.866818428039551 + ], + [ + 3.9063186645507812, + -8.821487426757812e-06, + 4.199010848999023 + ], + [ + 3.331930637359619, + 0.8342158198356628, + 4.866818428039551 + ], + [ + 3.331930637359619, + 0.8342158198356628, + 4.199010848999023 + ], + [ + 3.331930637359619, + -8.821487426757812e-06, + 4.866818428039551 + ], + [ + 3.331930637359619, + -8.821487426757812e-06, + 4.199010848999023 + ] + ], + "center": { + "x": 3.6191246509552, + "y": 0.41710349917411804, + "z": 4.532914638519287 + }, + "size": { + "x": 0.5743880271911621, + "y": 0.8342246413230896, + "z": 0.6678075790405273 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.3253579139709473, + -8.851289749145508e-06, + 4.327392101287842 + ], + [ + 3.769542932510376, + -8.851289749145508e-06, + 4.198033332824707 + ], + [ + 3.9316635131835938, + -8.851289749145508e-06, + 4.754714012145996 + ], + [ + 3.487478494644165, + -8.851289749145508e-06, + 4.884072780609131 + ], + [ + 3.3253579139709473, + 0.8342158794403076, + 4.327392101287842 + ], + [ + 3.769542932510376, + 0.8342158794403076, + 4.198033332824707 + ], + [ + 3.9316635131835938, + 0.8342158794403076, + 4.754714012145996 + ], + [ + 3.487478494644165, + 0.8342158794403076, + 4.884072780609131 + ] + ] + } + } + }, + { + "objectId": "Chair|2|3|1", + "object_info": { + "name": "Chair|2|3|1", + "position": { + "x": 3.6328468322753906, + "y": 0.006381243467330933, + "z": 3.3703174591064453 + }, + "rotation": { + "x": -0.0, + "y": 9.422372817993164, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "CellPhone|surface|2|0" + ], + "distance": 2.914616823196411, + "objectType": "Chair", + "objectId": "Chair|2|3|1", + "assetId": "Chair_303_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.897411823272705, + 0.8342157602310181, + 3.6640021800994873 + ], + [ + 3.897411823272705, + 0.8342157602310181, + 3.027270555496216 + ], + [ + 3.897411823272705, + -8.702278137207031e-06, + 3.6640021800994873 + ], + [ + 3.897411823272705, + -8.702278137207031e-06, + 3.027270555496216 + ], + [ + 3.369459629058838, + 0.8342157602310181, + 3.6640021800994873 + ], + [ + 3.369459629058838, + 0.8342157602310181, + 3.027270555496216 + ], + [ + 3.369459629058838, + -8.702278137207031e-06, + 3.6640021800994873 + ], + [ + 3.369459629058838, + -8.702278137207031e-06, + 3.027270555496216 + ] + ], + "center": { + "x": 3.6334357261657715, + "y": 0.41710352897644043, + "z": 3.3456363677978516 + }, + "size": { + "x": 0.5279521942138672, + "y": 0.8342244625091553, + "z": 0.6367316246032715 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.904165506362915, + -8.851289749145508e-06, + 3.5891528129577637 + ], + [ + 3.4477694034576416, + -8.851289749145508e-06, + 3.6648917198181152 + ], + [ + 3.352848529815674, + -8.851289749145508e-06, + 3.092907190322876 + ], + [ + 3.8092446327209473, + -8.851289749145508e-06, + 3.0171680450439453 + ], + [ + 3.904165506362915, + 0.8342158794403076, + 3.5891528129577637 + ], + [ + 3.4477694034576416, + 0.8342158794403076, + 3.6648917198181152 + ], + [ + 3.352848529815674, + 0.8342158794403076, + 3.092907190322876 + ], + [ + 3.8092446327209473, + 0.8342158794403076, + 3.0171680450439453 + ] + ] + } + } + }, + { + "objectId": "HousePlant|2|2|0", + "object_info": { + "name": "HousePlant|2|2|0", + "position": { + "x": 2.105461597442627, + "y": 0.0007963702082633972, + "z": 1.8847824335098267 + }, + "rotation": { + "x": -1.0909427146543749e-05, + "y": 59.377197265625, + "z": -7.802341315255035e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.0, + "salientMaterials": [ + "Ceramic", + "Organic" + ], + "receptacleObjectIds": null, + "distance": 4.261550426483154, + "objectType": "HousePlant", + "objectId": "HousePlant|2|2|0", + "assetId": "Houseplant_27", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.232142925262451, + 0.8956964015960693, + 2.018171787261963 + ], + [ + 2.232142925262451, + 0.8956964015960693, + 1.757896900177002 + ], + [ + 2.232142925262451, + 0.0, + 2.018171787261963 + ], + [ + 2.232142925262451, + 0.0, + 1.757896900177002 + ], + [ + 1.9782309532165527, + 0.8956964015960693, + 2.018171787261963 + ], + [ + 1.9782309532165527, + 0.8956964015960693, + 1.757896900177002 + ], + [ + 1.9782309532165527, + 0.0, + 2.018171787261963 + ], + [ + 1.9782309532165527, + 0.0, + 1.757896900177002 + ] + ], + "center": { + "x": 2.105186939239502, + "y": 0.44784820079803467, + "z": 1.8880343437194824 + }, + "size": { + "x": 0.25391197204589844, + "y": 0.8956964015960693, + "z": 0.26027488708496094 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.2749667167663574, + 5.925539880990982e-08, + 1.8432307243347168 + ], + [ + 2.1496071815490723, + 9.278301149606705e-08, + 2.055009603500366 + ], + [ + 1.9312883615493774, + 4.44706529378891e-08, + 1.9257787466049194 + ], + [ + 2.056647777557373, + 1.0943040251731873e-08, + 1.7139999866485596 + ], + [ + 2.2749664783477783, + 0.8956964015960693, + 1.8432304859161377 + ], + [ + 2.1496071815490723, + 0.8956964015960693, + 2.055009365081787 + ], + [ + 1.9312883615493774, + 0.8956964015960693, + 1.9257786273956299 + ], + [ + 2.056647777557373, + 0.8956964015960693, + 1.71399986743927 + ] + ] + } + } + }, + { + "objectId": "Dresser|2|1", + "object_info": { + "name": "Dresser|2|1", + "position": { + "x": 0.336000919342041, + "y": -4.786252975463867e-05, + "z": 1.867034912109375 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Vase|surface|2|2", + "Watch|surface|2|4", + "KeyChain|surface|2|1" + ], + "distance": 4.870388031005859, + "objectType": "Dresser", + "objectId": "Dresser|2|1", + "assetId": "RoboTHOR_dresser_rast_v", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.6470012068748474, + 0.6992042660713196, + 2.0263736248016357 + ], + [ + 0.6470012068748474, + 0.6992042660713196, + 1.7118983268737793 + ], + [ + 0.6470012068748474, + 3.838539123535156e-05, + 2.0263736248016357 + ], + [ + 0.6470012068748474, + 3.838539123535156e-05, + 1.7118983268737793 + ], + [ + 0.02500063180923462, + 0.6992042660713196, + 2.0263736248016357 + ], + [ + 0.02500063180923462, + 0.6992042660713196, + 1.7118983268737793 + ], + [ + 0.02500063180923462, + 3.838539123535156e-05, + 2.0263736248016357 + ], + [ + 0.02500063180923462, + 3.838539123535156e-05, + 1.7118983268737793 + ] + ], + "center": { + "x": 0.336000919342041, + "y": 0.34962132573127747, + "z": 1.8691359758377075 + }, + "size": { + "x": 0.6220005750656128, + "y": 0.6991658806800842, + "z": 0.31447529792785645 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.6470009088516235, + 3.8564205169677734e-05, + 2.0263733863830566 + ], + [ + 0.025000929832458496, + 3.8564205169677734e-05, + 2.0263733863830566 + ], + [ + 0.025000929832458496, + 3.8564205169677734e-05, + 1.7118985652923584 + ], + [ + 0.6470009088516235, + 3.8564205169677734e-05, + 1.7118985652923584 + ], + [ + 0.6470009088516235, + 0.6992037892341614, + 2.0263733863830566 + ], + [ + 0.025000929832458496, + 0.6992037892341614, + 2.0263733863830566 + ], + [ + 0.025000929832458496, + 0.6992037892341614, + 1.7118985652923584 + ], + [ + 0.6470009088516235, + 0.6992037892341614, + 1.7118985652923584 + ] + ] + } + } + }, + { + "objectId": "Box|surface|2|9", + "object_info": { + "name": "Box|surface|2|9", + "position": { + "x": 4.330590724945068, + "y": 0.8344038128852844, + "z": 3.695225954055786 + }, + "rotation": { + "x": 0.00023052019241731614, + "y": 180.0, + "z": 359.9800109863281 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.30000001192092896, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": [], + "distance": 2.795475959777832, + "objectType": "Box", + "objectId": "Box|surface|2|9", + "assetId": "Box_26", + "parentReceptacles": [ + "DiningTable|2|3|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.512392044067383, + 0.9175490140914917, + 4.067845344543457 + ], + [ + 4.512392044067383, + 0.9175490140914917, + 3.606621742248535 + ], + [ + 4.512392044067383, + 0.6327282190322876, + 4.067845344543457 + ], + [ + 4.512392044067383, + 0.6327282190322876, + 3.606621742248535 + ], + [ + 4.148536682128906, + 0.9175490140914917, + 4.067845344543457 + ], + [ + 4.148536682128906, + 0.9175490140914917, + 3.606621742248535 + ], + [ + 4.148536682128906, + 0.6327282190322876, + 4.067845344543457 + ], + [ + 4.148536682128906, + 0.6327282190322876, + 3.606621742248535 + ] + ], + "center": { + "x": 4.3304643630981445, + "y": 0.7751386165618896, + "z": 3.837233543395996 + }, + "size": { + "x": 0.36385536193847656, + "y": 0.2848207950592041, + "z": 0.4612236022949219 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.148633003234863, + 0.6326298713684082, + 3.6066200733184814 + ], + [ + 4.512492656707764, + 0.632756769657135, + 3.6066200733184814 + ], + [ + 4.512493133544922, + 0.632758617401123, + 4.067849159240723 + ], + [ + 4.148633003234863, + 0.6326316595077515, + 4.067849159240723 + ], + [ + 4.148533821105957, + 0.9174219965934753, + 3.606618881225586 + ], + [ + 4.512393474578857, + 0.9175488948822021, + 3.606618881225586 + ], + [ + 4.512393474578857, + 0.9175507426261902, + 4.067848205566406 + ], + [ + 4.148533821105957, + 0.9174238443374634, + 4.067848205566406 + ] + ] + } + } + }, + { + "objectId": "Watch|surface|2|4", + "object_info": { + "name": "Watch|surface|2|4", + "position": { + "x": 0.4135294556617737, + "y": 0.6994122266769409, + "z": 1.8298429250717163 + }, + "rotation": { + "x": 1.8571752309799194, + "y": 359.9856872558594, + "z": 1.2905222177505493 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07000000029802322, + "salientMaterials": [ + "Metal", + "Glass", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.784343242645264, + "objectType": "Watch", + "objectId": "Watch|surface|2|4", + "assetId": "Watch_1", + "parentReceptacles": [ + "Dresser|2|1", + "Floor" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.4531009793281555, + 0.734585165977478, + 1.852339506149292 + ], + [ + 0.4531009793281555, + 0.734585165977478, + 1.8039939403533936 + ], + [ + 0.4531009793281555, + 0.6990681886672974, + 1.852339506149292 + ], + [ + 0.4531009793281555, + 0.6990681886672974, + 1.8039939403533936 + ], + [ + 0.3742009997367859, + 0.734585165977478, + 1.852339506149292 + ], + [ + 0.3742009997367859, + 0.734585165977478, + 1.8039939403533936 + ], + [ + 0.3742009997367859, + 0.6990681886672974, + 1.852339506149292 + ], + [ + 0.3742009997367859, + 0.6990681886672974, + 1.8039939403533936 + ] + ], + "center": { + "x": 0.4136509895324707, + "y": 0.7168266773223877, + "z": 1.8281667232513428 + }, + "size": { + "x": 0.07889997959136963, + "y": 0.035516977310180664, + "z": 0.04834556579589844 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.4532514214515686, + 0.6983696222305298, + 1.852268099784851 + ], + [ + 0.3747141361236572, + 0.6966013312339783, + 1.8521910905838013 + ], + [ + 0.3747263550758362, + 0.6981821656227112, + 1.8034368753433228 + ], + [ + 0.45326361060142517, + 0.6999505162239075, + 1.8035138845443726 + ], + [ + 0.4524242877960205, + 0.7350527048110962, + 1.8534573316574097 + ], + [ + 0.3738870322704315, + 0.7332843542098999, + 1.8533803224563599 + ], + [ + 0.3738992214202881, + 0.7348652482032776, + 1.804626226425171 + ], + [ + 0.45243650674819946, + 0.7366335391998291, + 1.8047031164169312 + ] + ] + } + } + }, + { + "objectId": "ArmChair|2|5|0", + "object_info": { + "name": "ArmChair|2|5|0", + "position": { + "x": 0.5206018090248108, + "y": -0.010606765747070312, + "z": 4.127284526824951 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 3.0509517192840576, + "objectType": "ArmChair", + "objectId": "ArmChair|2|5|0", + "assetId": "Armchair_222_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.0000998973846436, + 0.9451482892036438, + 4.693035125732422 + ], + [ + 1.0000998973846436, + 0.9451482892036438, + 3.553251266479492 + ], + [ + 1.0000998973846436, + 3.5762786865234375e-06, + 4.693035125732422 + ], + [ + 1.0000998973846436, + 3.5762786865234375e-06, + 3.553251266479492 + ], + [ + 0.024990439414978027, + 0.9451482892036438, + 4.693035125732422 + ], + [ + 0.024990439414978027, + 0.9451482892036438, + 3.553251266479492 + ], + [ + 0.024990439414978027, + 3.5762786865234375e-06, + 4.693035125732422 + ], + [ + 0.024990439414978027, + 3.5762786865234375e-06, + 3.553251266479492 + ] + ], + "center": { + "x": 0.5125451683998108, + "y": 0.47257593274116516, + "z": 4.123143196105957 + }, + "size": { + "x": 0.9751094579696655, + "y": 0.9451447129249573, + "z": 1.1397838592529297 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.0000996589660645, + 3.7550926208496094e-06, + 3.553251266479492 + ], + [ + 1.000099778175354, + 3.7550926208496094e-06, + 4.6930341720581055 + ], + [ + 0.02499067783355713, + 3.7550926208496094e-06, + 4.6930341720581055 + ], + [ + 0.024990558624267578, + 3.7550926208496094e-06, + 3.553251266479492 + ], + [ + 1.0000996589660645, + 0.9451481103897095, + 3.553251266479492 + ], + [ + 1.000099778175354, + 0.9451481103897095, + 4.6930341720581055 + ], + [ + 0.02499067783355713, + 0.9451481103897095, + 4.6930341720581055 + ], + [ + 0.024990558624267578, + 0.9451481103897095, + 3.553251266479492 + ] + ] + } + } + }, + { + "objectId": "window|2|0", + "object_info": { + "name": "window|2|0", + "position": { + "x": 4.403806686401367, + "y": 1.0646860599517822, + "z": 1.6890007257461548 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 4.620236396789551, + "objectType": "Window", + "objectId": "window|2|0", + "assetId": "Window_Hung_48x32", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.404592037200928, + 1.9362554550170898, + 1.8110367059707642 + ], + [ + 4.404592037200928, + 1.9362554550170898, + 1.5669633150100708 + ], + [ + 4.404592037200928, + 1.0637445449829102, + 1.8110367059707642 + ], + [ + 4.404592037200928, + 1.0637445449829102, + 1.5669633150100708 + ], + [ + 3.1326212882995605, + 1.9362554550170898, + 1.8110367059707642 + ], + [ + 3.1326212882995605, + 1.9362554550170898, + 1.5669633150100708 + ], + [ + 3.1326212882995605, + 1.0637445449829102, + 1.8110367059707642 + ], + [ + 3.1326212882995605, + 1.0637445449829102, + 1.5669633150100708 + ] + ], + "center": { + "x": 3.768606662750244, + "y": 1.5, + "z": 1.6890000104904175 + }, + "size": { + "x": 1.2719707489013672, + "y": 0.8725109100341797, + "z": 0.24407339096069336 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|2|1___2", + "object_info": { + "name": "Drawer (2)", + "position": { + "x": 0.33600085973739624, + "y": 0.20109392702579498, + "z": 2.0043113231658936 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 4.720464706420898, + "objectType": "Drawer", + "objectId": "Dresser|2|1___2", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.630402684211731, + 0.29416608810424805, + 2.028729200363159 + ], + [ + 0.630402684211731, + 0.29416608810424805, + 1.7607905864715576 + ], + [ + 0.630402684211731, + 0.10646450519561768, + 2.028729200363159 + ], + [ + 0.630402684211731, + 0.10646450519561768, + 1.7607905864715576 + ], + [ + 0.04253673553466797, + 0.29416608810424805, + 2.028729200363159 + ], + [ + 0.04253673553466797, + 0.29416608810424805, + 1.7607905864715576 + ], + [ + 0.04253673553466797, + 0.10646450519561768, + 2.028729200363159 + ], + [ + 0.04253673553466797, + 0.10646450519561768, + 1.7607905864715576 + ] + ], + "center": { + "x": 0.33646970987319946, + "y": 0.20031529664993286, + "z": 1.8947598934173584 + }, + "size": { + "x": 0.587865948677063, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|2|1___0", + "object_info": { + "name": "Drawer", + "position": { + "x": 0.33600085973739624, + "y": 0.5816994309425354, + "z": 2.0043113231658936 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 4.679195880889893, + "objectType": "Drawer", + "objectId": "Dresser|2|1___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.630402684211731, + 0.6747716069221497, + 2.028729200363159 + ], + [ + 0.630402684211731, + 0.6747716069221497, + 1.7607905864715576 + ], + [ + 0.630402684211731, + 0.4870700240135193, + 2.028729200363159 + ], + [ + 0.630402684211731, + 0.4870700240135193, + 1.7607905864715576 + ], + [ + 0.04253673553466797, + 0.6747716069221497, + 2.028729200363159 + ], + [ + 0.04253673553466797, + 0.6747716069221497, + 1.7607905864715576 + ], + [ + 0.04253673553466797, + 0.4870700240135193, + 2.028729200363159 + ], + [ + 0.04253673553466797, + 0.4870700240135193, + 1.7607905864715576 + ] + ], + "center": { + "x": 0.33646970987319946, + "y": 0.5809208154678345, + "z": 1.8947598934173584 + }, + "size": { + "x": 0.587865948677063, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 1.600000023841858, + "y": 0.9009997844696045, + "z": 6.5 + }, + "agent_rotation": { + "x": -0.0, + "y": 180.0, + "z": 0.0 + }, + "agent_cameraHorizon": 30.000003814697266, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 1.600000023841858, + "y": 1.5759997367858887, + "z": 6.5 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Box|surface|2|9", + "Chair|2|3|2", + "BaseballBat|surface|2|11", + "Chair|2|3|1", + "Laptop|surface|2|7", + "Bed|2|0", + "DiningTable|2|3|0" + ], + "different_object": [ + "Dresser|2|1", + "FloorLamp|2|5|1", + "HousePlant|2|2|0", + "TennisRacket|surface|2|13", + "BasketBall|surface|2|12", + "CellPhone|surface|2|5", + "Dresser|2|1___1", + "Watch|surface|2|4", + "Dresser|2|1___0", + "Vase|surface|2|2", + "Dresser|2|1___2", + "window|2|0", + "Pillow|surface|2|8", + "ArmChair|2|5|0" + ] +} \ No newline at end of file diff --git a/train/train1493/4/1_depth_npy.npy b/train/train1493/4/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..7d1d59dcf834507f8429570b11d9e716a8a2d1e3 --- /dev/null +++ b/train/train1493/4/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b651bcaeddf95c91ed3a6cae47ae9eabb75d99cad3507bd9c099b2324902e642 +size 3145856 diff --git a/train/train1493/4/1_semantic_sensor_npy.npy b/train/train1493/4/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..3aa3c19dd73de6d65dd74ce7bf1a982a0b3c4196 --- /dev/null +++ b/train/train1493/4/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d5fadfed74fd0fd9245ae2f3eee89462f1f559210e697b783d05c517b721037 +size 2359424 diff --git a/train/train1493/4/depth_0.png b/train/train1493/4/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..5c7f85dbe9567dc4526d8d32b29c2d44cb51a4de Binary files /dev/null and b/train/train1493/4/depth_0.png differ diff --git a/train/train1493/4/depth_1.png b/train/train1493/4/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..fb56ecc5dcc547197a696833ddebb1420e6ad572 Binary files /dev/null and b/train/train1493/4/depth_1.png differ diff --git a/train/train1493/4/mask_questions.jsonl b/train/train1493/4/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..37c94df31502a2a043b1450b8eec17574a8a4ffb --- /dev/null +++ b/train/train1493/4/mask_questions.jsonl @@ -0,0 +1,5 @@ +{"id": 11174, "folder_dir": "train1493/4", "pair_name": "0-1:Box|surface|2|9", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Painting\nB. Chair\nC. Box\nD. TVStand", "answer": "C", "object_name": "Box", "image_1": "train1493/4/rgb_0.png", "image_2": "train1493/4/rgb_1.png", "mask_image": "train1493/4/rgb_1_mask_Box|surface|2|9.png", "options": ["Painting", "Chair", "Box", "TVStand"]} +{"id": 11175, "folder_dir": "train1493/4", "pair_name": "0-1:Chair|2|3|2", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Chair\nB. Box\nC. Painting\nD. TVStand", "answer": "A", "object_name": "Chair", "image_1": "train1493/4/rgb_0.png", "image_2": "train1493/4/rgb_1.png", "mask_image": "train1493/4/rgb_1_mask_Chair|2|3|2.png", "options": ["Chair", "Box", "Painting", "TVStand"]} +{"id": 11176, "folder_dir": "train1493/4", "pair_name": "1-0:Box|surface|2|9", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Chair\nB. Box\nC. Watch\nD. Vase", "answer": "B", "object_name": "Box", "image_1": "train1493/4/rgb_1.png", "image_2": "train1493/4/rgb_0.png", "mask_image": "train1493/4/rgb_0_mask_Box|surface|2|9.png", "options": ["Chair", "Box", "Watch", "Vase"]} +{"id": 11177, "folder_dir": "train1493/4", "pair_name": "1-0:Chair|2|3|2", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Box\nB. Chair\nC. FloorLamp\nD. Window", "answer": "B", "object_name": "Chair", "image_1": "train1493/4/rgb_1.png", "image_2": "train1493/4/rgb_0.png", "mask_image": "train1493/4/rgb_0_mask_Chair|2|3|2.png", "options": ["Box", "Chair", "FloorLamp", "Window"]} +{"id": 11178, "folder_dir": "train1493/4", "pair_name": "1-0:BaseballBat|surface|2|11", "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. Box\nB. BaseballBat\nC. Pillow\nD. Dresser", "answer": "B", "object_name": "BaseballBat", "image_1": "train1493/4/rgb_1.png", "image_2": "train1493/4/rgb_0.png", "mask_image": "train1493/4/rgb_0_mask_BaseballBat|surface|2|11.png", "options": ["Box", "BaseballBat", "Pillow", "Dresser"]} diff --git a/train/train1493/4/questions_distance.jsonl b/train/train1493/4/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d4a5c1ef4d9d2a66207b153392421441973e02fd --- /dev/null +++ b/train/train1493/4/questions_distance.jsonl @@ -0,0 +1,3 @@ +{"id": 4548, "folder_dir": "train1493/4", "query": "Which of the following objects is closest to BaseballBat in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. TennisRacket\nB. CellPhone\nC. DiningTable\nD. Other\n", "answer": "A", "src_object": "BaseballBat", "target_object": "TennisRacket", "question": "Which of the following objects is closest to BaseballBat in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "TennisRacket", "semantic_id": "TennisRacket|surface|2|13", "distance": 1.457113873325007, "com": {"x": 2.9283061027526855, "y": 0.6577919125556946, "z": 3.695549488067627}}, {"text": "CellPhone", "semantic_id": "CellPhone|surface|2|5", "distance": 1.7514610370225545, "com": {"x": 3.6285080909729004, "y": 0.6381706595420837, "z": 3.9410412311553955}}, {"text": "DiningTable", "semantic_id": "DiningTable|2|3|0", "distance": 1.6701002610174913, "com": {"x": 3.6285083293914795, "y": 0.31636595726013184, "z": 3.9410417079925537}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1493/4/rgb_0.png", "image_2": "train1493/4/rgb_1.png"} +{"id": 4549, "folder_dir": "train1493/4", "query": "Which of the following objects is closest to Bed in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Pillow\nB. BasketBall\nC. Laptop\nD. Other\n", "answer": "B", "src_object": "Bed", "target_object": "BasketBall", "question": "Which of the following objects is closest to Bed in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Pillow", "semantic_id": "Pillow|surface|2|8", "distance": 0.4929616625660034, "com": {"x": 5.777751922607422, "y": 0.6417027711868286, "z": 3.1587977409362793}}, {"text": "BasketBall", "semantic_id": "BasketBall|surface|2|12", "distance": 0.48965859678091755, "com": {"x": 6.237112522125244, "y": 0.7089889645576477, "z": 2.5962400436401367}}, {"text": "Laptop", "semantic_id": "Laptop|surface|2|7", "distance": 2.3625638650578487, "com": {"x": 3.9837539196014404, "y": 0.6476455926895142, "z": 3.9410414695739746}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1493/4/rgb_0.png", "image_2": "train1493/4/rgb_1.png"} +{"id": 4550, "folder_dir": "train1493/4", "query": "Which of the following objects is closest to DiningTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Laptop\nB. TennisRacket\nC. CellPhone\nD. Other\n", "answer": "C", "src_object": "DiningTable", "target_object": "CellPhone", "question": "Which of the following objects is closest to DiningTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Laptop", "semantic_id": "Laptop|surface|2|7", "distance": 0.485742345502124, "com": {"x": 3.9837539196014404, "y": 0.6476455926895142, "z": 3.9410414695739746}}, {"text": "TennisRacket", "semantic_id": "TennisRacket|surface|2|13", "distance": 0.8167749207603532, "com": {"x": 2.9283061027526855, "y": 0.6577919125556946, "z": 3.695549488067627}}, {"text": "CellPhone", "semantic_id": "CellPhone|surface|2|5", "distance": 0.3218047022823935, "com": {"x": 3.6285080909729004, "y": 0.6381706595420837, "z": 3.9410412311553955}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1493/4/rgb_0.png", "image_2": "train1493/4/rgb_1.png"} diff --git a/train/train1493/4/rgb_0.png b/train/train1493/4/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..18275798ca16cf1469bad27ebc2ea86877406453 --- /dev/null +++ b/train/train1493/4/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3008d8aca430d4dabb26f03e38cf31997b8f2f666db3bb51212673232be2307b +size 839117 diff --git a/train/train1493/4/rgb_0_mask_BaseballBat|surface|2|11.png b/train/train1493/4/rgb_0_mask_BaseballBat|surface|2|11.png new file mode 100644 index 0000000000000000000000000000000000000000..8a3f1c41e8d24f334ee1846d33c232e6f7bf04b3 --- /dev/null +++ b/train/train1493/4/rgb_0_mask_BaseballBat|surface|2|11.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:28a3ae99260f24a23c3a520bc9f9254ff6aeb03f3b2686a3ad1d75bbf216cdcd +size 728691 diff --git a/train/train1493/4/rgb_0_mask_Box|surface|2|9.png b/train/train1493/4/rgb_0_mask_Box|surface|2|9.png new file mode 100644 index 0000000000000000000000000000000000000000..1853edd375ca7fa0664a8df5123132674bae2edb --- /dev/null +++ b/train/train1493/4/rgb_0_mask_Box|surface|2|9.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:773ce35bc3905849cea063ebd1bdab2821666d475f988f0bf52180b858051557 +size 736075 diff --git a/train/train1493/4/rgb_0_mask_Chair|2|3|2.png b/train/train1493/4/rgb_0_mask_Chair|2|3|2.png new file mode 100644 index 0000000000000000000000000000000000000000..36a6c962419039267aa70f9c403e6cd2a6fc5810 --- /dev/null +++ b/train/train1493/4/rgb_0_mask_Chair|2|3|2.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8309fec32af2db8da8c5ee1e261cb54af6f90357bb31f33bca8e97bacbf4fcc2 +size 714072 diff --git a/train/train1493/4/rgb_1.png b/train/train1493/4/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..d5376e7ae89f8951afe127cad4719bf10dfb5119 --- /dev/null +++ b/train/train1493/4/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fbeb9875ec06df1c59205ee5c7c34a1568ea678f9d44ded1a43346becbc5debc +size 1078983 diff --git a/train/train1493/4/rgb_1_mask_Box|surface|2|9.png b/train/train1493/4/rgb_1_mask_Box|surface|2|9.png new file mode 100644 index 0000000000000000000000000000000000000000..874c559ba941d0a42838b3d7de2575fb89e38306 --- /dev/null +++ b/train/train1493/4/rgb_1_mask_Box|surface|2|9.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f2e4b3aa5fccb36f0576a1b0eb96027437ccf228b1cd65e0c58314b378cd85ca +size 945186 diff --git a/train/train1493/4/rgb_1_mask_Chair|2|3|2.png b/train/train1493/4/rgb_1_mask_Chair|2|3|2.png new file mode 100644 index 0000000000000000000000000000000000000000..cf8edc5434691e0f20fca240fd435bca6fed523a --- /dev/null +++ b/train/train1493/4/rgb_1_mask_Chair|2|3|2.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8ce0ccfc526ff848255a34bf7724a54b52fce72c618fe3fc9b123faa54215c6d +size 936679 diff --git a/train/train1493/4/semantic_0.png b/train/train1493/4/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..fb9055af85d6387ca79565ea18cca76965c2482e Binary files /dev/null and b/train/train1493/4/semantic_0.png differ diff --git a/train/train1493/4/semantic_1.png b/train/train1493/4/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..10e83c68dce7b509c973eed71fcb2fb1311af1a4 Binary files /dev/null and b/train/train1493/4/semantic_1.png differ diff --git a/train/train1493/color_to_object_id.json b/train/train1493/color_to_object_id.json new file mode 100644 index 0000000000000000000000000000000000000000..d0699d1a780b549e8b44529216de08ccc047dde3 --- /dev/null +++ b/train/train1493/color_to_object_id.json @@ -0,0 +1,898 @@ +[ + { + "window|2|0": [ + 226, + 232, + 42 + ] + }, + { + "Window": [ + 200, + 150, + 134 + ] + }, + { + "door|1|2": [ + 41, + 237, + 95 + ] + }, + { + "Doorway": [ + 163, + 222, + 124 + ] + }, + { + "Painting|2|8": [ + 141, + 73, + 9 + ] + }, + { + "Painting": [ + 40, + 117, + 236 + ] + }, + { + "Painting|2|7": [ + 86, + 38, + 34 + ] + }, + { + "Box|2|6": [ + 238, + 229, + 106 + ] + }, + { + "Box": [ + 60, + 252, + 230 + ] + }, + { + "FloorLamp|2|5|1": [ + 82, + 101, + 89 + ] + }, + { + "FloorLamp": [ + 253, + 73, + 35 + ] + }, + { + "ArmChair|2|5|0": [ + 223, + 172, + 91 + ] + }, + { + "ArmChair": [ + 96, + 52, + 68 + ] + }, + { + "Watch|surface|2|3": [ + 171, + 53, + 150 + ] + }, + { + "Watch": [ + 242, + 6, + 88 + ] + }, + { + "Television|2|4|1": [ + 178, + 207, + 243 + ] + }, + { + "Television": [ + 27, + 245, + 217 + ] + }, + { + "TVStand|2|4|0___5": [ + 89, + 230, + 43 + ] + }, + { + "Shelf": [ + 39, + 54, + 158 + ] + }, + { + "TVStand|2|4|0___4": [ + 105, + 132, + 171 + ] + }, + { + "TVStand|2|4|0___3": [ + 146, + 31, + 8 + ] + }, + { + "TVStand|2|4|0___2": [ + 130, + 60, + 6 + ] + }, + { + "TVStand|2|4|0___1": [ + 68, + 153, + 189 + ] + }, + { + "TVStand|2|4|0___0": [ + 148, + 5, + 186 + ] + }, + { + "TVStand|2|4|0": [ + 75, + 226, + 238 + ] + }, + { + "TVStand": [ + 94, + 234, + 136 + ] + }, + { + "Chair|2|3|2": [ + 185, + 101, + 38 + ] + }, + { + "Chair": [ + 166, + 13, + 176 + ] + }, + { + "CellPhone|surface|2|0": [ + 137, + 167, + 79 + ] + }, + { + "CellPhone": [ + 227, + 98, + 136 + ] + }, + { + "Chair|2|3|1": [ + 185, + 135, + 39 + ] + }, + { + "TennisRacket|surface|2|13": [ + 67, + 227, + 25 + ] + }, + { + "TennisRacket": [ + 138, + 71, + 107 + ] + }, + { + "BaseballBat|surface|2|11": [ + 97, + 237, + 61 + ] + }, + { + "BaseballBat": [ + 171, + 20, + 38 + ] + }, + { + "Box|surface|2|9": [ + 204, + 46, + 186 + ] + }, + { + "Laptop|surface|2|7": [ + 1, + 119, + 35 + ] + }, + { + "Laptop": [ + 20, + 107, + 222 + ] + }, + { + "Pen|surface|2|6": [ + 176, + 60, + 100 + ] + }, + { + "Pen": [ + 239, + 130, + 152 + ] + }, + { + "CellPhone|surface|2|5": [ + 161, + 161, + 99 + ] + }, + { + "DiningTable|2|3|0": [ + 1, + 138, + 160 + ] + }, + { + "DiningTable": [ + 83, + 33, + 33 + ] + }, + { + "HousePlant|2|2|0": [ + 195, + 73, + 217 + ] + }, + { + "HousePlant": [ + 73, + 144, + 213 + ] + }, + { + "Watch|surface|2|4": [ + 221, + 200, + 80 + ] + }, + { + "Vase|surface|2|2": [ + 54, + 74, + 239 + ] + }, + { + "Vase": [ + 83, + 152, + 69 + ] + }, + { + "KeyChain|surface|2|1": [ + 7, + 29, + 100 + ] + }, + { + "KeyChain": [ + 27, + 54, + 18 + ] + }, + { + "Dresser|2|1___2": [ + 238, + 209, + 103 + ] + }, + { + "Drawer": [ + 155, + 30, + 210 + ] + }, + { + "Dresser|2|1___1": [ + 177, + 14, + 233 + ] + }, + { + "Dresser|2|1___0": [ + 244, + 240, + 140 + ] + }, + { + "Dresser|2|1": [ + 195, + 152, + 116 + ] + }, + { + "Dresser": [ + 51, + 128, + 146 + ] + }, + { + "BasketBall|surface|2|12": [ + 56, + 28, + 4 + ] + }, + { + "BasketBall": [ + 97, + 58, + 36 + ] + }, + { + "RemoteControl|surface|2|10": [ + 140, + 118, + 151 + ] + }, + { + "RemoteControl": [ + 187, + 19, + 208 + ] + }, + { + "Pillow|surface|2|8": [ + 50, + 207, + 251 + ] + }, + { + "Pillow": [ + 217, + 193, + 130 + ] + }, + { + "Bed|2|0": [ + 84, + 61, + 195 + ] + }, + { + "Bed": [ + 209, + 156, + 101 + ] + }, + { + "Ceiling_room|2|0|3.009091|0": [ + 153, + 92, + 11 + ] + }, + { + "Ceiling": [ + 50, + 55, + 251 + ] + }, + { + "wall|exterior|0.00|1.69|6.76|1.69": [ + 104, + 41, + 52 + ] + }, + { + "Wall": [ + 148, + 232, + 164 + ] + }, + { + "wall|exterior|6.76|1.69|6.76|6.76": [ + 124, + 168, + 79 + ] + }, + { + "wall|exterior|0.00|1.69|0.00|6.76": [ + 51, + 188, + 87 + ] + }, + { + "wall|exterior|0.00|6.76|6.76|6.76": [ + 191, + 171, + 98 + ] + }, + { + "wall|2|0.00|1.69|0.00|6.76": [ + 34, + 83, + 85 + ] + }, + { + "wall|2|0.00|1.69|6.76|1.69": [ + 159, + 111, + 150 + ] + }, + { + "wall|2|6.76|1.69|6.76|6.76": [ + 4, + 53, + 69 + ] + }, + { + "wall|2|0.00|6.76|6.76|6.76": [ + 111, + 240, + 216 + ] + }, + { + "room|2": [ + 188, + 125, + 135 + ] + }, + { + "Floor": [ + 243, + 246, + 208 + ] + }, + { + "TheHand": [ + 255, + 136, + 237 + ] + }, + { + "agent_neck_1": [ + 30, + 64, + 67 + ] + }, + { + "agent_body_1 (shadows)": [ + 134, + 158, + 226 + ] + }, + { + "agent_collarbone_1 (shadows)": [ + 217, + 96, + 80 + ] + }, + { + "agent_head_1 (shadows)": [ + 140, + 210, + 177 + ] + }, + { + "stretch_robot_base_code": [ + 101, + 30, + 126 + ] + }, + { + "agent_head_1": [ + 1, + 149, + 209 + ] + }, + { + "stretch_robot_laser": [ + 140, + 24, + 249 + ] + }, + { + "stretch_robot_mast": [ + 136, + 63, + 93 + ] + }, + { + "stretch_robot_head_1": [ + 0, + 57, + 255 + ] + }, + { + "agent_neck_3": [ + 209, + 228, + 37 + ] + }, + { + "robot_tilt_link_n (shadows)": [ + 202, + 16, + 52 + ] + }, + { + "agent_head_2 (shadows)": [ + 156, + 59, + 238 + ] + }, + { + "stretch_robot_head_3 (shadows)": [ + 83, + 209, + 138 + ] + }, + { + "agent_collarbone_2": [ + 152, + 152, + 185 + ] + }, + { + "agent_neck_2 (shadows)": [ + 244, + 240, + 196 + ] + }, + { + "agent_head_2": [ + 14, + 66, + 230 + ] + }, + { + "stretch_robot_head_2": [ + 73, + 58, + 96 + ] + }, + { + "agent_neck_3 (shadows)": [ + 239, + 35, + 232 + ] + }, + { + "stretch_robot_omniwheel": [ + 227, + 166, + 104 + ] + }, + { + "robot_elbow_link": [ + 231, + 128, + 58 + ] + }, + { + "robot_camera_link_n": [ + 140, + 65, + 197 + ] + }, + { + "robot_finger_r": [ + 122, + 202, + 170 + ] + }, + { + "robot_finger_l": [ + 178, + 169, + 157 + ] + }, + { + "robot_ar_tag": [ + 46, + 234, + 150 + ] + }, + { + "robot_cam_mount_n": [ + 54, + 221, + 114 + ] + }, + { + "robot_battery_n": [ + 165, + 68, + 55 + ] + }, + { + "robot_plate": [ + 211, + 118, + 132 + ] + }, + { + "robot_main_wheel_r_n": [ + 36, + 84, + 49 + ] + }, + { + "robot_shoulder_link": [ + 92, + 95, + 127 + ] + }, + { + "robot_roll_link_n": [ + 135, + 154, + 116 + ] + }, + { + "robot_gripper_link": [ + 241, + 136, + 173 + ] + }, + { + "robot_forearm_link": [ + 149, + 185, + 52 + ] + }, + { + "robot_main_wheel_l_n": [ + 139, + 151, + 200 + ] + }, + { + "robot_main_body": [ + 27, + 62, + 251 + ] + }, + { + "robot_wrist_link": [ + 3, + 195, + 0 + ] + }, + { + "robot_tilt_link_n": [ + 251, + 182, + 71 + ] + }, + { + "agent_collarbone_2 (shadows)": [ + 27, + 29, + 156 + ] + }, + { + "stretch_robot_head_2 (shadows)": [ + 167, + 106, + 44 + ] + }, + { + "stretch_robot_wheel_r": [ + 43, + 10, + 241 + ] + }, + { + "agent_collarbone_3": [ + 33, + 153, + 80 + ] + }, + { + "stretch_robot_wheel_l": [ + 209, + 121, + 111 + ] + }, + { + "agent_collarbone_3 (shadows)": [ + 12, + 185, + 24 + ] + }, + { + "agent_neck_1 (shadows)": [ + 5, + 106, + 127 + ] + }, + { + "agent_body_1": [ + 19, + 85, + 240 + ] + }, + { + "stretch_robot_base": [ + 18, + 223, + 56 + ] + }, + { + "robot_roll_link_n (shadows)": [ + 104, + 6, + 177 + ] + }, + { + "agent_neck_2": [ + 134, + 34, + 121 + ] + }, + { + "agent_collarbone_1": [ + 180, + 251, + 165 + ] + }, + { + "stretch_robot_head_3": [ + 175, + 244, + 187 + ] + }, + { + "robot_camera_link_n (shadows)": [ + 49, + 9, + 106 + ] + } +] \ No newline at end of file diff --git a/train/train157/0/0.json b/train/train157/0/0.json new file mode 100644 index 0000000000000000000000000000000000000000..f858dafdf5119afc91acf678a6bffed4498ef639 --- /dev/null +++ b/train/train157/0/0.json @@ -0,0 +1,854 @@ +{ + "object": [ + { + "objectId": "Pillow|surface|7|29", + "object_info": { + "name": "Pillow|surface|7|29", + "position": { + "x": 7.086668491363525, + "y": 0.4858947694301605, + "z": 6.851111888885498 + }, + "rotation": { + "x": -1.2999182672501775e-06, + "y": 90.0000228881836, + "z": 1.4873511418045382e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 0.9457769393920898, + "objectType": "Pillow", + "objectId": "Pillow|surface|7|29", + "assetId": "pillow_18", + "parentReceptacles": [ + "Floor", + "Sofa|7|1" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.262558937072754, + 0.5609947443008423, + 7.072233200073242 + ], + [ + 7.262558937072754, + 0.5609947443008423, + 6.629990577697754 + ], + [ + 7.262558937072754, + 0.4117947816848755, + 7.072233200073242 + ], + [ + 7.262558937072754, + 0.4117947816848755, + 6.629990577697754 + ], + [ + 6.910778045654297, + 0.5609947443008423, + 7.072233200073242 + ], + [ + 6.910778045654297, + 0.5609947443008423, + 6.629990577697754 + ], + [ + 6.910778045654297, + 0.4117947816848755, + 7.072233200073242 + ], + [ + 6.910778045654297, + 0.4117947816848755, + 6.629990577697754 + ] + ], + "center": { + "x": 7.086668491363525, + "y": 0.4863947629928589, + "z": 6.851111888885498 + }, + "size": { + "x": 0.35178089141845703, + "y": 0.1491999626159668, + "z": 0.4422426223754883 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.262558460235596, + 0.4117947816848755, + 6.629990577697754 + ], + [ + 7.262558937072754, + 0.4117947816848755, + 7.072233200073242 + ], + [ + 6.910778522491455, + 0.4117947518825531, + 7.072233200073242 + ], + [ + 6.910778045654297, + 0.4117947816848755, + 6.629990577697754 + ], + [ + 7.262558460235596, + 0.5609948039054871, + 6.629990577697754 + ], + [ + 7.262558937072754, + 0.5609947443008423, + 7.072233200073242 + ], + [ + 6.910778522491455, + 0.5609947443008423, + 7.072233200073242 + ], + [ + 6.910778045654297, + 0.5609947443008423, + 6.629990577697754 + ] + ] + } + } + }, + { + "objectId": "door|2|7", + "object_info": { + "name": "door|2|7", + "position": { + "x": 5.542049884796143, + "y": -0.0005983114242553711, + "z": 6.084535121917725 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.4670202732086182, + "objectType": "Doorway", + "objectId": "door|2|7", + "assetId": "Doorway_8", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.611670970916748, + 2.099397897720337, + 7.132956504821777 + ], + [ + 5.611670970916748, + 2.099397897720337, + 6.06899356842041 + ], + [ + 5.611670970916748, + 0.0, + 7.132956504821777 + ], + [ + 5.611670970916748, + 0.0, + 6.06899356842041 + ], + [ + 4.625014781951904, + 2.099397897720337, + 7.132956504821777 + ], + [ + 4.625014781951904, + 2.099397897720337, + 6.06899356842041 + ], + [ + 4.625014781951904, + 0.0, + 7.132956504821777 + ], + [ + 4.625014781951904, + 0.0, + 6.06899356842041 + ] + ], + "center": { + "x": 5.118342876434326, + "y": 1.0496989488601685, + "z": 6.600975036621094 + }, + "size": { + "x": 0.9866561889648438, + "y": 2.099397897720337, + "z": 1.0639629364013672 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "GarbageCan|7|2", + "object_info": { + "name": "GarbageCan|7|2", + "position": { + "x": 6.265304088592529, + "y": 3.5762786865234375e-07, + "z": 5.770092010498047 + }, + "rotation": { + "x": 1.410982440575026e-05, + "y": 6.123159892013064e-06, + "z": 1.605453508091159e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.699999988079071, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.5246992111206055, + "objectType": "GarbageCan", + "objectId": "GarbageCan|7|2", + "assetId": "bin_21", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.468395233154297, + 0.6556260585784912, + 5.973182678222656 + ], + [ + 6.468395233154297, + 0.6556260585784912, + 5.5670013427734375 + ], + [ + 6.468395233154297, + 2.384185791015625e-07, + 5.973182678222656 + ], + [ + 6.468395233154297, + 2.384185791015625e-07, + 5.5670013427734375 + ], + [ + 6.062213897705078, + 0.6556260585784912, + 5.973182678222656 + ], + [ + 6.062213897705078, + 0.6556260585784912, + 5.5670013427734375 + ], + [ + 6.062213897705078, + 2.384185791015625e-07, + 5.973182678222656 + ], + [ + 6.062213897705078, + 2.384185791015625e-07, + 5.5670013427734375 + ] + ], + "center": { + "x": 6.2653045654296875, + "y": 0.32781314849853516, + "z": 5.770092010498047 + }, + "size": { + "x": 0.40618133544921875, + "y": 0.6556258201599121, + "z": 0.40618133544921875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.468395233154297, + -2.315253482265689e-07, + 5.9731831550598145 + ], + [ + 6.06221342086792, + -3.4533934467617655e-07, + 5.9731831550598145 + ], + [ + 6.06221342086792, + -2.453118099765561e-07, + 5.567000865936279 + ], + [ + 6.468395233154297, + -1.3149781352694845e-07, + 5.567000865936279 + ], + [ + 6.468394756317139, + 0.6556261777877808, + 5.9731831550598145 + ], + [ + 6.062212944030762, + 0.6556260585784912, + 5.9731831550598145 + ], + [ + 6.062212944030762, + 0.6556261777877808, + 5.5670013427734375 + ], + [ + 6.468394756317139, + 0.6556262969970703, + 5.5670013427734375 + ] + ] + } + } + }, + { + "objectId": "CounterTop|6|0", + "object_info": { + "name": "CounterTop|6|0", + "position": { + "x": 11.0600004196167, + "y": 0.0012563467025756836, + "z": 4.03090763092041 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Mug|surface|6|12", + "Plate|surface|6|1", + "Knife|surface|6|8", + "Pencil|surface|6|5", + "Apple|surface|6|2", + "SaltShaker|surface|6|10", + "Cup|surface|6|0", + "CoffeeMachine|surface|6|14", + "Knife|surface|6|9", + "Kettle|surface|6|7", + "Bottle|surface|6|16", + "Ladle|surface|6|6", + "Egg|surface|6|4", + "Toaster|surface|6|15", + "CreditCard|surface|6|17", + "CellPhone|surface|6|13" + ], + "distance": 5.723735809326172, + "objectType": "CounterTop", + "objectId": "CounterTop|6|0", + "assetId": "Countertop_C_10x10", + "parentReceptacles": [ + "Floor", + "Mug|surface|6|12" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.060001373291016, + 0.938382625579834, + 4.03090763092041 + ], + [ + 11.060001373291016, + 0.938382625579834, + 0.9829063415527344 + ], + [ + 11.060001373291016, + 0.0, + 4.03090763092041 + ], + [ + 11.060001373291016, + 0.0, + 0.9829063415527344 + ], + [ + 7.991998672485352, + 0.938382625579834, + 4.03090763092041 + ], + [ + 7.991998672485352, + 0.938382625579834, + 0.9829063415527344 + ], + [ + 7.991998672485352, + 0.0, + 4.03090763092041 + ], + [ + 7.991998672485352, + 0.0, + 0.9829063415527344 + ] + ], + "center": { + "x": 9.526000022888184, + "y": 0.469191312789917, + "z": 2.5069069862365723 + }, + "size": { + "x": 3.068002700805664, + "y": 0.938382625579834, + "z": 3.048001289367676 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|6|7", + "object_info": { + "name": "door|6|7", + "position": { + "x": 8.55998420715332, + "y": -0.0021260976791381836, + "z": 5.541999816894531 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.877052068710327, + "objectType": "Doorway", + "objectId": "door|6|7", + "assetId": "Doorway_Double_7", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.595060348510742, + 2.0940732955932617, + 5.611620903015137 + ], + [ + 8.595060348510742, + 2.0940732955932617, + 4.627068519592285 + ], + [ + 8.595060348510742, + -0.0015277862548828125, + 5.611620903015137 + ], + [ + 8.595060348510742, + -0.0015277862548828125, + 4.627068519592285 + ], + [ + 6.590412139892578, + 2.0940732955932617, + 5.611620903015137 + ], + [ + 6.590412139892578, + 2.0940732955932617, + 4.627068519592285 + ], + [ + 6.590412139892578, + -0.0015277862548828125, + 5.611620903015137 + ], + [ + 6.590412139892578, + -0.0015277862548828125, + 4.627068519592285 + ] + ], + "center": { + "x": 7.59273624420166, + "y": 1.0462727546691895, + "z": 5.119344711303711 + }, + "size": { + "x": 2.004648208618164, + "y": 2.0956010818481445, + "z": 0.9845523834228516 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sofa|7|1", + "object_info": { + "name": "Sofa|7|1", + "position": { + "x": 7.814478397369385, + "y": 0.004032701253890991, + "z": 6.9644083976745605 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 103.99999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [ + "Pillow|surface|7|29" + ], + "distance": 1.8037209510803223, + "objectType": "Sofa", + "objectId": "Sofa|7|1", + "assetId": "Sofa_223_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.06397819519043, + 0.904558539390564, + 7.364999294281006 + ], + [ + 9.06397819519043, + 0.904558539390564, + 6.567688465118408 + ], + [ + 9.06397819519043, + -2.205371856689453e-06, + 7.364999294281006 + ], + [ + 9.06397819519043, + -2.205371856689453e-06, + 6.567688465118408 + ], + [ + 6.56497859954834, + 0.904558539390564, + 7.364999294281006 + ], + [ + 6.56497859954834, + 0.904558539390564, + 6.567688465118408 + ], + [ + 6.56497859954834, + -2.205371856689453e-06, + 7.364999294281006 + ], + [ + 6.56497859954834, + -2.205371856689453e-06, + 6.567688465118408 + ] + ], + "center": { + "x": 7.814478397369385, + "y": 0.45227816700935364, + "z": 6.966343879699707 + }, + "size": { + "x": 2.49899959564209, + "y": 0.9045607447624207, + "z": 0.7973108291625977 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.56497859954834, + -2.2351741790771484e-06, + 6.567688465118408 + ], + [ + 9.06397819519043, + -2.2351741790771484e-06, + 6.567688465118408 + ], + [ + 9.06397819519043, + -2.2351741790771484e-06, + 7.364999294281006 + ], + [ + 6.56497859954834, + -2.2351741790771484e-06, + 7.364999294281006 + ], + [ + 6.56497859954834, + 0.904558539390564, + 6.567688465118408 + ], + [ + 9.06397819519043, + 0.904558539390564, + 6.567688465118408 + ], + [ + 9.06397819519043, + 0.904558539390564, + 7.364999294281006 + ], + [ + 6.56497859954834, + 0.904558539390564, + 7.364999294281006 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 6.300000190734863, + "y": 0.9009997844696045, + "z": 7.0 + }, + "agent_rotation": { + "x": -0.0, + "y": 180.0, + "z": 0.0 + }, + "agent_cameraHorizon": 60.00001525878906, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 6.300000190734863, + "y": 1.5759997367858887, + "z": 7.0 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Sofa|7|1", + "door|6|7", + "CounterTop|6|0", + "Pillow|surface|7|29" + ], + "different_object": [ + "door|2|7", + "GarbageCan|7|2" + ] +} \ No newline at end of file diff --git a/train/train157/0/0_depth_npy.npy b/train/train157/0/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..8e8d0c15f4b2795996f6919e162f149ec558e99a --- /dev/null +++ b/train/train157/0/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5fd2bed4c926ff1e07af330ae91cd75d4700b60ad505fa72efdd910b9fac8b10 +size 3145856 diff --git a/train/train157/0/0_semantic_sensor_npy.npy b/train/train157/0/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..9dc1e15c8b5105a4f98890be57f9c9fa0dc678a6 --- /dev/null +++ b/train/train157/0/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e4c04875581ca20e38bbeb8d05b7d74e0475964cc7f0c73b2d6511ddbb1322b1 +size 2359424 diff --git a/train/train157/0/1.json b/train/train157/0/1.json new file mode 100644 index 0000000000000000000000000000000000000000..760945ee8749dbec5e956928896c40bc67917aed --- /dev/null +++ b/train/train157/0/1.json @@ -0,0 +1,4688 @@ +{ + "object": [ + { + "objectId": "Newspaper|surface|7|30", + "object_info": { + "name": "Newspaper|surface|7|30", + "position": { + "x": 9.506046295166016, + "y": 0.6643882393836975, + "z": 7.269655227661133 + }, + "rotation": { + "x": 0.09787922352552414, + "y": 179.9988250732422, + "z": 0.009267046116292477 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.20000000298023224, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 3.275749683380127, + "objectType": "Newspaper", + "objectId": "Newspaper|surface|7|30", + "assetId": "Newspaper_3", + "parentReceptacles": [ + "Floor", + "ShelvingUnit|7|3___0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.691649436950684, + 0.7017765045166016, + 7.34271764755249 + ], + [ + 9.691649436950684, + 0.7017765045166016, + 7.21394681930542 + ], + [ + 9.691649436950684, + 0.6639643907546997, + 7.34271764755249 + ], + [ + 9.691649436950684, + 0.6639643907546997, + 7.21394681930542 + ], + [ + 9.331219673156738, + 0.7017765045166016, + 7.34271764755249 + ], + [ + 9.331219673156738, + 0.7017765045166016, + 7.21394681930542 + ], + [ + 9.331219673156738, + 0.6639643907546997, + 7.34271764755249 + ], + [ + 9.331219673156738, + 0.6639643907546997, + 7.21394681930542 + ] + ], + "center": { + "x": 9.511434555053711, + "y": 0.6828704476356506, + "z": 7.278332233428955 + }, + "size": { + "x": 0.3604297637939453, + "y": 0.037812113761901855, + "z": 0.1287708282470703 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.331221580505371, + 0.6640227437019348, + 7.214010715484619 + ], + [ + 9.691642761230469, + 0.6639644503593445, + 7.21401834487915 + ], + [ + 9.69163990020752, + 0.6641842722892761, + 7.342717170715332 + ], + [ + 9.331218719482422, + 0.6642425656318665, + 7.342710018157959 + ], + [ + 9.33122730255127, + 0.7015566825866699, + 7.21394681930542 + ], + [ + 9.691649436950684, + 0.7014983892440796, + 7.213953971862793 + ], + [ + 9.691646575927734, + 0.7017182111740112, + 7.342653274536133 + ], + [ + 9.331225395202637, + 0.7017765045166016, + 7.342645645141602 + ] + ] + } + } + }, + { + "objectId": "Knife|surface|6|9", + "object_info": { + "name": "Knife|surface|6|9", + "position": { + "x": 8.915428161621094, + "y": 0.945614218711853, + "z": 3.6183016300201416 + }, + "rotation": { + "x": 0.18867748975753784, + "y": 265.8399353027344, + "z": 91.64968872070312 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.18000000715255737, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.306086540222168, + "objectType": "Knife", + "objectId": "Knife|surface|6|9", + "assetId": "Knife_2", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.040950775146484, + 0.9532346725463867, + 3.6429057121276855 + ], + [ + 9.040950775146484, + 0.9532346725463867, + 3.5850143432617188 + ], + [ + 9.040950775146484, + 0.9380879402160645, + 3.6429057121276855 + ], + [ + 9.040950775146484, + 0.9380879402160645, + 3.5850143432617188 + ], + [ + 8.705116271972656, + 0.9532346725463867, + 3.6429057121276855 + ], + [ + 8.705116271972656, + 0.9532346725463867, + 3.5850143432617188 + ], + [ + 8.705116271972656, + 0.9380879402160645, + 3.6429057121276855 + ], + [ + 8.705116271972656, + 0.9380879402160645, + 3.5850143432617188 + ] + ], + "center": { + "x": 8.87303352355957, + "y": 0.9456613063812256, + "z": 3.613960027694702 + }, + "size": { + "x": 0.3358345031738281, + "y": 0.015146732330322266, + "z": 0.0578913688659668 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 8.702754974365234, + 0.9525792002677917, + 3.6277883052825928 + ], + [ + 8.70277214050293, + 0.9387293457984924, + 3.6281895637512207 + ], + [ + 9.037814140319824, + 0.9398356080055237, + 3.6525585651397705 + ], + [ + 9.037796974182129, + 0.9536854028701782, + 3.6521575450897217 + ], + [ + 8.706308364868164, + 0.9511705636978149, + 3.5790064334869385 + ], + [ + 8.706324577331543, + 0.9373207092285156, + 3.5794076919555664 + ], + [ + 9.041366577148438, + 0.9384269118309021, + 3.603776693344116 + ], + [ + 9.041350364685059, + 0.9522767663002014, + 3.6033756732940674 + ] + ] + } + } + }, + { + "objectId": "ShelvingUnit|7|3___6", + "object_info": { + "name": "Shelf (1)", + "position": { + "x": 9.194585800170898, + "y": 0.34356608986854553, + "z": 7.280376434326172 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.0099716186523438, + "objectType": "Shelf", + "objectId": "ShelvingUnit|7|3___6", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.299972534179688, + 0.6556894779205322, + 7.348667621612549 + ], + [ + 9.299972534179688, + 0.6556894779205322, + 7.212245464324951 + ], + [ + 9.299972534179688, + 0.33843326568603516, + 7.348667621612549 + ], + [ + 9.299972534179688, + 0.33843326568603516, + 7.212245464324951 + ], + [ + 9.083976745605469, + 0.6556894779205322, + 7.348667621612549 + ], + [ + 9.083976745605469, + 0.6556894779205322, + 7.212245464324951 + ], + [ + 9.083976745605469, + 0.33843326568603516, + 7.348667621612549 + ], + [ + 9.083976745605469, + 0.33843326568603516, + 7.212245464324951 + ] + ], + "center": { + "x": 9.191974639892578, + "y": 0.4970613718032837, + "z": 7.28045654296875 + }, + "size": { + "x": 0.21599578857421875, + "y": 0.31725621223449707, + "z": 0.13642215728759766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|6|4", + "object_info": { + "name": "Painting|6|4", + "position": { + "x": 11.080004692077637, + "y": 1.8528865575790405, + "z": 1.9379383325576782 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Wood" + ], + "receptacleObjectIds": null, + "distance": 7.061126232147217, + "objectType": "Painting", + "objectId": "Painting|6|4", + "assetId": "Wall_Decor_Photo_1V", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.079999923706055, + 2.049913167953491, + 2.2014834880828857 + ], + [ + 11.079999923706055, + 2.049913167953491, + 1.6743931770324707 + ], + [ + 11.079999923706055, + 1.6558597087860107, + 2.2014834880828857 + ], + [ + 11.079999923706055, + 1.6558597087860107, + 1.6743931770324707 + ], + [ + 11.048259735107422, + 2.049913167953491, + 2.2014834880828857 + ], + [ + 11.048259735107422, + 2.049913167953491, + 1.6743931770324707 + ], + [ + 11.048259735107422, + 1.6558597087860107, + 2.2014834880828857 + ], + [ + 11.048259735107422, + 1.6558597087860107, + 1.6743931770324707 + ] + ], + "center": { + "x": 11.064129829406738, + "y": 1.852886438369751, + "z": 1.9379383325576782 + }, + "size": { + "x": 0.03174018859863281, + "y": 0.39405345916748047, + "z": 0.527090311050415 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Pillow|surface|7|29", + "object_info": { + "name": "Pillow|surface|7|29", + "position": { + "x": 7.086668491363525, + "y": 0.4858947694301605, + "z": 6.851111888885498 + }, + "rotation": { + "x": -1.2999182672501775e-06, + "y": 90.0000228881836, + "z": 1.4873511418045382e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 0.9457769393920898, + "objectType": "Pillow", + "objectId": "Pillow|surface|7|29", + "assetId": "pillow_18", + "parentReceptacles": [ + "Floor", + "Sofa|7|1" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.262558937072754, + 0.5609947443008423, + 7.072233200073242 + ], + [ + 7.262558937072754, + 0.5609947443008423, + 6.629990577697754 + ], + [ + 7.262558937072754, + 0.4117947816848755, + 7.072233200073242 + ], + [ + 7.262558937072754, + 0.4117947816848755, + 6.629990577697754 + ], + [ + 6.910778045654297, + 0.5609947443008423, + 7.072233200073242 + ], + [ + 6.910778045654297, + 0.5609947443008423, + 6.629990577697754 + ], + [ + 6.910778045654297, + 0.4117947816848755, + 7.072233200073242 + ], + [ + 6.910778045654297, + 0.4117947816848755, + 6.629990577697754 + ] + ], + "center": { + "x": 7.086668491363525, + "y": 0.4863947629928589, + "z": 6.851111888885498 + }, + "size": { + "x": 0.35178089141845703, + "y": 0.1491999626159668, + "z": 0.4422426223754883 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.262558460235596, + 0.4117947816848755, + 6.629990577697754 + ], + [ + 7.262558937072754, + 0.4117947816848755, + 7.072233200073242 + ], + [ + 6.910778522491455, + 0.4117947518825531, + 7.072233200073242 + ], + [ + 6.910778045654297, + 0.4117947816848755, + 6.629990577697754 + ], + [ + 7.262558460235596, + 0.5609948039054871, + 6.629990577697754 + ], + [ + 7.262558937072754, + 0.5609947443008423, + 7.072233200073242 + ], + [ + 6.910778522491455, + 0.5609947443008423, + 7.072233200073242 + ], + [ + 6.910778045654297, + 0.5609947443008423, + 6.629990577697754 + ] + ] + } + } + }, + { + "objectId": "CellPhone|surface|7|19", + "object_info": { + "name": "CellPhone|surface|7|19", + "position": { + "x": 9.355552673339844, + "y": 0.502098023891449, + "z": 5.81911039352417 + }, + "rotation": { + "x": 8.334589801961556e-05, + "y": 90.00025939941406, + "z": -0.0009271263843402267 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1599999964237213, + "salientMaterials": [ + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 3.34635329246521, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|7|19", + "assetId": "RoboTHOR_cellphone_blackberry_v", + "parentReceptacles": [ + "Floor", + "SideTable|7|5" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.41180419921875, + 0.5163727402687073, + 5.850412368774414 + ], + [ + 9.41180419921875, + 0.5163727402687073, + 5.787808418273926 + ], + [ + 9.41180419921875, + 0.5020974278450012, + 5.850412368774414 + ], + [ + 9.41180419921875, + 0.5020974278450012, + 5.787808418273926 + ], + [ + 9.299301147460938, + 0.5163727402687073, + 5.850412368774414 + ], + [ + 9.299301147460938, + 0.5163727402687073, + 5.787808418273926 + ], + [ + 9.299301147460938, + 0.5020974278450012, + 5.850412368774414 + ], + [ + 9.299301147460938, + 0.5020974278450012, + 5.787808418273926 + ] + ], + "center": { + "x": 9.355552673339844, + "y": 0.5092350840568542, + "z": 5.81911039352417 + }, + "size": { + "x": 0.1125030517578125, + "y": 0.014275312423706055, + "z": 0.06260395050048828 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.41180419921875, + 0.5020974278450012, + 5.787808418273926 + ], + [ + 9.41180419921875, + 0.5020984411239624, + 5.850411891937256 + ], + [ + 9.299301147460938, + 0.5020986199378967, + 5.850412368774414 + ], + [ + 9.299301147460938, + 0.5020976066589355, + 5.787808895111084 + ], + [ + 9.41180419921875, + 0.5163716077804565, + 5.787808418273926 + ], + [ + 9.41180419921875, + 0.5163726210594177, + 5.850411415100098 + ], + [ + 9.299301147460938, + 0.516372799873352, + 5.850411891937256 + ], + [ + 9.299301147460938, + 0.5163717865943909, + 5.787808895111084 + ] + ] + } + } + }, + { + "objectId": "Apple|surface|6|2", + "object_info": { + "name": "Apple|surface|6|2", + "position": { + "x": 10.755847930908203, + "y": 1.0105518102645874, + "z": 1.7457032203674316 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": -0.0013202953850850463 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": true, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.20000000298023224, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 6.922593593597412, + "objectType": "Apple", + "objectId": "Apple|surface|6|2", + "assetId": "Apple_20", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.811224937438965, + 1.060882329940796, + 1.8010798692703247 + ], + [ + 10.811224937438965, + 1.060882329940796, + 1.6903260946273804 + ], + [ + 10.811224937438965, + 0.938382625579834, + 1.8010798692703247 + ], + [ + 10.811224937438965, + 0.938382625579834, + 1.6903260946273804 + ], + [ + 10.700470924377441, + 1.060882329940796, + 1.8010798692703247 + ], + [ + 10.700470924377441, + 1.060882329940796, + 1.6903260946273804 + ], + [ + 10.700470924377441, + 0.938382625579834, + 1.8010798692703247 + ], + [ + 10.700470924377441, + 0.938382625579834, + 1.6903260946273804 + ] + ], + "center": { + "x": 10.755847930908203, + "y": 0.9996324777603149, + "z": 1.7457029819488525 + }, + "size": { + "x": 0.11075401306152344, + "y": 0.12249970436096191, + "z": 0.11075377464294434 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 10.700470924377441, + 0.9383813142776489, + 1.8010783195495605 + ], + [ + 10.700470924377441, + 0.9383838772773743, + 1.6903247833251953 + ], + [ + 10.811224937438965, + 0.9383838772773743, + 1.6903247833251953 + ], + [ + 10.811224937438965, + 0.9383813142776489, + 1.8010783195495605 + ], + [ + 10.700470924377441, + 1.0608810186386108, + 1.8010811805725098 + ], + [ + 10.700470924377441, + 1.060883641242981, + 1.6903276443481445 + ], + [ + 10.811224937438965, + 1.060883641242981, + 1.6903276443481445 + ], + [ + 10.811224937438965, + 1.0608810186386108, + 1.8010811805725098 + ] + ] + } + } + }, + { + "objectId": "ShelvingUnit|7|3___0", + "object_info": { + "name": "Shelf", + "position": { + "x": 9.419485092163086, + "y": 0.6641663312911987, + "z": 7.288662910461426 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Newspaper|surface|7|30" + ], + "distance": 3.1914029121398926, + "objectType": "Shelf", + "objectId": "ShelvingUnit|7|3___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.76048755645752, + 0.840262770652771, + 7.363883972167969 + ], + [ + 9.76048755645752, + 0.840262770652771, + 7.213441848754883 + ], + [ + 9.76048755645752, + 0.6641403436660767, + 7.363883972167969 + ], + [ + 9.76048755645752, + 0.6641403436660767, + 7.213441848754883 + ], + [ + 9.078482627868652, + 0.840262770652771, + 7.363883972167969 + ], + [ + 9.078482627868652, + 0.840262770652771, + 7.213441848754883 + ], + [ + 9.078482627868652, + 0.6641403436660767, + 7.363883972167969 + ], + [ + 9.078482627868652, + 0.6641403436660767, + 7.213441848754883 + ] + ], + "center": { + "x": 9.419485092163086, + "y": 0.7522015571594238, + "z": 7.288662910461426 + }, + "size": { + "x": 0.6820049285888672, + "y": 0.1761224865913391, + "z": 0.15044212341308594 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ShelvingUnit|7|3", + "object_info": { + "name": "ShelvingUnit|7|3", + "position": { + "x": 9.419685363769531, + "y": 0.002066314220428467, + "z": 7.287976264953613 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 22.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": null, + "distance": 3.3072521686553955, + "objectType": "ShelvingUnit", + "objectId": "ShelvingUnit|7|3", + "assetId": "Shelving_Unit_324_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.763530731201172, + 0.6640857458114624, + 7.364999294281006 + ], + [ + 9.763530731201172, + 0.6640857458114624, + 7.211101055145264 + ], + [ + 9.763530731201172, + -6.9141387939453125e-06, + 7.364999294281006 + ], + [ + 9.763530731201172, + -6.9141387939453125e-06, + 7.211101055145264 + ], + [ + 9.07583999633789, + 0.6640857458114624, + 7.364999294281006 + ], + [ + 9.07583999633789, + 0.6640857458114624, + 7.211101055145264 + ], + [ + 9.07583999633789, + -6.9141387939453125e-06, + 7.364999294281006 + ], + [ + 9.07583999633789, + -6.9141387939453125e-06, + 7.211101055145264 + ] + ], + "center": { + "x": 9.419685363769531, + "y": 0.33203941583633423, + "z": 7.288050174713135 + }, + "size": { + "x": 0.6876907348632812, + "y": 0.6640926599502563, + "z": 0.1538982391357422 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.075839042663574, + -6.973743438720703e-06, + 7.211101055145264 + ], + [ + 9.763531684875488, + -6.973743438720703e-06, + 7.211101055145264 + ], + [ + 9.763531684875488, + -6.973743438720703e-06, + 7.364999294281006 + ], + [ + 9.075839042663574, + -6.973743438720703e-06, + 7.364999294281006 + ], + [ + 9.075839042663574, + 0.6640856862068176, + 7.211101055145264 + ], + [ + 9.763531684875488, + 0.6640856862068176, + 7.211101055145264 + ], + [ + 9.763531684875488, + 0.6640856862068176, + 7.364999294281006 + ], + [ + 9.075839042663574, + 0.6640856862068176, + 7.364999294281006 + ] + ] + } + } + }, + { + "objectId": "Laptop|surface|7|20", + "object_info": { + "name": "Laptop|surface|7|20", + "position": { + "x": 10.58080005645752, + "y": 0.741706907749176, + "z": 7.215037822723389 + }, + "rotation": { + "x": -0.001270415959879756, + "y": 0.00044845082447864115, + "z": 0.00014728514361195266 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 2.299999952316284, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 4.339060306549072, + "objectType": "Laptop", + "objectId": "Laptop|surface|7|20", + "assetId": "Laptop_18", + "parentReceptacles": [ + "DiningTable|7|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.828227996826172, + 1.055290699005127, + 7.3584885597229 + ], + [ + 10.828227996826172, + 1.055290699005127, + 7.044839382171631 + ], + [ + 10.828227996826172, + 0.7417029142379761, + 7.3584885597229 + ], + [ + 10.828227996826172, + 0.7417029142379761, + 7.044839382171631 + ], + [ + 10.333370208740234, + 1.055290699005127, + 7.3584885597229 + ], + [ + 10.333370208740234, + 1.055290699005127, + 7.044839382171631 + ], + [ + 10.333370208740234, + 0.7417029142379761, + 7.3584885597229 + ], + [ + 10.333370208740234, + 0.7417029142379761, + 7.044839382171631 + ] + ], + "center": { + "x": 10.580799102783203, + "y": 0.8984968066215515, + "z": 7.201663970947266 + }, + "size": { + "x": 0.4948577880859375, + "y": 0.3135877847671509, + "z": 0.31364917755126953 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 10.828228950500488, + 0.7417106628417969, + 7.358484745025635 + ], + [ + 10.333373069763184, + 0.7417094111442566, + 7.3584885597229 + ], + [ + 10.33337116241455, + 0.7417024374008179, + 7.044849872589111 + ], + [ + 10.828226089477539, + 0.7417036890983582, + 7.044846057891846 + ], + [ + 10.828227996826172, + 1.0552971363067627, + 7.358477592468262 + ], + [ + 10.333373069763184, + 1.0552958250045776, + 7.3584818840026855 + ], + [ + 10.333370208740234, + 1.0552887916564941, + 7.0448431968688965 + ], + [ + 10.828225135803223, + 1.0552901029586792, + 7.044839382171631 + ] + ] + } + } + }, + { + "objectId": "ShelvingUnit|7|3___2", + "object_info": { + "name": "Shelf (4)", + "position": { + "x": 9.650985717773438, + "y": 0.17736607789993286, + "z": 7.280376434326172 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.488403797149658, + "objectType": "Shelf", + "objectId": "ShelvingUnit|7|3___2", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.752102851867676, + 0.6504848003387451, + 7.354090690612793 + ], + [ + 9.752102851867676, + 0.6504848003387451, + 7.212644577026367 + ], + [ + 9.752102851867676, + 0.17832839488983154, + 7.354090690612793 + ], + [ + 9.752102851867676, + 0.17832839488983154, + 7.212644577026367 + ], + [ + 9.545533180236816, + 0.6504848003387451, + 7.354090690612793 + ], + [ + 9.545533180236816, + 0.6504848003387451, + 7.212644577026367 + ], + [ + 9.545533180236816, + 0.17832839488983154, + 7.354090690612793 + ], + [ + 9.545533180236816, + 0.17832839488983154, + 7.212644577026367 + ] + ], + "center": { + "x": 9.648818016052246, + "y": 0.41440659761428833, + "z": 7.28336763381958 + }, + "size": { + "x": 0.20656967163085938, + "y": 0.4721564054489136, + "z": 0.14144611358642578 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Television|7|6", + "object_info": { + "name": "Television|7|6", + "position": { + "x": 7.478085517883301, + "y": 1.951249361038208, + "z": 7.378292560577393 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 1.6596155166625977, + "objectType": "Television", + "objectId": "Television|7|6", + "assetId": "Television_3", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.123732566833496, + 2.339372396469116, + 7.3849992752075195 + ], + [ + 8.123732566833496, + 2.339372396469116, + 7.308093070983887 + ], + [ + 8.123732566833496, + 1.5593111515045166, + 7.3849992752075195 + ], + [ + 8.123732566833496, + 1.5593111515045166, + 7.308093070983887 + ], + [ + 6.8324384689331055, + 2.339372396469116, + 7.3849992752075195 + ], + [ + 6.8324384689331055, + 2.339372396469116, + 7.308093070983887 + ], + [ + 6.8324384689331055, + 1.5593111515045166, + 7.3849992752075195 + ], + [ + 6.8324384689331055, + 1.5593111515045166, + 7.308093070983887 + ] + ], + "center": { + "x": 7.478085517883301, + "y": 1.9493417739868164, + "z": 7.346546173095703 + }, + "size": { + "x": 1.2912940979003906, + "y": 0.7800612449645996, + "z": 0.07690620422363281 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Candle|surface|7|24", + "object_info": { + "name": "Candle|surface|7|24", + "position": { + "x": 10.769875526428223, + "y": 0.7416962385177612, + "z": 6.465892314910889 + }, + "rotation": { + "x": 0.0202108733355999, + "y": 270.0028076171875, + "z": 359.9826965332031 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.20000000298023224, + "salientMaterials": [ + "Metal", + "Wax" + ], + "receptacleObjectIds": null, + "distance": 4.554110527038574, + "objectType": "Candle", + "objectId": "Candle|surface|7|24", + "assetId": "RoboTHOR_candle_glittrig_3_v", + "parentReceptacles": [ + "DiningTable|7|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.820972442626953, + 1.1208771467208862, + 6.515510559082031 + ], + [ + 10.820972442626953, + 1.1208771467208862, + 6.416388511657715 + ], + [ + 10.820972442626953, + 0.7416633367538452, + 6.515510559082031 + ], + [ + 10.820972442626953, + 0.7416633367538452, + 6.416388511657715 + ], + [ + 10.718645095825195, + 1.1208771467208862, + 6.515510559082031 + ], + [ + 10.718645095825195, + 1.1208771467208862, + 6.416388511657715 + ], + [ + 10.718645095825195, + 0.7416633367538452, + 6.515510559082031 + ], + [ + 10.718645095825195, + 0.7416633367538452, + 6.416388511657715 + ] + ], + "center": { + "x": 10.769808769226074, + "y": 0.9312702417373657, + "z": 6.465949535369873 + }, + "size": { + "x": 0.10232734680175781, + "y": 0.379213809967041, + "z": 0.0991220474243164 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 10.718783378601074, + 0.7416632771492004, + 6.5153961181640625 + ], + [ + 10.718778610229492, + 0.7416931390762329, + 6.416393280029297 + ], + [ + 10.820967674255371, + 0.741729199886322, + 6.416388511657715 + ], + [ + 10.820972442626953, + 0.7416993379592896, + 6.5153913497924805 + ], + [ + 10.718649864196777, + 1.120811104774475, + 6.515510559082031 + ], + [ + 10.718645095825195, + 1.1208410263061523, + 6.416507720947266 + ], + [ + 10.820834159851074, + 1.1208770275115967, + 6.416502952575684 + ], + [ + 10.820838928222656, + 1.1208471059799194, + 6.515505790710449 + ] + ] + } + } + }, + { + "objectId": "Box|7|4", + "object_info": { + "name": "Box|7|4", + "position": { + "x": 10.73487663269043, + "y": 0.17895537614822388, + "z": 5.765658378601074 + }, + "rotation": { + "x": 359.98858642578125, + "y": 269.9998474121094, + "z": -0.0004269810451660305 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.30000001192092896, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": [], + "distance": 4.70734167098999, + "objectType": "Box", + "objectId": "Box|7|4", + "assetId": "Box_27", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.060047149658203, + 0.2781091332435608, + 5.961472511291504 + ], + [ + 11.060047149658203, + 0.2781091332435608, + 5.567000389099121 + ], + [ + 11.060047149658203, + -2.3096799850463867e-06, + 5.961472511291504 + ], + [ + 11.060047149658203, + -2.3096799850463867e-06, + 5.567000389099121 + ], + [ + 10.603458404541016, + 0.2781091332435608, + 5.961472511291504 + ], + [ + 10.603458404541016, + 0.2781091332435608, + 5.567000389099121 + ], + [ + 10.603458404541016, + -2.3096799850463867e-06, + 5.961472511291504 + ], + [ + 10.603458404541016, + -2.3096799850463867e-06, + 5.567000389099121 + ] + ], + "center": { + "x": 10.83175277709961, + "y": 0.13905341923236847, + "z": 5.7642364501953125 + }, + "size": { + "x": 0.4565887451171875, + "y": 0.27811145782470703, + "z": 0.3944721221923828 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 10.603403091430664, + 1.6689300537109375e-05, + 5.961469650268555 + ], + [ + 10.60340404510498, + 1.9624829292297363e-05, + 5.566997051239014 + ], + [ + 11.05999755859375, + -7.136166095733643e-05, + 5.566998481750488 + ], + [ + 11.059996604919434, + -7.429718971252441e-05, + 5.961470603942871 + ], + [ + 10.603458404541016, + 0.2781294286251068, + 5.9614715576171875 + ], + [ + 10.603459358215332, + 0.2781323790550232, + 5.5669989585876465 + ], + [ + 11.060052871704102, + 0.27804136276245117, + 5.567000389099121 + ], + [ + 11.060051918029785, + 0.2780384421348572, + 5.961472988128662 + ] + ] + } + } + }, + { + "objectId": "window|7|0", + "object_info": { + "name": "window|7|0", + "position": { + "x": 5.566455841064453, + "y": 0.8885002136230469, + "z": 7.3899993896484375 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 0.7870758175849915, + "objectType": "Window", + "objectId": "window|7|0", + "assetId": "Window_Slider_36x36", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.480878829956055, + 1.802907109260559, + 7.431199073791504 + ], + [ + 6.480878829956055, + 1.802907109260559, + 7.3488006591796875 + ], + [ + 6.480878829956055, + 0.8864167928695679, + 7.431199073791504 + ], + [ + 6.480878829956055, + 0.8864167928695679, + 7.3488006591796875 + ], + [ + 5.566432952880859, + 1.802907109260559, + 7.431199073791504 + ], + [ + 5.566432952880859, + 1.802907109260559, + 7.3488006591796875 + ], + [ + 5.566432952880859, + 0.8864167928695679, + 7.431199073791504 + ], + [ + 5.566432952880859, + 0.8864167928695679, + 7.3488006591796875 + ] + ], + "center": { + "x": 6.023655891418457, + "y": 1.3446619510650635, + "z": 7.389999866485596 + }, + "size": { + "x": 0.9144458770751953, + "y": 0.9164903163909912, + "z": 0.0823984146118164 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Pencil|surface|7|23", + "object_info": { + "name": "Pencil|surface|7|23", + "position": { + "x": 10.391716957092285, + "y": 0.7464311122894287, + "z": 6.6157145500183105 + }, + "rotation": { + "x": 0.00016766907356213778, + "y": 270.0, + "z": -1.840792940299707e-08 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": null, + "distance": 4.16237735748291, + "objectType": "Pencil", + "objectId": "Pencil|surface|7|23", + "assetId": "Pencil_4", + "parentReceptacles": [ + "DiningTable|7|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.433347702026367, + 0.7511587142944336, + 6.6204423904418945 + ], + [ + 10.433347702026367, + 0.7511587142944336, + 6.610986709594727 + ], + [ + 10.433347702026367, + 0.7417035102844238, + 6.6204423904418945 + ], + [ + 10.433347702026367, + 0.7417035102844238, + 6.610986709594727 + ], + [ + 10.34310531616211, + 0.7511587142944336, + 6.6204423904418945 + ], + [ + 10.34310531616211, + 0.7511587142944336, + 6.610986709594727 + ], + [ + 10.34310531616211, + 0.7417035102844238, + 6.6204423904418945 + ], + [ + 10.34310531616211, + 0.7417035102844238, + 6.610986709594727 + ] + ], + "center": { + "x": 10.388226509094238, + "y": 0.7464311122894287, + "z": 6.6157145500183105 + }, + "size": { + "x": 0.09024238586425781, + "y": 0.009455204010009766, + "z": 0.009455680847167969 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 10.34310531616211, + 0.7417032718658447, + 6.6204423904418945 + ], + [ + 10.34310531616211, + 0.7417032718658447, + 6.610986709594727 + ], + [ + 10.43334674835205, + 0.7417035698890686, + 6.610986709594727 + ], + [ + 10.43334674835205, + 0.7417035698890686, + 6.6204423904418945 + ], + [ + 10.34310531616211, + 0.7511586546897888, + 6.6204423904418945 + ], + [ + 10.34310531616211, + 0.7511586546897888, + 6.610986709594727 + ], + [ + 10.43334674835205, + 0.7511589527130127, + 6.610986709594727 + ], + [ + 10.43334674835205, + 0.7511589527130127, + 6.6204423904418945 + ] + ] + } + } + }, + { + "objectId": "SideTable|7|5", + "object_info": { + "name": "SideTable|7|5", + "position": { + "x": 9.355552673339844, + "y": 0.0, + "z": 5.819110870361328 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Watch|surface|7|25", + "CellPhone|surface|7|19", + "KeyChain|surface|7|21", + "KeyChain|surface|7|22", + "CellPhone|surface|7|18" + ], + "distance": 3.442492961883545, + "objectType": "SideTable", + "objectId": "SideTable|7|5", + "assetId": "RoboTHOR_side_table_hol", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.612231254577637, + 0.5020980834960938, + 6.071221351623535 + ], + [ + 9.612231254577637, + 0.5020980834960938, + 5.567000389099121 + ], + [ + 9.612231254577637, + 0.0, + 6.071221351623535 + ], + [ + 9.612231254577637, + 0.0, + 5.567000389099121 + ], + [ + 9.09887409210205, + 0.5020980834960938, + 6.071221351623535 + ], + [ + 9.09887409210205, + 0.5020980834960938, + 5.567000389099121 + ], + [ + 9.09887409210205, + 0.0, + 6.071221351623535 + ], + [ + 9.09887409210205, + 0.0, + 5.567000389099121 + ] + ], + "center": { + "x": 9.355552673339844, + "y": 0.2510490417480469, + "z": 5.819110870361328 + }, + "size": { + "x": 0.5133571624755859, + "y": 0.5020980834960938, + "z": 0.5042209625244141 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.612231254577637, + 0.0, + 6.071221351623535 + ], + [ + 9.09887409210205, + 0.0, + 6.071221351623535 + ], + [ + 9.09887409210205, + 0.0, + 5.567000389099121 + ], + [ + 9.612231254577637, + 0.0, + 5.567000389099121 + ], + [ + 9.612231254577637, + 0.5020980834960938, + 6.071221351623535 + ], + [ + 9.09887409210205, + 0.5020980834960938, + 6.071221351623535 + ], + [ + 9.09887409210205, + 0.5020980834960938, + 5.567000389099121 + ], + [ + 9.612231254577637, + 0.5020980834960938, + 5.567000389099121 + ] + ] + } + } + }, + { + "objectId": "Watch|surface|7|25", + "object_info": { + "name": "Watch|surface|7|25", + "position": { + "x": 9.542891502380371, + "y": 0.5032221674919128, + "z": 5.6319169998168945 + }, + "rotation": { + "x": 1.9949666261672974, + "y": -0.000514692161232233, + "z": 1.190887212753296 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07000000029802322, + "salientMaterials": [ + "Metal", + "Glass", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.587898015975952, + "objectType": "Watch", + "objectId": "Watch|surface|7|25", + "assetId": "Watch_2", + "parentReceptacles": [ + "Floor", + "SideTable|7|5" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.582496643066406, + 0.5373597145080566, + 5.654379844665527 + ], + [ + 9.582496643066406, + 0.5373597145080566, + 5.6060686111450195 + ], + [ + 9.582496643066406, + 0.5019159317016602, + 5.654379844665527 + ], + [ + 9.582496643066406, + 0.5019159317016602, + 5.6060686111450195 + ], + [ + 9.503620147705078, + 0.5373597145080566, + 5.654379844665527 + ], + [ + 9.503620147705078, + 0.5373597145080566, + 5.6060686111450195 + ], + [ + 9.503620147705078, + 0.5019159317016602, + 5.654379844665527 + ], + [ + 9.503620147705078, + 0.5019159317016602, + 5.6060686111450195 + ] + ], + "center": { + "x": 9.543058395385742, + "y": 0.5196378231048584, + "z": 5.630224227905273 + }, + "size": { + "x": 0.07887649536132812, + "y": 0.035443782806396484, + "z": 0.04831123352050781 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.58263874053955, + 0.5010527968406677, + 5.654292583465576 + ], + [ + 9.504098892211914, + 0.499421089887619, + 5.654234886169434 + ], + [ + 9.50409984588623, + 0.5011191964149475, + 5.605484962463379 + ], + [ + 9.582639694213867, + 0.5027508735656738, + 5.6055426597595215 + ], + [ + 9.581875801086426, + 0.5377341508865356, + 5.6555705070495605 + ], + [ + 9.503335952758789, + 0.5361024737358093, + 5.655512809753418 + ], + [ + 9.503335952758789, + 0.5378006100654602, + 5.606762886047363 + ], + [ + 9.581876754760742, + 0.5394322872161865, + 5.606820106506348 + ] + ] + } + } + }, + { + "objectId": "window|6|1", + "object_info": { + "name": "window|6|1", + "position": { + "x": 11.084999084472656, + "y": 0.8882215023040771, + "z": 0.9658939838409424 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 7.732258319854736, + "objectType": "Window", + "objectId": "window|6|1", + "assetId": "Window_Hung_36x32", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.206045150756836, + 1.8014051914215088, + 0.9661105275154114 + ], + [ + 11.206045150756836, + 1.8014051914215088, + 0.0018276572227478027 + ], + [ + 11.206045150756836, + 0.8880693912506104, + 0.9661105275154114 + ], + [ + 11.206045150756836, + 0.8880693912506104, + 0.0018276572227478027 + ], + [ + 10.96395492553711, + 1.8014051914215088, + 0.9661105275154114 + ], + [ + 10.96395492553711, + 1.8014051914215088, + 0.0018276572227478027 + ], + [ + 10.96395492553711, + 0.8880693912506104, + 0.9661105275154114 + ], + [ + 10.96395492553711, + 0.8880693912506104, + 0.0018276572227478027 + ] + ], + "center": { + "x": 11.085000038146973, + "y": 1.3447372913360596, + "z": 0.4839690923690796 + }, + "size": { + "x": 0.24209022521972656, + "y": 0.9133358001708984, + "z": 0.9642828702926636 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Plate|surface|7|26", + "object_info": { + "name": "Plate|surface|7|26", + "position": { + "x": 10.864420890808105, + "y": 0.743698000907898, + "z": 6.6157145500183105 + }, + "rotation": { + "x": -5.843463441124186e-06, + "y": 270.0000305175781, + "z": -1.533351678517647e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 4.633065700531006, + "objectType": "Plate", + "objectId": "Plate|surface|7|26", + "assetId": "Plate_19", + "parentReceptacles": [ + "DiningTable|7|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.964521408081055, + 0.766370415687561, + 6.715614318847656 + ], + [ + 10.964521408081055, + 0.766370415687561, + 6.515415191650391 + ], + [ + 10.964521408081055, + 0.7417036294937134, + 6.715614318847656 + ], + [ + 10.964521408081055, + 0.7417036294937134, + 6.515415191650391 + ], + [ + 10.764322280883789, + 0.766370415687561, + 6.715614318847656 + ], + [ + 10.764322280883789, + 0.766370415687561, + 6.515415191650391 + ], + [ + 10.764322280883789, + 0.7417036294937134, + 6.715614318847656 + ], + [ + 10.764322280883789, + 0.7417036294937134, + 6.515415191650391 + ] + ], + "center": { + "x": 10.864421844482422, + "y": 0.7540370225906372, + "z": 6.615514755249023 + }, + "size": { + "x": 0.20019912719726562, + "y": 0.024666786193847656, + "z": 0.20019912719726562 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 10.764321327209473, + 0.7417035698890686, + 6.7156147956848145 + ], + [ + 10.764321327209473, + 0.7417036294937134, + 6.515414714813232 + ], + [ + 10.964520454406738, + 0.7417035698890686, + 6.515414714813232 + ], + [ + 10.964520454406738, + 0.7417035102844238, + 6.715614318847656 + ], + [ + 10.764321327209473, + 0.7663705348968506, + 6.7156147956848145 + ], + [ + 10.764321327209473, + 0.7663705945014954, + 6.515414714813232 + ], + [ + 10.964520454406738, + 0.7663705348968506, + 6.515414714813232 + ], + [ + 10.964520454406738, + 0.7663705348968506, + 6.715614318847656 + ] + ] + } + } + }, + { + "objectId": "DiningTable|7|0", + "object_info": { + "name": "DiningTable|7|0", + "position": { + "x": 10.676392555236816, + "y": -0.00013914704322814941, + "z": 6.763303756713867 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Plate|surface|7|26", + "CellPhone|surface|7|27", + "RemoteControl|surface|7|28", + "Laptop|surface|7|20", + "Pencil|surface|7|23", + "Candle|surface|7|24" + ], + "distance": 4.5233869552612305, + "objectType": "DiningTable", + "objectId": "DiningTable|7|0", + "assetId": "RoboTHOR_dining_table_jokkmokk_v", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.0600004196167, + 0.7417038083076477, + 7.364999771118164 + ], + [ + 11.0600004196167, + 0.7417038083076477, + 6.16160774230957 + ], + [ + 11.0600004196167, + 7.808208465576172e-06, + 7.364999771118164 + ], + [ + 11.0600004196167, + 7.808208465576172e-06, + 6.16160774230957 + ], + [ + 10.292784690856934, + 0.7417038083076477, + 7.364999771118164 + ], + [ + 10.292784690856934, + 0.7417038083076477, + 6.16160774230957 + ], + [ + 10.292784690856934, + 7.808208465576172e-06, + 7.364999771118164 + ], + [ + 10.292784690856934, + 7.808208465576172e-06, + 6.16160774230957 + ] + ], + "center": { + "x": 10.676392555236816, + "y": 0.37085580825805664, + "z": 6.763303756713867 + }, + "size": { + "x": 0.7672157287597656, + "y": 0.7416960000991821, + "z": 1.2033920288085938 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 10.29278564453125, + 8.195638656616211e-06, + 7.364999294281006 + ], + [ + 10.29278564453125, + 8.195638656616211e-06, + 6.16160774230957 + ], + [ + 11.059999465942383, + 8.195638656616211e-06, + 6.1616082191467285 + ], + [ + 11.059999465942383, + 8.195638656616211e-06, + 7.364999771118164 + ], + [ + 10.29278564453125, + 0.7417033910751343, + 7.364999294281006 + ], + [ + 10.29278564453125, + 0.7417033910751343, + 6.16160774230957 + ], + [ + 11.059999465942383, + 0.7417033910751343, + 6.1616082191467285 + ], + [ + 11.059999465942383, + 0.7417033910751343, + 7.364999771118164 + ] + ] + } + } + }, + { + "objectId": "RemoteControl|surface|7|28", + "object_info": { + "name": "RemoteControl|surface|7|28", + "position": { + "x": 10.769880294799805, + "y": 0.7424526214599609, + "z": 6.765547275543213 + }, + "rotation": { + "x": 1.0178400771110319e-05, + "y": 270.0, + "z": -0.0004613871860783547 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.15000000596046448, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.528733253479004, + "objectType": "RemoteControl", + "objectId": "RemoteControl|surface|7|28", + "assetId": "Remote_2", + "parentReceptacles": [ + "DiningTable|7|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.875937461853027, + 0.7656161785125732, + 6.794829845428467 + ], + [ + 10.875937461853027, + 0.7656161785125732, + 6.736264705657959 + ], + [ + 10.875937461853027, + 0.7417033910751343, + 6.794829845428467 + ], + [ + 10.875937461853027, + 0.7417033910751343, + 6.736264705657959 + ], + [ + 10.663823127746582, + 0.7656161785125732, + 6.794829845428467 + ], + [ + 10.663823127746582, + 0.7656161785125732, + 6.736264705657959 + ], + [ + 10.663823127746582, + 0.7417033910751343, + 6.794829845428467 + ], + [ + 10.663823127746582, + 0.7417033910751343, + 6.736264705657959 + ] + ], + "center": { + "x": 10.769880294799805, + "y": 0.7536597847938538, + "z": 6.765547275543213 + }, + "size": { + "x": 0.2121143341064453, + "y": 0.023912787437438965, + "z": 0.05856513977050781 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 10.663823127746582, + 0.7417033910751343, + 6.794829368591309 + ], + [ + 10.663823127746582, + 0.7417038679122925, + 6.736265182495117 + ], + [ + 10.875937461853027, + 0.7417038679122925, + 6.736265182495117 + ], + [ + 10.875937461853027, + 0.7417033910751343, + 6.794829368591309 + ], + [ + 10.663823127746582, + 0.765615701675415, + 6.794829845428467 + ], + [ + 10.663823127746582, + 0.7656161785125732, + 6.736265182495117 + ], + [ + 10.875937461853027, + 0.7656161785125732, + 6.736265182495117 + ], + [ + 10.875937461853027, + 0.765615701675415, + 6.794829845428467 + ] + ] + } + } + }, + { + "objectId": "ShelvingUnit|7|3___1", + "object_info": { + "name": "Shelf (2)", + "position": { + "x": 9.424785614013672, + "y": 0.34356608986854553, + "z": 7.280376434326172 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.235522747039795, + "objectType": "Shelf", + "objectId": "ShelvingUnit|7|3___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.523681640625, + 0.6504848599433899, + 7.354033946990967 + ], + [ + 9.523681640625, + 0.6504848599433899, + 7.212148189544678 + ], + [ + 9.523681640625, + 0.3436388373374939, + 7.354033946990967 + ], + [ + 9.523681640625, + 0.3436388373374939, + 7.212148189544678 + ], + [ + 9.31711196899414, + 0.6504848599433899, + 7.354033946990967 + ], + [ + 9.31711196899414, + 0.6504848599433899, + 7.212148189544678 + ], + [ + 9.31711196899414, + 0.3436388373374939, + 7.354033946990967 + ], + [ + 9.31711196899414, + 0.3436388373374939, + 7.212148189544678 + ] + ], + "center": { + "x": 9.42039680480957, + "y": 0.4970618486404419, + "z": 7.283091068267822 + }, + "size": { + "x": 0.20656967163085938, + "y": 0.306846022605896, + "z": 0.14188575744628906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CellPhone|surface|7|18", + "object_info": { + "name": "CellPhone|surface|7|18", + "position": { + "x": 9.417871475219727, + "y": 0.5028485655784607, + "z": 5.943877696990967 + }, + "rotation": { + "x": 0.0001148902447312139, + "y": 359.96820068359375, + "z": -0.0014679243322461843 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1599999964237213, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 3.3629345893859863, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|7|18", + "assetId": "Cellphone_4", + "parentReceptacles": [ + "Floor", + "SideTable|7|5" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.462087631225586, + 0.51231849193573, + 6.03472900390625 + ], + [ + 9.462087631225586, + 0.51231849193573, + 5.854586601257324 + ], + [ + 9.462087631225586, + 0.5020966529846191, + 6.03472900390625 + ], + [ + 9.462087631225586, + 0.5020966529846191, + 5.854586601257324 + ], + [ + 9.373655319213867, + 0.51231849193573, + 6.03472900390625 + ], + [ + 9.373655319213867, + 0.51231849193573, + 5.854586601257324 + ], + [ + 9.373655319213867, + 0.5020966529846191, + 6.03472900390625 + ], + [ + 9.373655319213867, + 0.5020966529846191, + 5.854586601257324 + ] + ], + "center": { + "x": 9.417871475219727, + "y": 0.5072075724601746, + "z": 5.944657802581787 + }, + "size": { + "x": 0.08843231201171875, + "y": 0.01022183895111084, + "z": 0.18014240264892578 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.461986541748047, + 0.5020966529846191, + 6.03472900390625 + ], + [ + 9.373655319213867, + 0.5020989179611206, + 6.034679889678955 + ], + [ + 9.37375545501709, + 0.5020992755889893, + 5.854586601257324 + ], + [ + 9.46208667755127, + 0.5020970106124878, + 5.854635715484619 + ], + [ + 9.461987495422363, + 0.5123158693313599, + 6.03472900390625 + ], + [ + 9.373655319213867, + 0.5123181343078613, + 6.034679889678955 + ], + [ + 9.37375545501709, + 0.51231849193573, + 5.854586601257324 + ], + [ + 9.46208667755127, + 0.5123162269592285, + 5.854635715484619 + ] + ] + } + } + }, + { + "objectId": "Painting|7|9", + "object_info": { + "name": "Painting|7|9", + "position": { + "x": 11.079127311706543, + "y": 1.5774245262145996, + "z": 6.139712333679199 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 4.951577186584473, + "objectType": "Painting", + "objectId": "Painting|7|9", + "assetId": "Wall_Decor_Painting_10", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.079999923706055, + 1.9507780075073242, + 6.518111228942871 + ], + [ + 11.079999923706055, + 1.9507780075073242, + 5.761402130126953 + ], + [ + 11.079999923706055, + 1.2049715518951416, + 6.518111228942871 + ], + [ + 11.079999923706055, + 1.2049715518951416, + 5.761402130126953 + ], + [ + 11.064001083374023, + 1.9507780075073242, + 6.518111228942871 + ], + [ + 11.064001083374023, + 1.9507780075073242, + 5.761402130126953 + ], + [ + 11.064001083374023, + 1.2049715518951416, + 6.518111228942871 + ], + [ + 11.064001083374023, + 1.2049715518951416, + 5.761402130126953 + ] + ], + "center": { + "x": 11.072000503540039, + "y": 1.577874779701233, + "z": 6.139756679534912 + }, + "size": { + "x": 0.01599884033203125, + "y": 0.7458064556121826, + "z": 0.756709098815918 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Knife|surface|6|8", + "object_info": { + "name": "Knife|surface|6|8", + "position": { + "x": 10.565351486206055, + "y": 0.946649432182312, + "z": 2.1244616508483887 + }, + "rotation": { + "x": 359.96417236328125, + "y": 355.7349853515625, + "z": 88.81758117675781 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.18000000715255737, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 6.511160850524902, + "objectType": "Knife", + "objectId": "Knife|surface|6|8", + "assetId": "Knife_3", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.596384048461914, + 0.9538345336914062, + 2.3250865936279297 + ], + [ + 10.596384048461914, + 0.9538345336914062, + 1.9892539978027344 + ], + [ + 10.596384048461914, + 0.9393200874328613, + 2.3250865936279297 + ], + [ + 10.596384048461914, + 0.9393200874328613, + 1.9892539978027344 + ], + [ + 10.541786193847656, + 0.9538345336914062, + 2.3250865936279297 + ], + [ + 10.541786193847656, + 0.9538345336914062, + 1.9892539978027344 + ], + [ + 10.541786193847656, + 0.9393200874328613, + 2.3250865936279297 + ], + [ + 10.541786193847656, + 0.9393200874328613, + 1.9892539978027344 + ] + ], + "center": { + "x": 10.569085121154785, + "y": 0.9465773105621338, + "z": 2.157170295715332 + }, + "size": { + "x": 0.05459785461425781, + "y": 0.014514446258544922, + "z": 0.3358325958251953 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 10.581710815429688, + 0.9530707001686096, + 2.326512098312378 + ], + [ + 10.581425666809082, + 0.9392181038856506, + 2.3264994621276855 + ], + [ + 10.606348037719727, + 0.9390084743499756, + 1.992305040359497 + ], + [ + 10.606634140014648, + 0.9528611302375793, + 1.9923176765441895 + ], + [ + 10.536014556884766, + 0.9540165066719055, + 2.323103427886963 + ], + [ + 10.535728454589844, + 0.9401639103889465, + 2.3230907917022705 + ], + [ + 10.560651779174805, + 0.9399542808532715, + 1.9888966083526611 + ], + [ + 10.56093692779541, + 0.9538069367408752, + 1.9889092445373535 + ] + ] + } + } + }, + { + "objectId": "CounterTop|6|0", + "object_info": { + "name": "CounterTop|6|0", + "position": { + "x": 11.0600004196167, + "y": 0.0012563467025756836, + "z": 4.03090763092041 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Mug|surface|6|12", + "Plate|surface|6|1", + "Knife|surface|6|8", + "Pencil|surface|6|5", + "Apple|surface|6|2", + "SaltShaker|surface|6|10", + "Cup|surface|6|0", + "CoffeeMachine|surface|6|14", + "Knife|surface|6|9", + "Kettle|surface|6|7", + "Bottle|surface|6|16", + "Ladle|surface|6|6", + "Egg|surface|6|4", + "Toaster|surface|6|15", + "CreditCard|surface|6|17", + "CellPhone|surface|6|13" + ], + "distance": 5.723735809326172, + "objectType": "CounterTop", + "objectId": "CounterTop|6|0", + "assetId": "Countertop_C_10x10", + "parentReceptacles": [ + "Floor", + "Mug|surface|6|12" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.060001373291016, + 0.938382625579834, + 4.03090763092041 + ], + [ + 11.060001373291016, + 0.938382625579834, + 0.9829063415527344 + ], + [ + 11.060001373291016, + 0.0, + 4.03090763092041 + ], + [ + 11.060001373291016, + 0.0, + 0.9829063415527344 + ], + [ + 7.991998672485352, + 0.938382625579834, + 4.03090763092041 + ], + [ + 7.991998672485352, + 0.938382625579834, + 0.9829063415527344 + ], + [ + 7.991998672485352, + 0.0, + 4.03090763092041 + ], + [ + 7.991998672485352, + 0.0, + 0.9829063415527344 + ] + ], + "center": { + "x": 9.526000022888184, + "y": 0.469191312789917, + "z": 2.5069069862365723 + }, + "size": { + "x": 3.068002700805664, + "y": 0.938382625579834, + "z": 3.048001289367676 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|7|7", + "object_info": { + "name": "Painting|7|7", + "position": { + "x": 9.179977416992188, + "y": 1.5844712257385254, + "z": 5.546995639801025 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 3.341125965118408, + "objectType": "Painting", + "objectId": "Painting|7|7", + "assetId": "Wall_Decor_Photo_2", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.658750534057617, + 1.912848949432373, + 5.578741073608398 + ], + [ + 9.658750534057617, + 1.912848949432373, + 5.546999931335449 + ], + [ + 9.658750534057617, + 1.2560935020446777, + 5.578741073608398 + ], + [ + 9.658750534057617, + 1.2560935020446777, + 5.546999931335449 + ], + [ + 8.701204299926758, + 1.912848949432373, + 5.578741073608398 + ], + [ + 8.701204299926758, + 1.912848949432373, + 5.546999931335449 + ], + [ + 8.701204299926758, + 1.2560935020446777, + 5.578741073608398 + ], + [ + 8.701204299926758, + 1.2560935020446777, + 5.546999931335449 + ] + ], + "center": { + "x": 9.179977416992188, + "y": 1.5844712257385254, + "z": 5.562870502471924 + }, + "size": { + "x": 0.9575462341308594, + "y": 0.6567554473876953, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cup|surface|6|0", + "object_info": { + "name": "Cup|surface|6|0", + "position": { + "x": 8.605165481567383, + "y": 0.9380075335502625, + "z": 3.8797543048858643 + }, + "rotation": { + "x": 0.014955591410398483, + "y": 270.0013732910156, + "z": 0.055471379309892654 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4000000059604645, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": [], + "distance": 3.909489393234253, + "objectType": "Cup", + "objectId": "Cup|surface|6|0", + "assetId": "Cup_21", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.661809921264648, + 1.154456377029419, + 3.935911178588867 + ], + [ + 8.661809921264648, + 1.154456377029419, + 3.82236385345459 + ], + [ + 8.661809921264648, + 0.9383761882781982, + 3.935911178588867 + ], + [ + 8.661809921264648, + 0.9383761882781982, + 3.82236385345459 + ], + [ + 8.548261642456055, + 1.154456377029419, + 3.935911178588867 + ], + [ + 8.548261642456055, + 1.154456377029419, + 3.82236385345459 + ], + [ + 8.548261642456055, + 0.9383761882781982, + 3.935911178588867 + ], + [ + 8.548261642456055, + 0.9383761882781982, + 3.82236385345459 + ] + ], + "center": { + "x": 8.605035781860352, + "y": 1.0464162826538086, + "z": 3.8791375160217285 + }, + "size": { + "x": 0.11354827880859375, + "y": 0.2160801887512207, + "z": 0.11354732513427734 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 8.548319816589355, + 0.9384660124778748, + 3.9361212253570557 + ], + [ + 8.548316955566406, + 0.9383561015129089, + 3.8225722312927246 + ], + [ + 8.661866188049316, + 0.9383857250213623, + 3.8225693702697754 + ], + [ + 8.66186809539795, + 0.9384956359863281, + 3.9361186027526855 + ], + [ + 8.548263549804688, + 1.1544443368911743, + 3.9359121322631836 + ], + [ + 8.548260688781738, + 1.1543344259262085, + 3.8223631381988525 + ], + [ + 8.661808967590332, + 1.154363989830017, + 3.8223602771759033 + ], + [ + 8.661811828613281, + 1.1544740200042725, + 3.9359095096588135 + ] + ] + } + } + }, + { + "objectId": "Pencil|surface|6|5", + "object_info": { + "name": "Pencil|surface|6|5", + "position": { + "x": 10.832961082458496, + "y": 0.9397477507591248, + "z": 2.1269795894622803 + }, + "rotation": { + "x": 4.259248817106709e-05, + "y": 270.0, + "z": 0.0025083571672439575 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": null, + "distance": 6.689645767211914, + "objectType": "Pencil", + "objectId": "Pencil|surface|6|5", + "assetId": "RoboTHOR_pencil_amazon_basics_v", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.926984786987305, + 0.9503257274627686, + 2.1334824562072754 + ], + [ + 10.926984786987305, + 0.9503257274627686, + 2.120476245880127 + ], + [ + 10.926984786987305, + 0.9383822679519653, + 2.1334824562072754 + ], + [ + 10.926984786987305, + 0.9383822679519653, + 2.120476245880127 + ], + [ + 10.736082077026367, + 0.9503257274627686, + 2.1334824562072754 + ], + [ + 10.736082077026367, + 0.9503257274627686, + 2.120476245880127 + ], + [ + 10.736082077026367, + 0.9383822679519653, + 2.1334824562072754 + ], + [ + 10.736082077026367, + 0.9383822679519653, + 2.120476245880127 + ] + ], + "center": { + "x": 10.831533432006836, + "y": 0.9443539977073669, + "z": 2.126979351043701 + }, + "size": { + "x": 0.1909027099609375, + "y": 0.011943459510803223, + "z": 0.013006210327148438 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 10.736082077026367, + 0.9383828639984131, + 2.1334824562072754 + ], + [ + 10.736082077026367, + 0.9383822679519653, + 2.120476722717285 + ], + [ + 10.926984786987305, + 0.9383824467658997, + 2.120476722717285 + ], + [ + 10.926984786987305, + 0.9383829832077026, + 2.1334826946258545 + ], + [ + 10.736082077026367, + 0.950325608253479, + 2.133481979370117 + ], + [ + 10.736082077026367, + 0.950325071811676, + 2.120476245880127 + ], + [ + 10.926984786987305, + 0.9503251910209656, + 2.120476245880127 + ], + [ + 10.926984786987305, + 0.9503257274627686, + 2.133481979370117 + ] + ] + } + } + }, + { + "objectId": "door|6|7", + "object_info": { + "name": "door|6|7", + "position": { + "x": 8.55998420715332, + "y": -0.0021260976791381836, + "z": 5.541999816894531 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.877052068710327, + "objectType": "Doorway", + "objectId": "door|6|7", + "assetId": "Doorway_Double_7", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.595060348510742, + 2.0940732955932617, + 5.611620903015137 + ], + [ + 8.595060348510742, + 2.0940732955932617, + 4.627068519592285 + ], + [ + 8.595060348510742, + -0.0015277862548828125, + 5.611620903015137 + ], + [ + 8.595060348510742, + -0.0015277862548828125, + 4.627068519592285 + ], + [ + 6.590412139892578, + 2.0940732955932617, + 5.611620903015137 + ], + [ + 6.590412139892578, + 2.0940732955932617, + 4.627068519592285 + ], + [ + 6.590412139892578, + -0.0015277862548828125, + 5.611620903015137 + ], + [ + 6.590412139892578, + -0.0015277862548828125, + 4.627068519592285 + ] + ], + "center": { + "x": 7.59273624420166, + "y": 1.0462727546691895, + "z": 5.119344711303711 + }, + "size": { + "x": 2.004648208618164, + "y": 2.0956010818481445, + "z": 0.9845523834228516 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CellPhone|surface|7|27", + "object_info": { + "name": "CellPhone|surface|7|27", + "position": { + "x": 10.391716957092285, + "y": 0.7419295310974121, + "z": 6.765547752380371 + }, + "rotation": { + "x": 0.00011947620077989995, + "y": 270.000244140625, + "z": -0.0016908989055082202 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1599999964237213, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 4.15139627456665, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|7|27", + "assetId": "Cellphone_5", + "parentReceptacles": [ + "DiningTable|7|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.462563514709473, + 0.7500844597816467, + 6.802371025085449 + ], + [ + 10.462563514709473, + 0.7500844597816467, + 6.728724479675293 + ], + [ + 10.462563514709473, + 0.7417022585868835, + 6.802371025085449 + ], + [ + 10.462563514709473, + 0.7417022585868835, + 6.728724479675293 + ], + [ + 10.321700096130371, + 0.7500844597816467, + 6.802371025085449 + ], + [ + 10.321700096130371, + 0.7500844597816467, + 6.728724479675293 + ], + [ + 10.321700096130371, + 0.7417022585868835, + 6.802371025085449 + ], + [ + 10.321700096130371, + 0.7417022585868835, + 6.728724479675293 + ] + ], + "center": { + "x": 10.392131805419922, + "y": 0.7458933591842651, + "z": 6.765547752380371 + }, + "size": { + "x": 0.14086341857910156, + "y": 0.008382201194763184, + "z": 0.07364654541015625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 10.321701049804688, + 0.7417022585868835, + 6.802371025085449 + ], + [ + 10.321700096130371, + 0.7417044043540955, + 6.728724956512451 + ], + [ + 10.462562561035156, + 0.7417047023773193, + 6.728724479675293 + ], + [ + 10.462562561035156, + 0.7417025566101074, + 6.802370548248291 + ], + [ + 10.321701049804688, + 0.7500820159912109, + 6.802371501922607 + ], + [ + 10.321700096130371, + 0.7500842213630676, + 6.728725433349609 + ], + [ + 10.462562561035156, + 0.7500845193862915, + 6.728724479675293 + ], + [ + 10.462562561035156, + 0.7500823140144348, + 6.802370548248291 + ] + ] + } + } + }, + { + "objectId": "Sofa|7|1", + "object_info": { + "name": "Sofa|7|1", + "position": { + "x": 7.814478397369385, + "y": 0.004032701253890991, + "z": 6.9644083976745605 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 103.99999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [ + "Pillow|surface|7|29" + ], + "distance": 1.8037209510803223, + "objectType": "Sofa", + "objectId": "Sofa|7|1", + "assetId": "Sofa_223_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.06397819519043, + 0.904558539390564, + 7.364999294281006 + ], + [ + 9.06397819519043, + 0.904558539390564, + 6.567688465118408 + ], + [ + 9.06397819519043, + -2.205371856689453e-06, + 7.364999294281006 + ], + [ + 9.06397819519043, + -2.205371856689453e-06, + 6.567688465118408 + ], + [ + 6.56497859954834, + 0.904558539390564, + 7.364999294281006 + ], + [ + 6.56497859954834, + 0.904558539390564, + 6.567688465118408 + ], + [ + 6.56497859954834, + -2.205371856689453e-06, + 7.364999294281006 + ], + [ + 6.56497859954834, + -2.205371856689453e-06, + 6.567688465118408 + ] + ], + "center": { + "x": 7.814478397369385, + "y": 0.45227816700935364, + "z": 6.966343879699707 + }, + "size": { + "x": 2.49899959564209, + "y": 0.9045607447624207, + "z": 0.7973108291625977 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.56497859954834, + -2.2351741790771484e-06, + 6.567688465118408 + ], + [ + 9.06397819519043, + -2.2351741790771484e-06, + 6.567688465118408 + ], + [ + 9.06397819519043, + -2.2351741790771484e-06, + 7.364999294281006 + ], + [ + 6.56497859954834, + -2.2351741790771484e-06, + 7.364999294281006 + ], + [ + 6.56497859954834, + 0.904558539390564, + 6.567688465118408 + ], + [ + 9.06397819519043, + 0.904558539390564, + 6.567688465118408 + ], + [ + 9.06397819519043, + 0.904558539390564, + 7.364999294281006 + ], + [ + 6.56497859954834, + 0.904558539390564, + 7.364999294281006 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 6.199999809265137, + "y": 0.9009997844696045, + "z": 7.0 + }, + "agent_rotation": { + "x": -0.0, + "y": 90.0, + "z": 0.0 + }, + "agent_cameraHorizon": 30.000003814697266, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 6.199999809265137, + "y": 1.5759997367858887, + "z": 7.0 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Sofa|7|1", + "door|6|7", + "CounterTop|6|0", + "Pillow|surface|7|29" + ], + "different_object": [ + "ShelvingUnit|7|3___6", + "ShelvingUnit|7|3___1", + "Plate|surface|7|26", + "SideTable|7|5", + "Painting|7|7", + "ShelvingUnit|7|3___0", + "Knife|surface|6|9", + "ShelvingUnit|7|3___2", + "RemoteControl|surface|7|28", + "Apple|surface|6|2", + "Painting|6|4", + "ShelvingUnit|7|3", + "Candle|surface|7|24", + "Pencil|surface|6|5", + "Cup|surface|6|0", + "Pencil|surface|7|23", + "CellPhone|surface|7|27", + "Laptop|surface|7|20", + "DiningTable|7|0", + "window|7|0", + "Television|7|6", + "CellPhone|surface|7|19", + "Painting|7|9", + "Watch|surface|7|25", + "Newspaper|surface|7|30", + "window|6|1", + "Knife|surface|6|8", + "Box|7|4", + "CellPhone|surface|7|18" + ] +} \ No newline at end of file diff --git a/train/train157/0/1_depth_npy.npy b/train/train157/0/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..95839c261ec7fc8484657de6da417e754f433025 --- /dev/null +++ b/train/train157/0/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ddd8dfe4dc81a274a804d606aabde7b940baae14792f1300a19208b8ba3bd98b +size 3145856 diff --git a/train/train157/0/1_semantic_sensor_npy.npy b/train/train157/0/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..7c481be19c1b059ce89a05291310b47da3c4355b --- /dev/null +++ b/train/train157/0/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:205f8a840a13b640c12879540fa9ce443220580fb59f61f5af0a094c3038201d +size 2359424 diff --git a/train/train157/0/depth_0.png b/train/train157/0/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..f073534a0a3038e0b1cd6598b5c59ecc8da37f26 Binary files /dev/null and b/train/train157/0/depth_0.png differ diff --git a/train/train157/0/depth_1.png b/train/train157/0/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..3a01945ef464dbd6968e89d5e697acfc85f299ab Binary files /dev/null and b/train/train157/0/depth_1.png differ diff --git a/train/train157/0/mask_questions.jsonl b/train/train157/0/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ec821285ea71b4f0edaef1b334dd6659ffa3985f --- /dev/null +++ b/train/train157/0/mask_questions.jsonl @@ -0,0 +1,3 @@ +{"id": 11197, "folder_dir": "train157/0", "pair_name": "0-1:Pillow|surface|7|29", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. GarbageCan\nB. Doorway\nC. Pillow\nD. Sofa", "answer": "C", "object_name": "Pillow", "image_1": "train157/0/rgb_0.png", "image_2": "train157/0/rgb_1.png", "mask_image": "train157/0/rgb_1_mask_Pillow|surface|7|29.png", "options": ["GarbageCan", "Doorway", "Pillow", "Sofa"]} +{"id": 11198, "folder_dir": "train157/0", "pair_name": "1-0:CounterTop|6|0", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Sofa\nB. Shelf\nC. Painting\nD. CounterTop", "answer": "D", "object_name": "CounterTop", "image_1": "train157/0/rgb_1.png", "image_2": "train157/0/rgb_0.png", "mask_image": "train157/0/rgb_0_mask_CounterTop|6|0.png", "options": ["Sofa", "Shelf", "Painting", "CounterTop"]} +{"id": 11199, "folder_dir": "train157/0", "pair_name": "1-0:Pillow|surface|7|29", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Sofa\nB. Pillow\nC. CellPhone\nD. Knife", "answer": "B", "object_name": "Pillow", "image_1": "train157/0/rgb_1.png", "image_2": "train157/0/rgb_0.png", "mask_image": "train157/0/rgb_0_mask_Pillow|surface|7|29.png", "options": ["Sofa", "Pillow", "CellPhone", "Knife"]} diff --git a/train/train157/0/questions_distance.jsonl b/train/train157/0/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..05fee8905c5415a95c34cd1a5e725e0a41283c2f --- /dev/null +++ b/train/train157/0/questions_distance.jsonl @@ -0,0 +1,3 @@ +{"id": 4559, "folder_dir": "train157/0", "query": "Which of the following objects is closest to Sofa in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Newspaper\nB. Pillow\nC. Television\nD. Other\n", "answer": "B", "src_object": "Sofa", "target_object": "Pillow", "question": "Which of the following objects is closest to Sofa in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Newspaper", "semantic_id": "Newspaper|surface|7|30", "distance": 1.7407382726446485, "com": {"x": 9.511434555053711, "y": 0.6828704476356506, "z": 7.278332233428955}}, {"text": "Pillow", "semantic_id": "Pillow|surface|7|29", "distance": 0.7376649734864503, "com": {"x": 7.086668491363525, "y": 0.4863947629928589, "z": 6.851111888885498}}, {"text": "Television", "semantic_id": "Television|7|6", "distance": 1.5807951785759233, "com": {"x": 7.478085517883301, "y": 1.9493417739868164, "z": 7.346546173095703}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train157/0/rgb_0.png", "image_2": "train157/0/rgb_1.png"} +{"id": 4560, "folder_dir": "train157/0", "query": "Which of the following objects is closest to CounterTop in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Cup\nB. Watch\nC. Apple\nD. Other\n", "answer": "C", "src_object": "CounterTop", "target_object": "Apple", "question": "Which of the following objects is closest to CounterTop in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Cup", "semantic_id": "Cup|surface|6|0", "distance": 1.7505371821131912, "com": {"x": 8.605035781860352, "y": 1.0464162826538086, "z": 3.8791375160217285}}, {"text": "Watch", "semantic_id": "Watch|surface|7|25", "distance": 3.123771187295927, "com": {"x": 9.543058395385742, "y": 0.5196378231048584, "z": 5.630224227905273}}, {"text": "Apple", "semantic_id": "Apple|surface|6|2", "distance": 1.5405600418354457, "com": {"x": 10.755847930908203, "y": 0.9996324777603149, "z": 1.7457029819488525}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train157/0/rgb_0.png", "image_2": "train157/0/rgb_1.png"} +{"id": 4561, "folder_dir": "train157/0", "query": "Which of the following objects is closest to Pillow in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Sofa\nB. GarbageCan\nC. Television\nD. Other\n", "answer": "A", "src_object": "Pillow", "target_object": "Sofa", "question": "Which of the following objects is closest to Pillow in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Sofa", "semantic_id": "Sofa|7|1", "distance": 0.7376649734864503, "com": {"x": 7.814478397369385, "y": 0.45227816700935364, "z": 6.966343879699707}}, {"text": "GarbageCan", "semantic_id": "GarbageCan|7|2", "distance": 1.3668909264275233, "com": {"x": 6.2653045654296875, "y": 0.32781314849853516, "z": 5.770092010498047}}, {"text": "Television", "semantic_id": "Television|7|6", "distance": 1.5933851937295687, "com": {"x": 7.478085517883301, "y": 1.9493417739868164, "z": 7.346546173095703}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train157/0/rgb_0.png", "image_2": "train157/0/rgb_1.png"} diff --git a/train/train157/0/rgb_0.png b/train/train157/0/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..2f272c30d85198f899e1b8e09982d63b240f6f6f --- /dev/null +++ b/train/train157/0/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fc00e109a9899939392719c55c343bf6caa9827d21c1b8d5b1b788d79af26d58 +size 836731 diff --git a/train/train157/0/rgb_0_mask_CounterTop|6|0.png b/train/train157/0/rgb_0_mask_CounterTop|6|0.png new file mode 100644 index 0000000000000000000000000000000000000000..3dc2d0592953d4bd32fdcd7a41d17abfcdcdfbd7 --- /dev/null +++ b/train/train157/0/rgb_0_mask_CounterTop|6|0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:addd4d1ece11204c0d4000e72816442920186d7c5351d432e435008fa397084a +size 708921 diff --git a/train/train157/0/rgb_0_mask_Pillow|surface|7|29.png b/train/train157/0/rgb_0_mask_Pillow|surface|7|29.png new file mode 100644 index 0000000000000000000000000000000000000000..0f5c4a05b94e944e01699f5735601fac8d39d0e8 --- /dev/null +++ b/train/train157/0/rgb_0_mask_Pillow|surface|7|29.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:86aafc85a45ec7b7c62ab7a1d47ca32fe5d1ae38674288925c06635235167778 +size 686737 diff --git a/train/train157/0/rgb_1.png b/train/train157/0/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..c8a504be1e70701ff102ad05a12c1ef4fc4c14e3 --- /dev/null +++ b/train/train157/0/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:447fa51be168bafe2f74ff90efbc21bf65273a07f9e2e5cbc6b456384a298423 +size 967078 diff --git a/train/train157/0/rgb_1_mask_Pillow|surface|7|29.png b/train/train157/0/rgb_1_mask_Pillow|surface|7|29.png new file mode 100644 index 0000000000000000000000000000000000000000..de584098148efd3b43f6d31e123f0c84490b8f7d --- /dev/null +++ b/train/train157/0/rgb_1_mask_Pillow|surface|7|29.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:772d11737b63a1a1e3d207e5076735abf5b2a31d75531105ad902b7b00cfc6c5 +size 831202 diff --git a/train/train157/0/semantic_0.png b/train/train157/0/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..6e048ca148f29c99f4d08d403f6737c0796114b8 Binary files /dev/null and b/train/train157/0/semantic_0.png differ diff --git a/train/train157/0/semantic_1.png b/train/train157/0/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..f22f2323b2ed9da00c6b8669aafcd2e844afb685 Binary files /dev/null and b/train/train157/0/semantic_1.png differ diff --git a/train/train157/1/0.json b/train/train157/1/0.json new file mode 100644 index 0000000000000000000000000000000000000000..d53e902561db97f808562780f51c8648cc0b81e5 --- /dev/null +++ b/train/train157/1/0.json @@ -0,0 +1,788 @@ +{ + "object": [ + { + "objectId": "Pillow|surface|7|29", + "object_info": { + "name": "Pillow|surface|7|29", + "position": { + "x": 7.086668491363525, + "y": 0.4858947694301605, + "z": 6.851111888885498 + }, + "rotation": { + "x": -1.2999182672501775e-06, + "y": 90.0000228881836, + "z": 1.4873511418045382e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 0.9457769393920898, + "objectType": "Pillow", + "objectId": "Pillow|surface|7|29", + "assetId": "pillow_18", + "parentReceptacles": [ + "Floor", + "Sofa|7|1" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.262558937072754, + 0.5609947443008423, + 7.072233200073242 + ], + [ + 7.262558937072754, + 0.5609947443008423, + 6.629990577697754 + ], + [ + 7.262558937072754, + 0.4117947816848755, + 7.072233200073242 + ], + [ + 7.262558937072754, + 0.4117947816848755, + 6.629990577697754 + ], + [ + 6.910778045654297, + 0.5609947443008423, + 7.072233200073242 + ], + [ + 6.910778045654297, + 0.5609947443008423, + 6.629990577697754 + ], + [ + 6.910778045654297, + 0.4117947816848755, + 7.072233200073242 + ], + [ + 6.910778045654297, + 0.4117947816848755, + 6.629990577697754 + ] + ], + "center": { + "x": 7.086668491363525, + "y": 0.4863947629928589, + "z": 6.851111888885498 + }, + "size": { + "x": 0.35178089141845703, + "y": 0.1491999626159668, + "z": 0.4422426223754883 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.262558460235596, + 0.4117947816848755, + 6.629990577697754 + ], + [ + 7.262558937072754, + 0.4117947816848755, + 7.072233200073242 + ], + [ + 6.910778522491455, + 0.4117947518825531, + 7.072233200073242 + ], + [ + 6.910778045654297, + 0.4117947816848755, + 6.629990577697754 + ], + [ + 7.262558460235596, + 0.5609948039054871, + 6.629990577697754 + ], + [ + 7.262558937072754, + 0.5609947443008423, + 7.072233200073242 + ], + [ + 6.910778522491455, + 0.5609947443008423, + 7.072233200073242 + ], + [ + 6.910778045654297, + 0.5609947443008423, + 6.629990577697754 + ] + ] + } + } + }, + { + "objectId": "window|7|0", + "object_info": { + "name": "window|7|0", + "position": { + "x": 5.566455841064453, + "y": 0.8885002136230469, + "z": 7.3899993896484375 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 0.7870758175849915, + "objectType": "Window", + "objectId": "window|7|0", + "assetId": "Window_Slider_36x36", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.480878829956055, + 1.802907109260559, + 7.431199073791504 + ], + [ + 6.480878829956055, + 1.802907109260559, + 7.3488006591796875 + ], + [ + 6.480878829956055, + 0.8864167928695679, + 7.431199073791504 + ], + [ + 6.480878829956055, + 0.8864167928695679, + 7.3488006591796875 + ], + [ + 5.566432952880859, + 1.802907109260559, + 7.431199073791504 + ], + [ + 5.566432952880859, + 1.802907109260559, + 7.3488006591796875 + ], + [ + 5.566432952880859, + 0.8864167928695679, + 7.431199073791504 + ], + [ + 5.566432952880859, + 0.8864167928695679, + 7.3488006591796875 + ] + ], + "center": { + "x": 6.023655891418457, + "y": 1.3446619510650635, + "z": 7.389999866485596 + }, + "size": { + "x": 0.9144458770751953, + "y": 0.9164903163909912, + "z": 0.0823984146118164 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|7", + "object_info": { + "name": "door|2|7", + "position": { + "x": 5.542049884796143, + "y": -0.0005983114242553711, + "z": 6.084535121917725 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.4670202732086182, + "objectType": "Doorway", + "objectId": "door|2|7", + "assetId": "Doorway_8", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.611670970916748, + 2.099397897720337, + 7.132956504821777 + ], + [ + 5.611670970916748, + 2.099397897720337, + 6.06899356842041 + ], + [ + 5.611670970916748, + 0.0, + 7.132956504821777 + ], + [ + 5.611670970916748, + 0.0, + 6.06899356842041 + ], + [ + 4.625014781951904, + 2.099397897720337, + 7.132956504821777 + ], + [ + 4.625014781951904, + 2.099397897720337, + 6.06899356842041 + ], + [ + 4.625014781951904, + 0.0, + 7.132956504821777 + ], + [ + 4.625014781951904, + 0.0, + 6.06899356842041 + ] + ], + "center": { + "x": 5.118342876434326, + "y": 1.0496989488601685, + "z": 6.600975036621094 + }, + "size": { + "x": 0.9866561889648438, + "y": 2.099397897720337, + "z": 1.0639629364013672 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|2|7", + "object_info": { + "name": "Painting|2|7", + "position": { + "x": 5.026704788208008, + "y": 1.2745929956436157, + "z": 7.38500452041626 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 1.3357588052749634, + "objectType": "Painting", + "objectId": "Painting|2|7", + "assetId": "Wall_Decor_Photo_10", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.382490634918213, + 1.486901879310608, + 7.385000228881836 + ], + [ + 5.382490634918213, + 1.486901879310608, + 7.353259086608887 + ], + [ + 5.382490634918213, + 1.0622841119766235, + 7.385000228881836 + ], + [ + 5.382490634918213, + 1.0622841119766235, + 7.353259086608887 + ], + [ + 4.670918941497803, + 1.486901879310608, + 7.385000228881836 + ], + [ + 4.670918941497803, + 1.486901879310608, + 7.353259086608887 + ], + [ + 4.670918941497803, + 1.0622841119766235, + 7.385000228881836 + ], + [ + 4.670918941497803, + 1.0622841119766235, + 7.353259086608887 + ] + ], + "center": { + "x": 5.026704788208008, + "y": 1.2745929956436157, + "z": 7.369129657745361 + }, + "size": { + "x": 0.7115716934204102, + "y": 0.4246177673339844, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sofa|7|1", + "object_info": { + "name": "Sofa|7|1", + "position": { + "x": 7.814478397369385, + "y": 0.004032701253890991, + "z": 6.9644083976745605 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 103.99999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [ + "Pillow|surface|7|29" + ], + "distance": 1.8037209510803223, + "objectType": "Sofa", + "objectId": "Sofa|7|1", + "assetId": "Sofa_223_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.06397819519043, + 0.904558539390564, + 7.364999294281006 + ], + [ + 9.06397819519043, + 0.904558539390564, + 6.567688465118408 + ], + [ + 9.06397819519043, + -2.205371856689453e-06, + 7.364999294281006 + ], + [ + 9.06397819519043, + -2.205371856689453e-06, + 6.567688465118408 + ], + [ + 6.56497859954834, + 0.904558539390564, + 7.364999294281006 + ], + [ + 6.56497859954834, + 0.904558539390564, + 6.567688465118408 + ], + [ + 6.56497859954834, + -2.205371856689453e-06, + 7.364999294281006 + ], + [ + 6.56497859954834, + -2.205371856689453e-06, + 6.567688465118408 + ] + ], + "center": { + "x": 7.814478397369385, + "y": 0.45227816700935364, + "z": 6.966343879699707 + }, + "size": { + "x": 2.49899959564209, + "y": 0.9045607447624207, + "z": 0.7973108291625977 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.56497859954834, + -2.2351741790771484e-06, + 6.567688465118408 + ], + [ + 9.06397819519043, + -2.2351741790771484e-06, + 6.567688465118408 + ], + [ + 9.06397819519043, + -2.2351741790771484e-06, + 7.364999294281006 + ], + [ + 6.56497859954834, + -2.2351741790771484e-06, + 7.364999294281006 + ], + [ + 6.56497859954834, + 0.904558539390564, + 6.567688465118408 + ], + [ + 9.06397819519043, + 0.904558539390564, + 6.567688465118408 + ], + [ + 9.06397819519043, + 0.904558539390564, + 7.364999294281006 + ], + [ + 6.56497859954834, + 0.904558539390564, + 7.364999294281006 + ] + ] + } + } + }, + { + "objectId": "window|2|0", + "object_info": { + "name": "window|2|0", + "position": { + "x": 3.112438201904297, + "y": 0.733083963394165, + "z": 7.389998912811279 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.166163206100464, + "objectType": "Window", + "objectId": "window|2|0", + "assetId": "Window_Fixed_60x48", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.639260292053223, + 1.952282428741455, + 7.4295549392700195 + ], + [ + 4.639260292053223, + 1.952282428741455, + 7.350444793701172 + ], + [ + 4.639260292053223, + 0.7328355312347412, + 7.4295549392700195 + ], + [ + 4.639260292053223, + 0.7328355312347412, + 7.350444793701172 + ], + [ + 3.109616279602051, + 1.952282428741455, + 7.4295549392700195 + ], + [ + 3.109616279602051, + 1.952282428741455, + 7.350444793701172 + ], + [ + 3.109616279602051, + 0.7328355312347412, + 7.4295549392700195 + ], + [ + 3.109616279602051, + 0.7328355312347412, + 7.350444793701172 + ] + ], + "center": { + "x": 3.8744382858276367, + "y": 1.3425589799880981, + "z": 7.389999866485596 + }, + "size": { + "x": 1.5296440124511719, + "y": 1.2194468975067139, + "z": 0.07911014556884766 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 6.0, + "y": 0.9009997844696045, + "z": 6.699999809265137 + }, + "agent_rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "agent_cameraHorizon": 60.00001525878906, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 6.0, + "y": 1.5759997367858887, + "z": 6.699999809265137 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Sofa|7|1", + "door|2|7", + "Pillow|surface|7|29" + ], + "different_object": [ + "window|2|0", + "Painting|2|7", + "window|7|0" + ] +} \ No newline at end of file diff --git a/train/train157/1/0_depth_npy.npy b/train/train157/1/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..d6a9fe355b11bd781ce4fb21101240c40781a51b --- /dev/null +++ b/train/train157/1/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b53f21ee2f99f7128249f834bfcc9c8f274cf167fe3e757bd8c810067c13e87b +size 3145856 diff --git a/train/train157/1/0_semantic_sensor_npy.npy b/train/train157/1/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..d7c24b1a8165fab5c81c3acf28d7e7bf45902604 --- /dev/null +++ b/train/train157/1/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:65bf8f0b2b0d9b9cd6c690d67c498d64088c1fa88b8c1b04e912c2b7f8ef32e5 +size 2359424 diff --git a/train/train157/1/1.json b/train/train157/1/1.json new file mode 100644 index 0000000000000000000000000000000000000000..96657b2ad64dd9722689278cc6a0570a011dca8a --- /dev/null +++ b/train/train157/1/1.json @@ -0,0 +1,854 @@ +{ + "object": [ + { + "objectId": "Pillow|surface|7|29", + "object_info": { + "name": "Pillow|surface|7|29", + "position": { + "x": 7.086668491363525, + "y": 0.4858947694301605, + "z": 6.851111888885498 + }, + "rotation": { + "x": -1.2999182672501775e-06, + "y": 90.0000228881836, + "z": 1.4873511418045382e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 0.9457769393920898, + "objectType": "Pillow", + "objectId": "Pillow|surface|7|29", + "assetId": "pillow_18", + "parentReceptacles": [ + "Floor", + "Sofa|7|1" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.262558937072754, + 0.5609947443008423, + 7.072233200073242 + ], + [ + 7.262558937072754, + 0.5609947443008423, + 6.629990577697754 + ], + [ + 7.262558937072754, + 0.4117947816848755, + 7.072233200073242 + ], + [ + 7.262558937072754, + 0.4117947816848755, + 6.629990577697754 + ], + [ + 6.910778045654297, + 0.5609947443008423, + 7.072233200073242 + ], + [ + 6.910778045654297, + 0.5609947443008423, + 6.629990577697754 + ], + [ + 6.910778045654297, + 0.4117947816848755, + 7.072233200073242 + ], + [ + 6.910778045654297, + 0.4117947816848755, + 6.629990577697754 + ] + ], + "center": { + "x": 7.086668491363525, + "y": 0.4863947629928589, + "z": 6.851111888885498 + }, + "size": { + "x": 0.35178089141845703, + "y": 0.1491999626159668, + "z": 0.4422426223754883 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.262558460235596, + 0.4117947816848755, + 6.629990577697754 + ], + [ + 7.262558937072754, + 0.4117947816848755, + 7.072233200073242 + ], + [ + 6.910778522491455, + 0.4117947518825531, + 7.072233200073242 + ], + [ + 6.910778045654297, + 0.4117947816848755, + 6.629990577697754 + ], + [ + 7.262558460235596, + 0.5609948039054871, + 6.629990577697754 + ], + [ + 7.262558937072754, + 0.5609947443008423, + 7.072233200073242 + ], + [ + 6.910778522491455, + 0.5609947443008423, + 7.072233200073242 + ], + [ + 6.910778045654297, + 0.5609947443008423, + 6.629990577697754 + ] + ] + } + } + }, + { + "objectId": "door|2|7", + "object_info": { + "name": "door|2|7", + "position": { + "x": 5.542049884796143, + "y": -0.0005983114242553711, + "z": 6.084535121917725 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.4670202732086182, + "objectType": "Doorway", + "objectId": "door|2|7", + "assetId": "Doorway_8", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.611670970916748, + 2.099397897720337, + 7.132956504821777 + ], + [ + 5.611670970916748, + 2.099397897720337, + 6.06899356842041 + ], + [ + 5.611670970916748, + 0.0, + 7.132956504821777 + ], + [ + 5.611670970916748, + 0.0, + 6.06899356842041 + ], + [ + 4.625014781951904, + 2.099397897720337, + 7.132956504821777 + ], + [ + 4.625014781951904, + 2.099397897720337, + 6.06899356842041 + ], + [ + 4.625014781951904, + 0.0, + 7.132956504821777 + ], + [ + 4.625014781951904, + 0.0, + 6.06899356842041 + ] + ], + "center": { + "x": 5.118342876434326, + "y": 1.0496989488601685, + "z": 6.600975036621094 + }, + "size": { + "x": 0.9866561889648438, + "y": 2.099397897720337, + "z": 1.0639629364013672 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "GarbageCan|7|2", + "object_info": { + "name": "GarbageCan|7|2", + "position": { + "x": 6.265304088592529, + "y": 3.5762786865234375e-07, + "z": 5.770092010498047 + }, + "rotation": { + "x": 1.410982440575026e-05, + "y": 6.123159892013064e-06, + "z": 1.605453508091159e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.699999988079071, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.5246992111206055, + "objectType": "GarbageCan", + "objectId": "GarbageCan|7|2", + "assetId": "bin_21", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.468395233154297, + 0.6556260585784912, + 5.973182678222656 + ], + [ + 6.468395233154297, + 0.6556260585784912, + 5.5670013427734375 + ], + [ + 6.468395233154297, + 2.384185791015625e-07, + 5.973182678222656 + ], + [ + 6.468395233154297, + 2.384185791015625e-07, + 5.5670013427734375 + ], + [ + 6.062213897705078, + 0.6556260585784912, + 5.973182678222656 + ], + [ + 6.062213897705078, + 0.6556260585784912, + 5.5670013427734375 + ], + [ + 6.062213897705078, + 2.384185791015625e-07, + 5.973182678222656 + ], + [ + 6.062213897705078, + 2.384185791015625e-07, + 5.5670013427734375 + ] + ], + "center": { + "x": 6.2653045654296875, + "y": 0.32781314849853516, + "z": 5.770092010498047 + }, + "size": { + "x": 0.40618133544921875, + "y": 0.6556258201599121, + "z": 0.40618133544921875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.468395233154297, + -2.315253482265689e-07, + 5.9731831550598145 + ], + [ + 6.06221342086792, + -3.4533934467617655e-07, + 5.9731831550598145 + ], + [ + 6.06221342086792, + -2.453118099765561e-07, + 5.567000865936279 + ], + [ + 6.468395233154297, + -1.3149781352694845e-07, + 5.567000865936279 + ], + [ + 6.468394756317139, + 0.6556261777877808, + 5.9731831550598145 + ], + [ + 6.062212944030762, + 0.6556260585784912, + 5.9731831550598145 + ], + [ + 6.062212944030762, + 0.6556261777877808, + 5.5670013427734375 + ], + [ + 6.468394756317139, + 0.6556262969970703, + 5.5670013427734375 + ] + ] + } + } + }, + { + "objectId": "CounterTop|6|0", + "object_info": { + "name": "CounterTop|6|0", + "position": { + "x": 11.0600004196167, + "y": 0.0012563467025756836, + "z": 4.03090763092041 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Mug|surface|6|12", + "Plate|surface|6|1", + "Knife|surface|6|8", + "Pencil|surface|6|5", + "Apple|surface|6|2", + "SaltShaker|surface|6|10", + "Cup|surface|6|0", + "CoffeeMachine|surface|6|14", + "Knife|surface|6|9", + "Kettle|surface|6|7", + "Bottle|surface|6|16", + "Ladle|surface|6|6", + "Egg|surface|6|4", + "Toaster|surface|6|15", + "CreditCard|surface|6|17", + "CellPhone|surface|6|13" + ], + "distance": 5.723735809326172, + "objectType": "CounterTop", + "objectId": "CounterTop|6|0", + "assetId": "Countertop_C_10x10", + "parentReceptacles": [ + "Floor", + "Mug|surface|6|12" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.060001373291016, + 0.938382625579834, + 4.03090763092041 + ], + [ + 11.060001373291016, + 0.938382625579834, + 0.9829063415527344 + ], + [ + 11.060001373291016, + 0.0, + 4.03090763092041 + ], + [ + 11.060001373291016, + 0.0, + 0.9829063415527344 + ], + [ + 7.991998672485352, + 0.938382625579834, + 4.03090763092041 + ], + [ + 7.991998672485352, + 0.938382625579834, + 0.9829063415527344 + ], + [ + 7.991998672485352, + 0.0, + 4.03090763092041 + ], + [ + 7.991998672485352, + 0.0, + 0.9829063415527344 + ] + ], + "center": { + "x": 9.526000022888184, + "y": 0.469191312789917, + "z": 2.5069069862365723 + }, + "size": { + "x": 3.068002700805664, + "y": 0.938382625579834, + "z": 3.048001289367676 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|6|7", + "object_info": { + "name": "door|6|7", + "position": { + "x": 8.55998420715332, + "y": -0.0021260976791381836, + "z": 5.541999816894531 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.877052068710327, + "objectType": "Doorway", + "objectId": "door|6|7", + "assetId": "Doorway_Double_7", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.595060348510742, + 2.0940732955932617, + 5.611620903015137 + ], + [ + 8.595060348510742, + 2.0940732955932617, + 4.627068519592285 + ], + [ + 8.595060348510742, + -0.0015277862548828125, + 5.611620903015137 + ], + [ + 8.595060348510742, + -0.0015277862548828125, + 4.627068519592285 + ], + [ + 6.590412139892578, + 2.0940732955932617, + 5.611620903015137 + ], + [ + 6.590412139892578, + 2.0940732955932617, + 4.627068519592285 + ], + [ + 6.590412139892578, + -0.0015277862548828125, + 5.611620903015137 + ], + [ + 6.590412139892578, + -0.0015277862548828125, + 4.627068519592285 + ] + ], + "center": { + "x": 7.59273624420166, + "y": 1.0462727546691895, + "z": 5.119344711303711 + }, + "size": { + "x": 2.004648208618164, + "y": 2.0956010818481445, + "z": 0.9845523834228516 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sofa|7|1", + "object_info": { + "name": "Sofa|7|1", + "position": { + "x": 7.814478397369385, + "y": 0.004032701253890991, + "z": 6.9644083976745605 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 103.99999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [ + "Pillow|surface|7|29" + ], + "distance": 1.8037209510803223, + "objectType": "Sofa", + "objectId": "Sofa|7|1", + "assetId": "Sofa_223_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.06397819519043, + 0.904558539390564, + 7.364999294281006 + ], + [ + 9.06397819519043, + 0.904558539390564, + 6.567688465118408 + ], + [ + 9.06397819519043, + -2.205371856689453e-06, + 7.364999294281006 + ], + [ + 9.06397819519043, + -2.205371856689453e-06, + 6.567688465118408 + ], + [ + 6.56497859954834, + 0.904558539390564, + 7.364999294281006 + ], + [ + 6.56497859954834, + 0.904558539390564, + 6.567688465118408 + ], + [ + 6.56497859954834, + -2.205371856689453e-06, + 7.364999294281006 + ], + [ + 6.56497859954834, + -2.205371856689453e-06, + 6.567688465118408 + ] + ], + "center": { + "x": 7.814478397369385, + "y": 0.45227816700935364, + "z": 6.966343879699707 + }, + "size": { + "x": 2.49899959564209, + "y": 0.9045607447624207, + "z": 0.7973108291625977 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.56497859954834, + -2.2351741790771484e-06, + 6.567688465118408 + ], + [ + 9.06397819519043, + -2.2351741790771484e-06, + 6.567688465118408 + ], + [ + 9.06397819519043, + -2.2351741790771484e-06, + 7.364999294281006 + ], + [ + 6.56497859954834, + -2.2351741790771484e-06, + 7.364999294281006 + ], + [ + 6.56497859954834, + 0.904558539390564, + 6.567688465118408 + ], + [ + 9.06397819519043, + 0.904558539390564, + 6.567688465118408 + ], + [ + 9.06397819519043, + 0.904558539390564, + 7.364999294281006 + ], + [ + 6.56497859954834, + 0.904558539390564, + 7.364999294281006 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 6.0, + "y": 0.9009997844696045, + "z": 6.699999809265137 + }, + "agent_rotation": { + "x": -0.0, + "y": 180.0, + "z": 0.0 + }, + "agent_cameraHorizon": 60.00001525878906, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 6.0, + "y": 1.5759997367858887, + "z": 6.699999809265137 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Sofa|7|1", + "door|2|7", + "Pillow|surface|7|29" + ], + "different_object": [ + "door|6|7", + "CounterTop|6|0", + "GarbageCan|7|2" + ] +} \ No newline at end of file diff --git a/train/train157/1/1_depth_npy.npy b/train/train157/1/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..673c9441968f1a9dff0d3b2d387ab74e1f21c912 --- /dev/null +++ b/train/train157/1/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fe7fdae90bb4c56dccc97a0f22b138359f28bc839882bc8df0770b3daabb8d61 +size 3145856 diff --git a/train/train157/1/1_semantic_sensor_npy.npy b/train/train157/1/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..a2af031773e48bbfa73affe1a258fb76663814df --- /dev/null +++ b/train/train157/1/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bb598177af80e001925404ebea69cd3949fb08abac840a649360d020d753370a +size 2359424 diff --git a/train/train157/1/depth_0.png b/train/train157/1/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..8c0188b7b9ac762e90038acc615c1cb130cc1894 Binary files /dev/null and b/train/train157/1/depth_0.png differ diff --git a/train/train157/1/depth_1.png b/train/train157/1/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..e67bc413b46ea796cb38834dbe7838a1c3c1e244 Binary files /dev/null and b/train/train157/1/depth_1.png differ diff --git a/train/train157/1/mask_questions.jsonl b/train/train157/1/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cffe6986087dc9f05d110e8fe70320479287c983 --- /dev/null +++ b/train/train157/1/mask_questions.jsonl @@ -0,0 +1,2 @@ +{"id": 11200, "folder_dir": "train157/1", "pair_name": "0-1:Pillow|surface|7|29", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Painting\nB. Window\nC. Sofa\nD. Pillow", "answer": "D", "object_name": "Pillow", "image_1": "train157/1/rgb_0.png", "image_2": "train157/1/rgb_1.png", "mask_image": "train157/1/rgb_1_mask_Pillow|surface|7|29.png", "options": ["Painting", "Window", "Sofa", "Pillow"]} +{"id": 11201, "folder_dir": "train157/1", "pair_name": "1-0:Pillow|surface|7|29", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Sofa\nB. Doorway\nC. Pillow\nD. CounterTop", "answer": "C", "object_name": "Pillow", "image_1": "train157/1/rgb_1.png", "image_2": "train157/1/rgb_0.png", "mask_image": "train157/1/rgb_0_mask_Pillow|surface|7|29.png", "options": ["Sofa", "Doorway", "Pillow", "CounterTop"]} diff --git a/train/train157/1/questions_distance.jsonl b/train/train157/1/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f1dabc551bda05118aea379f74eea90f65b8f910 --- /dev/null +++ b/train/train157/1/questions_distance.jsonl @@ -0,0 +1,2 @@ +{"id": 4562, "folder_dir": "train157/1", "query": "Which of the following objects is closest to Sofa in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Pillow\nB. Painting\nC. GarbageCan\nD. Other\n", "answer": "A", "src_object": "Sofa", "target_object": "Pillow", "question": "Which of the following objects is closest to Sofa in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Pillow", "semantic_id": "Pillow|surface|7|29", "distance": 0.7376649734864503, "com": {"x": 7.086668491363525, "y": 0.4863947629928589, "z": 6.851111888885498}}, {"text": "Painting", "semantic_id": "Painting|2|7", "distance": 2.9343005565763516, "com": {"x": 5.026704788208008, "y": 1.2745929956436157, "z": 7.369129657745361}}, {"text": "GarbageCan", "semantic_id": "GarbageCan|7|2", "distance": 1.96123676208868, "com": {"x": 6.2653045654296875, "y": 0.32781314849853516, "z": 5.770092010498047}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train157/1/rgb_0.png", "image_2": "train157/1/rgb_1.png"} +{"id": 4563, "folder_dir": "train157/1", "query": "Which of the following objects is closest to Pillow in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Sofa\nB. Painting\nC. GarbageCan\nD. Other\n", "answer": "A", "src_object": "Pillow", "target_object": "Sofa", "question": "Which of the following objects is closest to Pillow in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Sofa", "semantic_id": "Sofa|7|1", "distance": 0.7376649734864503, "com": {"x": 7.814478397369385, "y": 0.45227816700935364, "z": 6.966343879699707}}, {"text": "Painting", "semantic_id": "Painting|2|7", "distance": 2.2656233846618288, "com": {"x": 5.026704788208008, "y": 1.2745929956436157, "z": 7.369129657745361}}, {"text": "GarbageCan", "semantic_id": "GarbageCan|7|2", "distance": 1.3668909264275233, "com": {"x": 6.2653045654296875, "y": 0.32781314849853516, "z": 5.770092010498047}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train157/1/rgb_0.png", "image_2": "train157/1/rgb_1.png"} diff --git a/train/train157/1/rgb_0.png b/train/train157/1/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..44b39e28d4ded6d668f2a90b56953b11f2161b94 --- /dev/null +++ b/train/train157/1/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b5783ee6d8c2be6a292a22a7da603459ce9595941b6b4343184838570d8d0319 +size 933013 diff --git a/train/train157/1/rgb_0_mask_Pillow|surface|7|29.png b/train/train157/1/rgb_0_mask_Pillow|surface|7|29.png new file mode 100644 index 0000000000000000000000000000000000000000..12e3807cef92ecbb122736b68b1337e3e11f7139 --- /dev/null +++ b/train/train157/1/rgb_0_mask_Pillow|surface|7|29.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e43cadc5429a1122d3773744c1c797d49e69f17f98f6acaaada61a8ccb22c854 +size 774274 diff --git a/train/train157/1/rgb_1.png b/train/train157/1/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..14262b070b007af60b811ae765e3b0f7d6eec5cd --- /dev/null +++ b/train/train157/1/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1297a0f47d431aa2f990a93f4f90cefa99c6930dce5c9ffdd3089f4cdad37d0f +size 798155 diff --git a/train/train157/1/rgb_1_mask_Pillow|surface|7|29.png b/train/train157/1/rgb_1_mask_Pillow|surface|7|29.png new file mode 100644 index 0000000000000000000000000000000000000000..25e96143ab6708b3dd51cb83030aca5295923f8c --- /dev/null +++ b/train/train157/1/rgb_1_mask_Pillow|surface|7|29.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:274d2308c8460912bda1c4f855d1b3ed2c6761f665e8ae540d3f479988999037 +size 662745 diff --git a/train/train157/1/semantic_0.png b/train/train157/1/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..4652f172cbfab543b1262a4eec9b1b670118777f Binary files /dev/null and b/train/train157/1/semantic_0.png differ diff --git a/train/train157/1/semantic_1.png b/train/train157/1/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..9d05c3a16bfd3511e37b27f284c8e3d154e83411 Binary files /dev/null and b/train/train157/1/semantic_1.png differ diff --git a/train/train157/2/0.json b/train/train157/2/0.json new file mode 100644 index 0000000000000000000000000000000000000000..b12d9a3f1185a2b7244b1dc604fcab812ece993b --- /dev/null +++ b/train/train157/2/0.json @@ -0,0 +1,788 @@ +{ + "object": [ + { + "objectId": "Pillow|surface|7|29", + "object_info": { + "name": "Pillow|surface|7|29", + "position": { + "x": 7.086668491363525, + "y": 0.4858947694301605, + "z": 6.851111888885498 + }, + "rotation": { + "x": -1.2999182672501775e-06, + "y": 90.0000228881836, + "z": 1.4873511418045382e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 0.9457769393920898, + "objectType": "Pillow", + "objectId": "Pillow|surface|7|29", + "assetId": "pillow_18", + "parentReceptacles": [ + "Floor", + "Sofa|7|1" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.262558937072754, + 0.5609947443008423, + 7.072233200073242 + ], + [ + 7.262558937072754, + 0.5609947443008423, + 6.629990577697754 + ], + [ + 7.262558937072754, + 0.4117947816848755, + 7.072233200073242 + ], + [ + 7.262558937072754, + 0.4117947816848755, + 6.629990577697754 + ], + [ + 6.910778045654297, + 0.5609947443008423, + 7.072233200073242 + ], + [ + 6.910778045654297, + 0.5609947443008423, + 6.629990577697754 + ], + [ + 6.910778045654297, + 0.4117947816848755, + 7.072233200073242 + ], + [ + 6.910778045654297, + 0.4117947816848755, + 6.629990577697754 + ] + ], + "center": { + "x": 7.086668491363525, + "y": 0.4863947629928589, + "z": 6.851111888885498 + }, + "size": { + "x": 0.35178089141845703, + "y": 0.1491999626159668, + "z": 0.4422426223754883 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.262558460235596, + 0.4117947816848755, + 6.629990577697754 + ], + [ + 7.262558937072754, + 0.4117947816848755, + 7.072233200073242 + ], + [ + 6.910778522491455, + 0.4117947518825531, + 7.072233200073242 + ], + [ + 6.910778045654297, + 0.4117947816848755, + 6.629990577697754 + ], + [ + 7.262558460235596, + 0.5609948039054871, + 6.629990577697754 + ], + [ + 7.262558937072754, + 0.5609947443008423, + 7.072233200073242 + ], + [ + 6.910778522491455, + 0.5609947443008423, + 7.072233200073242 + ], + [ + 6.910778045654297, + 0.5609947443008423, + 6.629990577697754 + ] + ] + } + } + }, + { + "objectId": "window|7|0", + "object_info": { + "name": "window|7|0", + "position": { + "x": 5.566455841064453, + "y": 0.8885002136230469, + "z": 7.3899993896484375 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 0.7870758175849915, + "objectType": "Window", + "objectId": "window|7|0", + "assetId": "Window_Slider_36x36", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.480878829956055, + 1.802907109260559, + 7.431199073791504 + ], + [ + 6.480878829956055, + 1.802907109260559, + 7.3488006591796875 + ], + [ + 6.480878829956055, + 0.8864167928695679, + 7.431199073791504 + ], + [ + 6.480878829956055, + 0.8864167928695679, + 7.3488006591796875 + ], + [ + 5.566432952880859, + 1.802907109260559, + 7.431199073791504 + ], + [ + 5.566432952880859, + 1.802907109260559, + 7.3488006591796875 + ], + [ + 5.566432952880859, + 0.8864167928695679, + 7.431199073791504 + ], + [ + 5.566432952880859, + 0.8864167928695679, + 7.3488006591796875 + ] + ], + "center": { + "x": 6.023655891418457, + "y": 1.3446619510650635, + "z": 7.389999866485596 + }, + "size": { + "x": 0.9144458770751953, + "y": 0.9164903163909912, + "z": 0.0823984146118164 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|7", + "object_info": { + "name": "door|2|7", + "position": { + "x": 5.542049884796143, + "y": -0.0005983114242553711, + "z": 6.084535121917725 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.4670202732086182, + "objectType": "Doorway", + "objectId": "door|2|7", + "assetId": "Doorway_8", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.611670970916748, + 2.099397897720337, + 7.132956504821777 + ], + [ + 5.611670970916748, + 2.099397897720337, + 6.06899356842041 + ], + [ + 5.611670970916748, + 0.0, + 7.132956504821777 + ], + [ + 5.611670970916748, + 0.0, + 6.06899356842041 + ], + [ + 4.625014781951904, + 2.099397897720337, + 7.132956504821777 + ], + [ + 4.625014781951904, + 2.099397897720337, + 6.06899356842041 + ], + [ + 4.625014781951904, + 0.0, + 7.132956504821777 + ], + [ + 4.625014781951904, + 0.0, + 6.06899356842041 + ] + ], + "center": { + "x": 5.118342876434326, + "y": 1.0496989488601685, + "z": 6.600975036621094 + }, + "size": { + "x": 0.9866561889648438, + "y": 2.099397897720337, + "z": 1.0639629364013672 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|2|7", + "object_info": { + "name": "Painting|2|7", + "position": { + "x": 5.026704788208008, + "y": 1.2745929956436157, + "z": 7.38500452041626 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 1.3357588052749634, + "objectType": "Painting", + "objectId": "Painting|2|7", + "assetId": "Wall_Decor_Photo_10", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.382490634918213, + 1.486901879310608, + 7.385000228881836 + ], + [ + 5.382490634918213, + 1.486901879310608, + 7.353259086608887 + ], + [ + 5.382490634918213, + 1.0622841119766235, + 7.385000228881836 + ], + [ + 5.382490634918213, + 1.0622841119766235, + 7.353259086608887 + ], + [ + 4.670918941497803, + 1.486901879310608, + 7.385000228881836 + ], + [ + 4.670918941497803, + 1.486901879310608, + 7.353259086608887 + ], + [ + 4.670918941497803, + 1.0622841119766235, + 7.385000228881836 + ], + [ + 4.670918941497803, + 1.0622841119766235, + 7.353259086608887 + ] + ], + "center": { + "x": 5.026704788208008, + "y": 1.2745929956436157, + "z": 7.369129657745361 + }, + "size": { + "x": 0.7115716934204102, + "y": 0.4246177673339844, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sofa|7|1", + "object_info": { + "name": "Sofa|7|1", + "position": { + "x": 7.814478397369385, + "y": 0.004032701253890991, + "z": 6.9644083976745605 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 103.99999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [ + "Pillow|surface|7|29" + ], + "distance": 1.8037209510803223, + "objectType": "Sofa", + "objectId": "Sofa|7|1", + "assetId": "Sofa_223_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.06397819519043, + 0.904558539390564, + 7.364999294281006 + ], + [ + 9.06397819519043, + 0.904558539390564, + 6.567688465118408 + ], + [ + 9.06397819519043, + -2.205371856689453e-06, + 7.364999294281006 + ], + [ + 9.06397819519043, + -2.205371856689453e-06, + 6.567688465118408 + ], + [ + 6.56497859954834, + 0.904558539390564, + 7.364999294281006 + ], + [ + 6.56497859954834, + 0.904558539390564, + 6.567688465118408 + ], + [ + 6.56497859954834, + -2.205371856689453e-06, + 7.364999294281006 + ], + [ + 6.56497859954834, + -2.205371856689453e-06, + 6.567688465118408 + ] + ], + "center": { + "x": 7.814478397369385, + "y": 0.45227816700935364, + "z": 6.966343879699707 + }, + "size": { + "x": 2.49899959564209, + "y": 0.9045607447624207, + "z": 0.7973108291625977 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.56497859954834, + -2.2351741790771484e-06, + 6.567688465118408 + ], + [ + 9.06397819519043, + -2.2351741790771484e-06, + 6.567688465118408 + ], + [ + 9.06397819519043, + -2.2351741790771484e-06, + 7.364999294281006 + ], + [ + 6.56497859954834, + -2.2351741790771484e-06, + 7.364999294281006 + ], + [ + 6.56497859954834, + 0.904558539390564, + 6.567688465118408 + ], + [ + 9.06397819519043, + 0.904558539390564, + 6.567688465118408 + ], + [ + 9.06397819519043, + 0.904558539390564, + 7.364999294281006 + ], + [ + 6.56497859954834, + 0.904558539390564, + 7.364999294281006 + ] + ] + } + } + }, + { + "objectId": "window|2|0", + "object_info": { + "name": "window|2|0", + "position": { + "x": 3.112438201904297, + "y": 0.733083963394165, + "z": 7.389998912811279 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.166163206100464, + "objectType": "Window", + "objectId": "window|2|0", + "assetId": "Window_Fixed_60x48", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.639260292053223, + 1.952282428741455, + 7.4295549392700195 + ], + [ + 4.639260292053223, + 1.952282428741455, + 7.350444793701172 + ], + [ + 4.639260292053223, + 0.7328355312347412, + 7.4295549392700195 + ], + [ + 4.639260292053223, + 0.7328355312347412, + 7.350444793701172 + ], + [ + 3.109616279602051, + 1.952282428741455, + 7.4295549392700195 + ], + [ + 3.109616279602051, + 1.952282428741455, + 7.350444793701172 + ], + [ + 3.109616279602051, + 0.7328355312347412, + 7.4295549392700195 + ], + [ + 3.109616279602051, + 0.7328355312347412, + 7.350444793701172 + ] + ], + "center": { + "x": 3.8744382858276367, + "y": 1.3425589799880981, + "z": 7.389999866485596 + }, + "size": { + "x": 1.5296440124511719, + "y": 1.2194468975067139, + "z": 0.07911014556884766 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 5.800000190734863, + "y": 0.9009997844696045, + "z": 6.5 + }, + "agent_rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "agent_cameraHorizon": 30.000003814697266, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 5.800000190734863, + "y": 1.5759997367858887, + "z": 6.5 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "window|2|0", + "Painting|2|7", + "door|2|7", + "window|7|0" + ], + "different_object": [ + "Sofa|7|1", + "Pillow|surface|7|29" + ] +} \ No newline at end of file diff --git a/train/train157/2/0_depth_npy.npy b/train/train157/2/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..a39a1bb1ecbb17060532a718eab32650cc782ac4 --- /dev/null +++ b/train/train157/2/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c506939cff0b8da96499368bbd9fe7721940b4ebee3ab8e5e449c85b6458eaaa +size 3145856 diff --git a/train/train157/2/0_semantic_sensor_npy.npy b/train/train157/2/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..3d4318fc25ac9279911fcb091c565e8474d55e26 --- /dev/null +++ b/train/train157/2/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:79c4863c5309df30ff41562086a972c0b39050c5b08dcb25b2ccec749edcdc43 +size 2359424 diff --git a/train/train157/2/1.json b/train/train157/2/1.json new file mode 100644 index 0000000000000000000000000000000000000000..3e427ff6dfeb9cfa8f15a4b92be5d7f59cb90dee --- /dev/null +++ b/train/train157/2/1.json @@ -0,0 +1,1502 @@ +{ + "object": [ + { + "objectId": "window|7|0", + "object_info": { + "name": "window|7|0", + "position": { + "x": 5.566455841064453, + "y": 0.8885002136230469, + "z": 7.3899993896484375 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 0.7870758175849915, + "objectType": "Window", + "objectId": "window|7|0", + "assetId": "Window_Slider_36x36", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.480878829956055, + 1.802907109260559, + 7.431199073791504 + ], + [ + 6.480878829956055, + 1.802907109260559, + 7.3488006591796875 + ], + [ + 6.480878829956055, + 0.8864167928695679, + 7.431199073791504 + ], + [ + 6.480878829956055, + 0.8864167928695679, + 7.3488006591796875 + ], + [ + 5.566432952880859, + 1.802907109260559, + 7.431199073791504 + ], + [ + 5.566432952880859, + 1.802907109260559, + 7.3488006591796875 + ], + [ + 5.566432952880859, + 0.8864167928695679, + 7.431199073791504 + ], + [ + 5.566432952880859, + 0.8864167928695679, + 7.3488006591796875 + ] + ], + "center": { + "x": 6.023655891418457, + "y": 1.3446619510650635, + "z": 7.389999866485596 + }, + "size": { + "x": 0.9144458770751953, + "y": 0.9164903163909912, + "z": 0.0823984146118164 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|7", + "object_info": { + "name": "door|2|7", + "position": { + "x": 5.542049884796143, + "y": -0.0005983114242553711, + "z": 6.084535121917725 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.4670202732086182, + "objectType": "Doorway", + "objectId": "door|2|7", + "assetId": "Doorway_8", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.611670970916748, + 2.099397897720337, + 7.132956504821777 + ], + [ + 5.611670970916748, + 2.099397897720337, + 6.06899356842041 + ], + [ + 5.611670970916748, + 0.0, + 7.132956504821777 + ], + [ + 5.611670970916748, + 0.0, + 6.06899356842041 + ], + [ + 4.625014781951904, + 2.099397897720337, + 7.132956504821777 + ], + [ + 4.625014781951904, + 2.099397897720337, + 6.06899356842041 + ], + [ + 4.625014781951904, + 0.0, + 7.132956504821777 + ], + [ + 4.625014781951904, + 0.0, + 6.06899356842041 + ] + ], + "center": { + "x": 5.118342876434326, + "y": 1.0496989488601685, + "z": 6.600975036621094 + }, + "size": { + "x": 0.9866561889648438, + "y": 2.099397897720337, + "z": 1.0639629364013672 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|2|7", + "object_info": { + "name": "Painting|2|7", + "position": { + "x": 5.026704788208008, + "y": 1.2745929956436157, + "z": 7.38500452041626 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 1.3357588052749634, + "objectType": "Painting", + "objectId": "Painting|2|7", + "assetId": "Wall_Decor_Photo_10", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.382490634918213, + 1.486901879310608, + 7.385000228881836 + ], + [ + 5.382490634918213, + 1.486901879310608, + 7.353259086608887 + ], + [ + 5.382490634918213, + 1.0622841119766235, + 7.385000228881836 + ], + [ + 5.382490634918213, + 1.0622841119766235, + 7.353259086608887 + ], + [ + 4.670918941497803, + 1.486901879310608, + 7.385000228881836 + ], + [ + 4.670918941497803, + 1.486901879310608, + 7.353259086608887 + ], + [ + 4.670918941497803, + 1.0622841119766235, + 7.385000228881836 + ], + [ + 4.670918941497803, + 1.0622841119766235, + 7.353259086608887 + ] + ], + "center": { + "x": 5.026704788208008, + "y": 1.2745929956436157, + "z": 7.369129657745361 + }, + "size": { + "x": 0.7115716934204102, + "y": 0.4246177673339844, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|2|1___5", + "object_info": { + "name": "Drawer (6)", + "position": { + "x": 1.2247228622436523, + "y": 0.4862314760684967, + "z": 7.015104293823242 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.04238748550415, + "objectType": "Drawer", + "objectId": "Dresser|2|1___5", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.621583104133606, + 0.5837717652320862, + 7.27401065826416 + ], + [ + 1.621583104133606, + 0.5837717652320862, + 6.773306846618652 + ], + [ + 1.621583104133606, + 0.39097481966018677, + 7.27401065826416 + ], + [ + 1.621583104133606, + 0.39097481966018677, + 6.773306846618652 + ], + [ + 0.8278626203536987, + 0.5837717652320862, + 7.27401065826416 + ], + [ + 0.8278626203536987, + 0.5837717652320862, + 6.773306846618652 + ], + [ + 0.8278626203536987, + 0.39097481966018677, + 7.27401065826416 + ], + [ + 0.8278626203536987, + 0.39097481966018677, + 6.773306846618652 + ] + ], + "center": { + "x": 1.2247228622436523, + "y": 0.4873732924461365, + "z": 7.023658752441406 + }, + "size": { + "x": 0.7937204837799072, + "y": 0.19279694557189941, + "z": 0.5007038116455078 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "GarbageCan|7|2", + "object_info": { + "name": "GarbageCan|7|2", + "position": { + "x": 6.265304088592529, + "y": 3.5762786865234375e-07, + "z": 5.770092010498047 + }, + "rotation": { + "x": 1.410982440575026e-05, + "y": 6.123159892013064e-06, + "z": 1.605453508091159e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.699999988079071, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.5246992111206055, + "objectType": "GarbageCan", + "objectId": "GarbageCan|7|2", + "assetId": "bin_21", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.468395233154297, + 0.6556260585784912, + 5.973182678222656 + ], + [ + 6.468395233154297, + 0.6556260585784912, + 5.5670013427734375 + ], + [ + 6.468395233154297, + 2.384185791015625e-07, + 5.973182678222656 + ], + [ + 6.468395233154297, + 2.384185791015625e-07, + 5.5670013427734375 + ], + [ + 6.062213897705078, + 0.6556260585784912, + 5.973182678222656 + ], + [ + 6.062213897705078, + 0.6556260585784912, + 5.5670013427734375 + ], + [ + 6.062213897705078, + 2.384185791015625e-07, + 5.973182678222656 + ], + [ + 6.062213897705078, + 2.384185791015625e-07, + 5.5670013427734375 + ] + ], + "center": { + "x": 6.2653045654296875, + "y": 0.32781314849853516, + "z": 5.770092010498047 + }, + "size": { + "x": 0.40618133544921875, + "y": 0.6556258201599121, + "z": 0.40618133544921875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.468395233154297, + -2.315253482265689e-07, + 5.9731831550598145 + ], + [ + 6.06221342086792, + -3.4533934467617655e-07, + 5.9731831550598145 + ], + [ + 6.06221342086792, + -2.453118099765561e-07, + 5.567000865936279 + ], + [ + 6.468395233154297, + -1.3149781352694845e-07, + 5.567000865936279 + ], + [ + 6.468394756317139, + 0.6556261777877808, + 5.9731831550598145 + ], + [ + 6.062212944030762, + 0.6556260585784912, + 5.9731831550598145 + ], + [ + 6.062212944030762, + 0.6556261777877808, + 5.5670013427734375 + ], + [ + 6.468394756317139, + 0.6556262969970703, + 5.5670013427734375 + ] + ] + } + } + }, + { + "objectId": "Dresser|2|1___1", + "object_info": { + "name": "Drawer (10)", + "position": { + "x": 1.2247228622436523, + "y": 0.10441046953201294, + "z": 7.014874458312988 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "CreditCard|surface|2|34" + ], + "distance": 5.088043212890625, + "objectType": "Drawer", + "objectId": "Dresser|2|1___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.6200499534606934, + 0.19244249165058136, + 7.274550437927246 + ], + [ + 1.6200499534606934, + 0.19244249165058136, + 6.773323059082031 + ], + [ + 1.6200499534606934, + 0.01637844741344452, + 7.274550437927246 + ], + [ + 1.6200499534606934, + 0.01637844741344452, + 6.773323059082031 + ], + [ + 0.8293957710266113, + 0.19244249165058136, + 7.274550437927246 + ], + [ + 0.8293957710266113, + 0.19244249165058136, + 6.773323059082031 + ], + [ + 0.8293957710266113, + 0.01637844741344452, + 7.274550437927246 + ], + [ + 0.8293957710266113, + 0.01637844741344452, + 6.773323059082031 + ] + ], + "center": { + "x": 1.2247228622436523, + "y": 0.10441046953201294, + "z": 7.023936748504639 + }, + "size": { + "x": 0.790654182434082, + "y": 0.17606404423713684, + "z": 0.5012273788452148 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|2|1", + "object_info": { + "name": "Dresser|2|1", + "position": { + "x": 0.8279138207435608, + "y": 0.0006616711616516113, + "z": 7.0598835945129395 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Safe|surface|2|39", + "KeyChain|surface|2|40", + "HousePlant|surface|2|41" + ], + "distance": 5.496654987335205, + "objectType": "Dresser", + "objectId": "Dresser|2|1", + "assetId": "Dresser_315_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.638013482093811, + 0.9697651863098145, + 7.365000247955322 + ], + [ + 1.638013482093811, + 0.9697651863098145, + 6.770939350128174 + ], + [ + 1.638013482093811, + 2.950429916381836e-06, + 7.365000247955322 + ], + [ + 1.638013482093811, + 2.950429916381836e-06, + 6.770939350128174 + ], + [ + 0.02500128746032715, + 0.9697651863098145, + 7.365000247955322 + ], + [ + 0.02500128746032715, + 0.9697651863098145, + 6.770939350128174 + ], + [ + 0.02500128746032715, + 2.950429916381836e-06, + 7.365000247955322 + ], + [ + 0.02500128746032715, + 2.950429916381836e-06, + 6.770939350128174 + ] + ], + "center": { + "x": 0.8315073847770691, + "y": 0.4848840534687042, + "z": 7.067969799041748 + }, + "size": { + "x": 1.6130121946334839, + "y": 0.9697622060775757, + "z": 0.5940608978271484 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.025001347064971924, + 2.9206275939941406e-06, + 6.770939350128174 + ], + [ + 1.6380133628845215, + 2.9206275939941406e-06, + 6.770939350128174 + ], + [ + 1.6380133628845215, + 2.9206275939941406e-06, + 7.365000247955322 + ], + [ + 0.025001347064971924, + 2.9206275939941406e-06, + 7.365000247955322 + ], + [ + 0.025001347064971924, + 0.9697653651237488, + 6.770939350128174 + ], + [ + 1.6380133628845215, + 0.9697653651237488, + 6.770939350128174 + ], + [ + 1.6380133628845215, + 0.9697653651237488, + 7.365000247955322 + ], + [ + 0.025001347064971924, + 0.9697653651237488, + 7.365000247955322 + ] + ] + } + } + }, + { + "objectId": "Dresser|2|1___3", + "object_info": { + "name": "Drawer (8)", + "position": { + "x": 1.2247228622436523, + "y": 0.29189369082450867, + "z": 7.0150146484375 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.062079429626465, + "objectType": "Drawer", + "objectId": "Dresser|2|1___3", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.6217710971832275, + 0.3873782455921173, + 7.273773193359375 + ], + [ + 1.6217710971832275, + 0.3873782455921173, + 6.774410247802734 + ], + [ + 1.6217710971832275, + 0.19640913605690002, + 7.273773193359375 + ], + [ + 1.6217710971832275, + 0.19640913605690002, + 6.774410247802734 + ], + [ + 0.8276746273040771, + 0.3873782455921173, + 7.273773193359375 + ], + [ + 0.8276746273040771, + 0.3873782455921173, + 6.774410247802734 + ], + [ + 0.8276746273040771, + 0.19640913605690002, + 7.273773193359375 + ], + [ + 0.8276746273040771, + 0.19640913605690002, + 6.774410247802734 + ] + ], + "center": { + "x": 1.2247228622436523, + "y": 0.29189369082450867, + "z": 7.024091720581055 + }, + "size": { + "x": 0.7940964698791504, + "y": 0.19096910953521729, + "z": 0.4993629455566406 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "GarbageCan|2|4", + "object_info": { + "name": "GarbageCan|2|4", + "position": { + "x": 2.307553768157959, + "y": -0.0020743757486343384, + "z": 7.119320869445801 + }, + "rotation": { + "x": 359.9693908691406, + "y": 179.99996948242188, + "z": 359.99139404296875 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.699999988079071, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": [], + "distance": 4.046314716339111, + "objectType": "GarbageCan", + "objectId": "GarbageCan|2|4", + "assetId": "bin_26", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.573953628540039, + 0.6210020780563354, + 7.365263938903809 + ], + [ + 2.573953628540039, + 0.6210020780563354, + 6.88468074798584 + ], + [ + 2.573953628540039, + -0.0020743608474731445, + 7.365263938903809 + ], + [ + 2.573953628540039, + -0.0020743608474731445, + 6.88468074798584 + ], + [ + 2.0380687713623047, + 0.6210020780563354, + 7.365263938903809 + ], + [ + 2.0380687713623047, + 0.6210020780563354, + 6.88468074798584 + ], + [ + 2.0380687713623047, + -0.0020743608474731445, + 7.365263938903809 + ], + [ + 2.0380687713623047, + -0.0020743608474731445, + 6.88468074798584 + ] + ], + "center": { + "x": 2.306011199951172, + "y": 0.30946385860443115, + "z": 7.124972343444824 + }, + "size": { + "x": 0.5358848571777344, + "y": 0.6230764389038086, + "z": 0.48058319091796875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.0381503105163574, + -0.00198950432240963, + 6.884679317474365 + ], + [ + 2.5739574432373047, + -0.0019090456189587712, + 6.884679794311523 + ], + [ + 2.5739569664001465, + -0.00216557621024549, + 7.364968299865723 + ], + [ + 2.0381500720977783, + -0.002246034797281027, + 7.364968299865723 + ], + [ + 2.0380568504333496, + 0.6211638450622559, + 6.885012149810791 + ], + [ + 2.5738637447357178, + 0.6212443113327026, + 6.885012626647949 + ], + [ + 2.5738635063171387, + 0.6209877729415894, + 7.365301132202148 + ], + [ + 2.0380563735961914, + 0.6209073066711426, + 7.365301132202148 + ] + ] + } + } + }, + { + "objectId": "window|2|0", + "object_info": { + "name": "window|2|0", + "position": { + "x": 3.112438201904297, + "y": 0.733083963394165, + "z": 7.389998912811279 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.166163206100464, + "objectType": "Window", + "objectId": "window|2|0", + "assetId": "Window_Fixed_60x48", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.639260292053223, + 1.952282428741455, + 7.4295549392700195 + ], + [ + 4.639260292053223, + 1.952282428741455, + 7.350444793701172 + ], + [ + 4.639260292053223, + 0.7328355312347412, + 7.4295549392700195 + ], + [ + 4.639260292053223, + 0.7328355312347412, + 7.350444793701172 + ], + [ + 3.109616279602051, + 1.952282428741455, + 7.4295549392700195 + ], + [ + 3.109616279602051, + 1.952282428741455, + 7.350444793701172 + ], + [ + 3.109616279602051, + 0.7328355312347412, + 7.4295549392700195 + ], + [ + 3.109616279602051, + 0.7328355312347412, + 7.350444793701172 + ] + ], + "center": { + "x": 3.8744382858276367, + "y": 1.3425589799880981, + "z": 7.389999866485596 + }, + "size": { + "x": 1.5296440124511719, + "y": 1.2194468975067139, + "z": 0.07911014556884766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|2|1___2", + "object_info": { + "name": "Drawer (7)", + "position": { + "x": 0.4307740330696106, + "y": 0.29189369082450867, + "z": 7.0150146484375 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.851036071777344, + "objectType": "Drawer", + "objectId": "Dresser|2|1___2", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.827822208404541, + 0.3873782455921173, + 7.273773193359375 + ], + [ + 0.827822208404541, + 0.3873782455921173, + 6.774410247802734 + ], + [ + 0.827822208404541, + 0.19640913605690002, + 7.273773193359375 + ], + [ + 0.827822208404541, + 0.19640913605690002, + 6.774410247802734 + ], + [ + 0.03372567892074585, + 0.3873782455921173, + 7.273773193359375 + ], + [ + 0.03372567892074585, + 0.3873782455921173, + 6.774410247802734 + ], + [ + 0.03372567892074585, + 0.19640913605690002, + 7.273773193359375 + ], + [ + 0.03372567892074585, + 0.19640913605690002, + 6.774410247802734 + ] + ], + "center": { + "x": 0.43077394366264343, + "y": 0.29189369082450867, + "z": 7.024091720581055 + }, + "size": { + "x": 0.7940965294837952, + "y": 0.19096910953521729, + "z": 0.4993629455566406 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|2|1___0", + "object_info": { + "name": "Drawer (9)", + "position": { + "x": 0.4307740330696106, + "y": 0.10441046953201294, + "z": 7.014874458312988 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.873513698577881, + "objectType": "Drawer", + "objectId": "Dresser|2|1___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.8261010646820068, + 0.19244249165058136, + 7.274550437927246 + ], + [ + 0.8261010646820068, + 0.19244249165058136, + 6.773323059082031 + ], + [ + 0.8261010646820068, + 0.01637844741344452, + 7.274550437927246 + ], + [ + 0.8261010646820068, + 0.01637844741344452, + 6.773323059082031 + ], + [ + 0.035446882247924805, + 0.19244249165058136, + 7.274550437927246 + ], + [ + 0.035446882247924805, + 0.19244249165058136, + 6.773323059082031 + ], + [ + 0.035446882247924805, + 0.01637844741344452, + 7.274550437927246 + ], + [ + 0.035446882247924805, + 0.01637844741344452, + 6.773323059082031 + ] + ], + "center": { + "x": 0.4307739734649658, + "y": 0.10441046953201294, + "z": 7.023936748504639 + }, + "size": { + "x": 0.790654182434082, + "y": 0.17606404423713684, + "z": 0.5012273788452148 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 5.800000190734863, + "y": 0.9009997844696045, + "z": 6.5 + }, + "agent_rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "agent_cameraHorizon": 60.00001525878906, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 5.800000190734863, + "y": 1.5759997367858887, + "z": 6.5 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "window|2|0", + "Painting|2|7", + "door|2|7", + "window|7|0" + ], + "different_object": [ + "GarbageCan|7|2", + "GarbageCan|2|4", + "Dresser|2|1", + "Dresser|2|1___2", + "Dresser|2|1___0", + "Dresser|2|1___1", + "Dresser|2|1___5", + "Dresser|2|1___3" + ] +} \ No newline at end of file diff --git a/train/train157/2/1_depth_npy.npy b/train/train157/2/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..91b001301e78d44dbf7e0b32768f822cf882e486 --- /dev/null +++ b/train/train157/2/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e6b56f76d8006664944ca3fadc4e1142f9a66d081940cb5935d52ed42c5b55f4 +size 3145856 diff --git a/train/train157/2/1_semantic_sensor_npy.npy b/train/train157/2/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..57e55416f868d92f6fc68fb974ac01642b8fa334 --- /dev/null +++ b/train/train157/2/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0cd1714264ebc5e921bde5022f77f890cd871729ba9aaa9645344993d9108fef +size 2359424 diff --git a/train/train157/2/depth_0.png b/train/train157/2/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..4a2613efd1658bd008cd0f6e6921c97248964ccd Binary files /dev/null and b/train/train157/2/depth_0.png differ diff --git a/train/train157/2/depth_1.png b/train/train157/2/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..4fb8ba203330026a5ca83bc4244c164ff55793bc Binary files /dev/null and b/train/train157/2/depth_1.png differ diff --git a/train/train157/2/mask_questions.jsonl b/train/train157/2/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fabfd1bbd2260b8a20d90ae97f9905f26e96ca82 --- /dev/null +++ b/train/train157/2/mask_questions.jsonl @@ -0,0 +1,5 @@ +{"id": 11202, "folder_dir": "train157/2", "pair_name": "0-1:window|2|0", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Window\nB. Painting\nC. Sofa\nD. Pillow", "answer": "A", "object_name": "Window", "image_1": "train157/2/rgb_0.png", "image_2": "train157/2/rgb_1.png", "mask_image": "train157/2/rgb_1_mask_window|2|0.png", "options": ["Window", "Painting", "Sofa", "Pillow"]} +{"id": 11203, "folder_dir": "train157/2", "pair_name": "0-1:Painting|2|7", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Sofa\nB. Window\nC. Pillow\nD. Painting", "answer": "D", "object_name": "Painting", "image_1": "train157/2/rgb_0.png", "image_2": "train157/2/rgb_1.png", "mask_image": "train157/2/rgb_1_mask_Painting|2|7.png", "options": ["Sofa", "Window", "Pillow", "Painting"]} +{"id": 11204, "folder_dir": "train157/2", "pair_name": "0-1:window|7|0", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Window\nB. Sofa\nC. Window\nD. Pillow", "answer": "A", "object_name": "Window", "image_1": "train157/2/rgb_0.png", "image_2": "train157/2/rgb_1.png", "mask_image": "train157/2/rgb_1_mask_window|7|0.png", "options": ["Window", "Sofa", "Window", "Pillow"]} +{"id": 11205, "folder_dir": "train157/2", "pair_name": "1-0:window|2|0", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Window\nB. Painting\nC. Drawer\nD. GarbageCan", "answer": "A", "object_name": "Window", "image_1": "train157/2/rgb_1.png", "image_2": "train157/2/rgb_0.png", "mask_image": "train157/2/rgb_0_mask_window|2|0.png", "options": ["Window", "Painting", "Drawer", "GarbageCan"]} +{"id": 11206, "folder_dir": "train157/2", "pair_name": "1-0:Painting|2|7", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Window\nB. Dresser\nC. GarbageCan\nD. Painting", "answer": "D", "object_name": "Painting", "image_1": "train157/2/rgb_1.png", "image_2": "train157/2/rgb_0.png", "mask_image": "train157/2/rgb_0_mask_Painting|2|7.png", "options": ["Window", "Dresser", "GarbageCan", "Painting"]} diff --git a/train/train157/2/questions_distance.jsonl b/train/train157/2/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9a593f084b1e4950b3481e022494936dcbae64d3 --- /dev/null +++ b/train/train157/2/questions_distance.jsonl @@ -0,0 +1,2 @@ +{"id": 4564, "folder_dir": "train157/2", "query": "Which of the following objects is closest to Painting in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Sofa\nB. Doorway\nC. Pillow\nD. Other\n", "answer": "B", "src_object": "Painting", "target_object": "Doorway", "question": "Which of the following objects is closest to Painting in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Sofa", "semantic_id": "Sofa|7|1", "distance": 2.9343005565763516, "com": {"x": 7.814478397369385, "y": 0.45227816700935364, "z": 6.966343879699707}}, {"text": "Doorway", "semantic_id": "door|2|7", "distance": 0.805627949767743, "com": {"x": 5.118342876434326, "y": 1.0496989488601685, "z": 6.600975036621094}}, {"text": "Pillow", "semantic_id": "Pillow|surface|7|29", "distance": 2.2656233846618288, "com": {"x": 7.086668491363525, "y": 0.4863947629928589, "z": 6.851111888885498}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train157/2/rgb_0.png", "image_2": "train157/2/rgb_1.png"} +{"id": 4565, "folder_dir": "train157/2", "query": "Which of the following objects is closest to Doorway in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Pillow\nB. Painting\nC. Sofa\nD. Other\n", "answer": "B", "src_object": "Doorway", "target_object": "Painting", "question": "Which of the following objects is closest to Doorway in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Pillow", "semantic_id": "Pillow|surface|7|29", "distance": 2.062567763023263, "com": {"x": 7.086668491363525, "y": 0.4863947629928589, "z": 6.851111888885498}}, {"text": "Painting", "semantic_id": "Painting|2|7", "distance": 0.805627949767743, "com": {"x": 5.026704788208008, "y": 1.2745929956436157, "z": 7.369129657745361}}, {"text": "Sofa", "semantic_id": "Sofa|7|1", "distance": 2.785597373872901, "com": {"x": 7.814478397369385, "y": 0.45227816700935364, "z": 6.966343879699707}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train157/2/rgb_0.png", "image_2": "train157/2/rgb_1.png"} diff --git a/train/train157/2/rgb_0.png b/train/train157/2/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..d66f708275ed1eac8c36b5d93a0c22a51a1d4316 --- /dev/null +++ b/train/train157/2/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1c091b2cb9eb303c074fa630010b684ab480f02ad72e5c27241878b91af62803 +size 912219 diff --git a/train/train157/2/rgb_0_mask_Painting|2|7.png b/train/train157/2/rgb_0_mask_Painting|2|7.png new file mode 100644 index 0000000000000000000000000000000000000000..aa75a234aeb7eb2ad3b6fd16ece5cfe5a88bc09a --- /dev/null +++ b/train/train157/2/rgb_0_mask_Painting|2|7.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:577c251d52d41d291a38380c47ee15a0249d33fc608be0704863b75c5b391250 +size 749743 diff --git a/train/train157/2/rgb_0_mask_window|2|0.png b/train/train157/2/rgb_0_mask_window|2|0.png new file mode 100644 index 0000000000000000000000000000000000000000..505327fe06bf8f6ec4adae234ef73a41bd20b0f1 --- /dev/null +++ b/train/train157/2/rgb_0_mask_window|2|0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7c1e44dffbee5dee8445bdf36f62f7e042e3c3cffc9e694849dc343ef3ba368c +size 766981 diff --git a/train/train157/2/rgb_1.png b/train/train157/2/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..4ecacbb7ee2f65c8e17c09f2056f444544e66144 --- /dev/null +++ b/train/train157/2/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:58459175adabe1c3d3bff9c68d8d26c6fcce0d59b78cba2e9ca55fe975503970 +size 875530 diff --git a/train/train157/2/rgb_1_mask_Painting|2|7.png b/train/train157/2/rgb_1_mask_Painting|2|7.png new file mode 100644 index 0000000000000000000000000000000000000000..ee6e54e504a56b96053dea864778cce4ebb05bef --- /dev/null +++ b/train/train157/2/rgb_1_mask_Painting|2|7.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b0b65ced7384101b2016092d43f0d3f4407f7468330c071b76be3b41715065ef +size 708555 diff --git a/train/train157/2/rgb_1_mask_window|2|0.png b/train/train157/2/rgb_1_mask_window|2|0.png new file mode 100644 index 0000000000000000000000000000000000000000..1c90f7b83123d6bdaf58db5b19709a5d67cc4c48 --- /dev/null +++ b/train/train157/2/rgb_1_mask_window|2|0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a578aaa9076e31a70683e3f17c60cc6132d7ce4e48b33c80d51875815f777c7d +size 706229 diff --git a/train/train157/2/rgb_1_mask_window|7|0.png b/train/train157/2/rgb_1_mask_window|7|0.png new file mode 100644 index 0000000000000000000000000000000000000000..a3820446e896e9e3c5ed9a25a6f9bc448b21288e --- /dev/null +++ b/train/train157/2/rgb_1_mask_window|7|0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4c0794ecf5bd237647ffb6c797b8a068156d1d6bcf0c806698c311868186f904 +size 770748 diff --git a/train/train157/2/semantic_0.png b/train/train157/2/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..ab0919734a534f51883f3ec0fa1022e411e6adef Binary files /dev/null and b/train/train157/2/semantic_0.png differ diff --git a/train/train157/2/semantic_1.png b/train/train157/2/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..b6664f3ad9dc96ed807cb5fe506967c0dfe1c85c Binary files /dev/null and b/train/train157/2/semantic_1.png differ diff --git a/train/train157/3/0.json b/train/train157/3/0.json new file mode 100644 index 0000000000000000000000000000000000000000..c7c41eafc9c049f9c8afea881d8734483534b3b3 --- /dev/null +++ b/train/train157/3/0.json @@ -0,0 +1,854 @@ +{ + "object": [ + { + "objectId": "Pillow|surface|7|29", + "object_info": { + "name": "Pillow|surface|7|29", + "position": { + "x": 7.086668491363525, + "y": 0.4858947694301605, + "z": 6.851111888885498 + }, + "rotation": { + "x": -1.2999182672501775e-06, + "y": 90.0000228881836, + "z": 1.4873511418045382e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 0.9457769393920898, + "objectType": "Pillow", + "objectId": "Pillow|surface|7|29", + "assetId": "pillow_18", + "parentReceptacles": [ + "Floor", + "Sofa|7|1" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.262558937072754, + 0.5609947443008423, + 7.072233200073242 + ], + [ + 7.262558937072754, + 0.5609947443008423, + 6.629990577697754 + ], + [ + 7.262558937072754, + 0.4117947816848755, + 7.072233200073242 + ], + [ + 7.262558937072754, + 0.4117947816848755, + 6.629990577697754 + ], + [ + 6.910778045654297, + 0.5609947443008423, + 7.072233200073242 + ], + [ + 6.910778045654297, + 0.5609947443008423, + 6.629990577697754 + ], + [ + 6.910778045654297, + 0.4117947816848755, + 7.072233200073242 + ], + [ + 6.910778045654297, + 0.4117947816848755, + 6.629990577697754 + ] + ], + "center": { + "x": 7.086668491363525, + "y": 0.4863947629928589, + "z": 6.851111888885498 + }, + "size": { + "x": 0.35178089141845703, + "y": 0.1491999626159668, + "z": 0.4422426223754883 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.262558460235596, + 0.4117947816848755, + 6.629990577697754 + ], + [ + 7.262558937072754, + 0.4117947816848755, + 7.072233200073242 + ], + [ + 6.910778522491455, + 0.4117947518825531, + 7.072233200073242 + ], + [ + 6.910778045654297, + 0.4117947816848755, + 6.629990577697754 + ], + [ + 7.262558460235596, + 0.5609948039054871, + 6.629990577697754 + ], + [ + 7.262558937072754, + 0.5609947443008423, + 7.072233200073242 + ], + [ + 6.910778522491455, + 0.5609947443008423, + 7.072233200073242 + ], + [ + 6.910778045654297, + 0.5609947443008423, + 6.629990577697754 + ] + ] + } + } + }, + { + "objectId": "door|2|7", + "object_info": { + "name": "door|2|7", + "position": { + "x": 5.542049884796143, + "y": -0.0005983114242553711, + "z": 6.084535121917725 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.4670202732086182, + "objectType": "Doorway", + "objectId": "door|2|7", + "assetId": "Doorway_8", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.611670970916748, + 2.099397897720337, + 7.132956504821777 + ], + [ + 5.611670970916748, + 2.099397897720337, + 6.06899356842041 + ], + [ + 5.611670970916748, + 0.0, + 7.132956504821777 + ], + [ + 5.611670970916748, + 0.0, + 6.06899356842041 + ], + [ + 4.625014781951904, + 2.099397897720337, + 7.132956504821777 + ], + [ + 4.625014781951904, + 2.099397897720337, + 6.06899356842041 + ], + [ + 4.625014781951904, + 0.0, + 7.132956504821777 + ], + [ + 4.625014781951904, + 0.0, + 6.06899356842041 + ] + ], + "center": { + "x": 5.118342876434326, + "y": 1.0496989488601685, + "z": 6.600975036621094 + }, + "size": { + "x": 0.9866561889648438, + "y": 2.099397897720337, + "z": 1.0639629364013672 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "GarbageCan|7|2", + "object_info": { + "name": "GarbageCan|7|2", + "position": { + "x": 6.265304088592529, + "y": 3.5762786865234375e-07, + "z": 5.770092010498047 + }, + "rotation": { + "x": 1.410982440575026e-05, + "y": 6.123159892013064e-06, + "z": 1.605453508091159e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.699999988079071, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.5246992111206055, + "objectType": "GarbageCan", + "objectId": "GarbageCan|7|2", + "assetId": "bin_21", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.468395233154297, + 0.6556260585784912, + 5.973182678222656 + ], + [ + 6.468395233154297, + 0.6556260585784912, + 5.5670013427734375 + ], + [ + 6.468395233154297, + 2.384185791015625e-07, + 5.973182678222656 + ], + [ + 6.468395233154297, + 2.384185791015625e-07, + 5.5670013427734375 + ], + [ + 6.062213897705078, + 0.6556260585784912, + 5.973182678222656 + ], + [ + 6.062213897705078, + 0.6556260585784912, + 5.5670013427734375 + ], + [ + 6.062213897705078, + 2.384185791015625e-07, + 5.973182678222656 + ], + [ + 6.062213897705078, + 2.384185791015625e-07, + 5.5670013427734375 + ] + ], + "center": { + "x": 6.2653045654296875, + "y": 0.32781314849853516, + "z": 5.770092010498047 + }, + "size": { + "x": 0.40618133544921875, + "y": 0.6556258201599121, + "z": 0.40618133544921875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.468395233154297, + -2.315253482265689e-07, + 5.9731831550598145 + ], + [ + 6.06221342086792, + -3.4533934467617655e-07, + 5.9731831550598145 + ], + [ + 6.06221342086792, + -2.453118099765561e-07, + 5.567000865936279 + ], + [ + 6.468395233154297, + -1.3149781352694845e-07, + 5.567000865936279 + ], + [ + 6.468394756317139, + 0.6556261777877808, + 5.9731831550598145 + ], + [ + 6.062212944030762, + 0.6556260585784912, + 5.9731831550598145 + ], + [ + 6.062212944030762, + 0.6556261777877808, + 5.5670013427734375 + ], + [ + 6.468394756317139, + 0.6556262969970703, + 5.5670013427734375 + ] + ] + } + } + }, + { + "objectId": "CounterTop|6|0", + "object_info": { + "name": "CounterTop|6|0", + "position": { + "x": 11.0600004196167, + "y": 0.0012563467025756836, + "z": 4.03090763092041 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Mug|surface|6|12", + "Plate|surface|6|1", + "Knife|surface|6|8", + "Pencil|surface|6|5", + "Apple|surface|6|2", + "SaltShaker|surface|6|10", + "Cup|surface|6|0", + "CoffeeMachine|surface|6|14", + "Knife|surface|6|9", + "Kettle|surface|6|7", + "Bottle|surface|6|16", + "Ladle|surface|6|6", + "Egg|surface|6|4", + "Toaster|surface|6|15", + "CreditCard|surface|6|17", + "CellPhone|surface|6|13" + ], + "distance": 5.723735809326172, + "objectType": "CounterTop", + "objectId": "CounterTop|6|0", + "assetId": "Countertop_C_10x10", + "parentReceptacles": [ + "Floor", + "Mug|surface|6|12" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.060001373291016, + 0.938382625579834, + 4.03090763092041 + ], + [ + 11.060001373291016, + 0.938382625579834, + 0.9829063415527344 + ], + [ + 11.060001373291016, + 0.0, + 4.03090763092041 + ], + [ + 11.060001373291016, + 0.0, + 0.9829063415527344 + ], + [ + 7.991998672485352, + 0.938382625579834, + 4.03090763092041 + ], + [ + 7.991998672485352, + 0.938382625579834, + 0.9829063415527344 + ], + [ + 7.991998672485352, + 0.0, + 4.03090763092041 + ], + [ + 7.991998672485352, + 0.0, + 0.9829063415527344 + ] + ], + "center": { + "x": 9.526000022888184, + "y": 0.469191312789917, + "z": 2.5069069862365723 + }, + "size": { + "x": 3.068002700805664, + "y": 0.938382625579834, + "z": 3.048001289367676 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|6|7", + "object_info": { + "name": "door|6|7", + "position": { + "x": 8.55998420715332, + "y": -0.0021260976791381836, + "z": 5.541999816894531 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.877052068710327, + "objectType": "Doorway", + "objectId": "door|6|7", + "assetId": "Doorway_Double_7", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.595060348510742, + 2.0940732955932617, + 5.611620903015137 + ], + [ + 8.595060348510742, + 2.0940732955932617, + 4.627068519592285 + ], + [ + 8.595060348510742, + -0.0015277862548828125, + 5.611620903015137 + ], + [ + 8.595060348510742, + -0.0015277862548828125, + 4.627068519592285 + ], + [ + 6.590412139892578, + 2.0940732955932617, + 5.611620903015137 + ], + [ + 6.590412139892578, + 2.0940732955932617, + 4.627068519592285 + ], + [ + 6.590412139892578, + -0.0015277862548828125, + 5.611620903015137 + ], + [ + 6.590412139892578, + -0.0015277862548828125, + 4.627068519592285 + ] + ], + "center": { + "x": 7.59273624420166, + "y": 1.0462727546691895, + "z": 5.119344711303711 + }, + "size": { + "x": 2.004648208618164, + "y": 2.0956010818481445, + "z": 0.9845523834228516 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sofa|7|1", + "object_info": { + "name": "Sofa|7|1", + "position": { + "x": 7.814478397369385, + "y": 0.004032701253890991, + "z": 6.9644083976745605 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 103.99999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [ + "Pillow|surface|7|29" + ], + "distance": 1.8037209510803223, + "objectType": "Sofa", + "objectId": "Sofa|7|1", + "assetId": "Sofa_223_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.06397819519043, + 0.904558539390564, + 7.364999294281006 + ], + [ + 9.06397819519043, + 0.904558539390564, + 6.567688465118408 + ], + [ + 9.06397819519043, + -2.205371856689453e-06, + 7.364999294281006 + ], + [ + 9.06397819519043, + -2.205371856689453e-06, + 6.567688465118408 + ], + [ + 6.56497859954834, + 0.904558539390564, + 7.364999294281006 + ], + [ + 6.56497859954834, + 0.904558539390564, + 6.567688465118408 + ], + [ + 6.56497859954834, + -2.205371856689453e-06, + 7.364999294281006 + ], + [ + 6.56497859954834, + -2.205371856689453e-06, + 6.567688465118408 + ] + ], + "center": { + "x": 7.814478397369385, + "y": 0.45227816700935364, + "z": 6.966343879699707 + }, + "size": { + "x": 2.49899959564209, + "y": 0.9045607447624207, + "z": 0.7973108291625977 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.56497859954834, + -2.2351741790771484e-06, + 6.567688465118408 + ], + [ + 9.06397819519043, + -2.2351741790771484e-06, + 6.567688465118408 + ], + [ + 9.06397819519043, + -2.2351741790771484e-06, + 7.364999294281006 + ], + [ + 6.56497859954834, + -2.2351741790771484e-06, + 7.364999294281006 + ], + [ + 6.56497859954834, + 0.904558539390564, + 6.567688465118408 + ], + [ + 9.06397819519043, + 0.904558539390564, + 6.567688465118408 + ], + [ + 9.06397819519043, + 0.904558539390564, + 7.364999294281006 + ], + [ + 6.56497859954834, + 0.904558539390564, + 7.364999294281006 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 5.900000095367432, + "y": 0.9009997844696045, + "z": 6.5 + }, + "agent_rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "agent_cameraHorizon": 60.00001525878906, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 5.900000095367432, + "y": 1.5759997367858887, + "z": 6.5 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "door|2|7", + "GarbageCan|7|2" + ], + "different_object": [ + "Sofa|7|1", + "door|6|7", + "CounterTop|6|0", + "Pillow|surface|7|29" + ] +} \ No newline at end of file diff --git a/train/train157/3/0_depth_npy.npy b/train/train157/3/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..027b7eb90cc69a835c69c999db0d58a6c10df1ab --- /dev/null +++ b/train/train157/3/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:acd2afd756dd7356780a39251c71202f37adde20e00e355080e554b2715b4ad9 +size 3145856 diff --git a/train/train157/3/0_semantic_sensor_npy.npy b/train/train157/3/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..c1929531c64725c0fd06ac81b55393fa13353936 --- /dev/null +++ b/train/train157/3/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b7ba4189864c9e2f5ade8a16fadd13620fa9663b382274551a2090eaba388ad8 +size 2359424 diff --git a/train/train157/3/1.json b/train/train157/3/1.json new file mode 100644 index 0000000000000000000000000000000000000000..6b85200f4907fd7853636a4faf9aa7f7dc78d934 --- /dev/null +++ b/train/train157/3/1.json @@ -0,0 +1,1280 @@ +{ + "object": [ + { + "objectId": "window|7|0", + "object_info": { + "name": "window|7|0", + "position": { + "x": 5.566455841064453, + "y": 0.8885002136230469, + "z": 7.3899993896484375 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 0.7870758175849915, + "objectType": "Window", + "objectId": "window|7|0", + "assetId": "Window_Slider_36x36", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.480878829956055, + 1.802907109260559, + 7.431199073791504 + ], + [ + 6.480878829956055, + 1.802907109260559, + 7.3488006591796875 + ], + [ + 6.480878829956055, + 0.8864167928695679, + 7.431199073791504 + ], + [ + 6.480878829956055, + 0.8864167928695679, + 7.3488006591796875 + ], + [ + 5.566432952880859, + 1.802907109260559, + 7.431199073791504 + ], + [ + 5.566432952880859, + 1.802907109260559, + 7.3488006591796875 + ], + [ + 5.566432952880859, + 0.8864167928695679, + 7.431199073791504 + ], + [ + 5.566432952880859, + 0.8864167928695679, + 7.3488006591796875 + ] + ], + "center": { + "x": 6.023655891418457, + "y": 1.3446619510650635, + "z": 7.389999866485596 + }, + "size": { + "x": 0.9144458770751953, + "y": 0.9164903163909912, + "z": 0.0823984146118164 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|7", + "object_info": { + "name": "door|2|7", + "position": { + "x": 5.542049884796143, + "y": -0.0005983114242553711, + "z": 6.084535121917725 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.4670202732086182, + "objectType": "Doorway", + "objectId": "door|2|7", + "assetId": "Doorway_8", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.611670970916748, + 2.099397897720337, + 7.132956504821777 + ], + [ + 5.611670970916748, + 2.099397897720337, + 6.06899356842041 + ], + [ + 5.611670970916748, + 0.0, + 7.132956504821777 + ], + [ + 5.611670970916748, + 0.0, + 6.06899356842041 + ], + [ + 4.625014781951904, + 2.099397897720337, + 7.132956504821777 + ], + [ + 4.625014781951904, + 2.099397897720337, + 6.06899356842041 + ], + [ + 4.625014781951904, + 0.0, + 7.132956504821777 + ], + [ + 4.625014781951904, + 0.0, + 6.06899356842041 + ] + ], + "center": { + "x": 5.118342876434326, + "y": 1.0496989488601685, + "z": 6.600975036621094 + }, + "size": { + "x": 0.9866561889648438, + "y": 2.099397897720337, + "z": 1.0639629364013672 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|2|7", + "object_info": { + "name": "Painting|2|7", + "position": { + "x": 5.026704788208008, + "y": 1.2745929956436157, + "z": 7.38500452041626 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 1.3357588052749634, + "objectType": "Painting", + "objectId": "Painting|2|7", + "assetId": "Wall_Decor_Photo_10", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.382490634918213, + 1.486901879310608, + 7.385000228881836 + ], + [ + 5.382490634918213, + 1.486901879310608, + 7.353259086608887 + ], + [ + 5.382490634918213, + 1.0622841119766235, + 7.385000228881836 + ], + [ + 5.382490634918213, + 1.0622841119766235, + 7.353259086608887 + ], + [ + 4.670918941497803, + 1.486901879310608, + 7.385000228881836 + ], + [ + 4.670918941497803, + 1.486901879310608, + 7.353259086608887 + ], + [ + 4.670918941497803, + 1.0622841119766235, + 7.385000228881836 + ], + [ + 4.670918941497803, + 1.0622841119766235, + 7.353259086608887 + ] + ], + "center": { + "x": 5.026704788208008, + "y": 1.2745929956436157, + "z": 7.369129657745361 + }, + "size": { + "x": 0.7115716934204102, + "y": 0.4246177673339844, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "GarbageCan|7|2", + "object_info": { + "name": "GarbageCan|7|2", + "position": { + "x": 6.265304088592529, + "y": 3.5762786865234375e-07, + "z": 5.770092010498047 + }, + "rotation": { + "x": 1.410982440575026e-05, + "y": 6.123159892013064e-06, + "z": 1.605453508091159e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.699999988079071, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.5246992111206055, + "objectType": "GarbageCan", + "objectId": "GarbageCan|7|2", + "assetId": "bin_21", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.468395233154297, + 0.6556260585784912, + 5.973182678222656 + ], + [ + 6.468395233154297, + 0.6556260585784912, + 5.5670013427734375 + ], + [ + 6.468395233154297, + 2.384185791015625e-07, + 5.973182678222656 + ], + [ + 6.468395233154297, + 2.384185791015625e-07, + 5.5670013427734375 + ], + [ + 6.062213897705078, + 0.6556260585784912, + 5.973182678222656 + ], + [ + 6.062213897705078, + 0.6556260585784912, + 5.5670013427734375 + ], + [ + 6.062213897705078, + 2.384185791015625e-07, + 5.973182678222656 + ], + [ + 6.062213897705078, + 2.384185791015625e-07, + 5.5670013427734375 + ] + ], + "center": { + "x": 6.2653045654296875, + "y": 0.32781314849853516, + "z": 5.770092010498047 + }, + "size": { + "x": 0.40618133544921875, + "y": 0.6556258201599121, + "z": 0.40618133544921875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.468395233154297, + -2.315253482265689e-07, + 5.9731831550598145 + ], + [ + 6.06221342086792, + -3.4533934467617655e-07, + 5.9731831550598145 + ], + [ + 6.06221342086792, + -2.453118099765561e-07, + 5.567000865936279 + ], + [ + 6.468395233154297, + -1.3149781352694845e-07, + 5.567000865936279 + ], + [ + 6.468394756317139, + 0.6556261777877808, + 5.9731831550598145 + ], + [ + 6.062212944030762, + 0.6556260585784912, + 5.9731831550598145 + ], + [ + 6.062212944030762, + 0.6556261777877808, + 5.5670013427734375 + ], + [ + 6.468394756317139, + 0.6556262969970703, + 5.5670013427734375 + ] + ] + } + } + }, + { + "objectId": "Dresser|2|1___1", + "object_info": { + "name": "Drawer (10)", + "position": { + "x": 1.2247228622436523, + "y": 0.10441046953201294, + "z": 7.014874458312988 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "CreditCard|surface|2|34" + ], + "distance": 5.088043212890625, + "objectType": "Drawer", + "objectId": "Dresser|2|1___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.6200499534606934, + 0.19244249165058136, + 7.274550437927246 + ], + [ + 1.6200499534606934, + 0.19244249165058136, + 6.773323059082031 + ], + [ + 1.6200499534606934, + 0.01637844741344452, + 7.274550437927246 + ], + [ + 1.6200499534606934, + 0.01637844741344452, + 6.773323059082031 + ], + [ + 0.8293957710266113, + 0.19244249165058136, + 7.274550437927246 + ], + [ + 0.8293957710266113, + 0.19244249165058136, + 6.773323059082031 + ], + [ + 0.8293957710266113, + 0.01637844741344452, + 7.274550437927246 + ], + [ + 0.8293957710266113, + 0.01637844741344452, + 6.773323059082031 + ] + ], + "center": { + "x": 1.2247228622436523, + "y": 0.10441046953201294, + "z": 7.023936748504639 + }, + "size": { + "x": 0.790654182434082, + "y": 0.17606404423713684, + "z": 0.5012273788452148 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|2|1", + "object_info": { + "name": "Dresser|2|1", + "position": { + "x": 0.8279138207435608, + "y": 0.0006616711616516113, + "z": 7.0598835945129395 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Safe|surface|2|39", + "KeyChain|surface|2|40", + "HousePlant|surface|2|41" + ], + "distance": 5.496654987335205, + "objectType": "Dresser", + "objectId": "Dresser|2|1", + "assetId": "Dresser_315_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.638013482093811, + 0.9697651863098145, + 7.365000247955322 + ], + [ + 1.638013482093811, + 0.9697651863098145, + 6.770939350128174 + ], + [ + 1.638013482093811, + 2.950429916381836e-06, + 7.365000247955322 + ], + [ + 1.638013482093811, + 2.950429916381836e-06, + 6.770939350128174 + ], + [ + 0.02500128746032715, + 0.9697651863098145, + 7.365000247955322 + ], + [ + 0.02500128746032715, + 0.9697651863098145, + 6.770939350128174 + ], + [ + 0.02500128746032715, + 2.950429916381836e-06, + 7.365000247955322 + ], + [ + 0.02500128746032715, + 2.950429916381836e-06, + 6.770939350128174 + ] + ], + "center": { + "x": 0.8315073847770691, + "y": 0.4848840534687042, + "z": 7.067969799041748 + }, + "size": { + "x": 1.6130121946334839, + "y": 0.9697622060775757, + "z": 0.5940608978271484 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.025001347064971924, + 2.9206275939941406e-06, + 6.770939350128174 + ], + [ + 1.6380133628845215, + 2.9206275939941406e-06, + 6.770939350128174 + ], + [ + 1.6380133628845215, + 2.9206275939941406e-06, + 7.365000247955322 + ], + [ + 0.025001347064971924, + 2.9206275939941406e-06, + 7.365000247955322 + ], + [ + 0.025001347064971924, + 0.9697653651237488, + 6.770939350128174 + ], + [ + 1.6380133628845215, + 0.9697653651237488, + 6.770939350128174 + ], + [ + 1.6380133628845215, + 0.9697653651237488, + 7.365000247955322 + ], + [ + 0.025001347064971924, + 0.9697653651237488, + 7.365000247955322 + ] + ] + } + } + }, + { + "objectId": "Dresser|2|1___3", + "object_info": { + "name": "Drawer (8)", + "position": { + "x": 1.2247228622436523, + "y": 0.29189369082450867, + "z": 7.0150146484375 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.062079429626465, + "objectType": "Drawer", + "objectId": "Dresser|2|1___3", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.6217710971832275, + 0.3873782455921173, + 7.273773193359375 + ], + [ + 1.6217710971832275, + 0.3873782455921173, + 6.774410247802734 + ], + [ + 1.6217710971832275, + 0.19640913605690002, + 7.273773193359375 + ], + [ + 1.6217710971832275, + 0.19640913605690002, + 6.774410247802734 + ], + [ + 0.8276746273040771, + 0.3873782455921173, + 7.273773193359375 + ], + [ + 0.8276746273040771, + 0.3873782455921173, + 6.774410247802734 + ], + [ + 0.8276746273040771, + 0.19640913605690002, + 7.273773193359375 + ], + [ + 0.8276746273040771, + 0.19640913605690002, + 6.774410247802734 + ] + ], + "center": { + "x": 1.2247228622436523, + "y": 0.29189369082450867, + "z": 7.024091720581055 + }, + "size": { + "x": 0.7940964698791504, + "y": 0.19096910953521729, + "z": 0.4993629455566406 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "GarbageCan|2|4", + "object_info": { + "name": "GarbageCan|2|4", + "position": { + "x": 2.307553768157959, + "y": -0.0020743757486343384, + "z": 7.119320869445801 + }, + "rotation": { + "x": 359.9693908691406, + "y": 179.99996948242188, + "z": 359.99139404296875 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.699999988079071, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": [], + "distance": 4.046314716339111, + "objectType": "GarbageCan", + "objectId": "GarbageCan|2|4", + "assetId": "bin_26", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.573953628540039, + 0.6210020780563354, + 7.365263938903809 + ], + [ + 2.573953628540039, + 0.6210020780563354, + 6.88468074798584 + ], + [ + 2.573953628540039, + -0.0020743608474731445, + 7.365263938903809 + ], + [ + 2.573953628540039, + -0.0020743608474731445, + 6.88468074798584 + ], + [ + 2.0380687713623047, + 0.6210020780563354, + 7.365263938903809 + ], + [ + 2.0380687713623047, + 0.6210020780563354, + 6.88468074798584 + ], + [ + 2.0380687713623047, + -0.0020743608474731445, + 7.365263938903809 + ], + [ + 2.0380687713623047, + -0.0020743608474731445, + 6.88468074798584 + ] + ], + "center": { + "x": 2.306011199951172, + "y": 0.30946385860443115, + "z": 7.124972343444824 + }, + "size": { + "x": 0.5358848571777344, + "y": 0.6230764389038086, + "z": 0.48058319091796875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.0381503105163574, + -0.00198950432240963, + 6.884679317474365 + ], + [ + 2.5739574432373047, + -0.0019090456189587712, + 6.884679794311523 + ], + [ + 2.5739569664001465, + -0.00216557621024549, + 7.364968299865723 + ], + [ + 2.0381500720977783, + -0.002246034797281027, + 7.364968299865723 + ], + [ + 2.0380568504333496, + 0.6211638450622559, + 6.885012149810791 + ], + [ + 2.5738637447357178, + 0.6212443113327026, + 6.885012626647949 + ], + [ + 2.5738635063171387, + 0.6209877729415894, + 7.365301132202148 + ], + [ + 2.0380563735961914, + 0.6209073066711426, + 7.365301132202148 + ] + ] + } + } + }, + { + "objectId": "window|2|0", + "object_info": { + "name": "window|2|0", + "position": { + "x": 3.112438201904297, + "y": 0.733083963394165, + "z": 7.389998912811279 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.166163206100464, + "objectType": "Window", + "objectId": "window|2|0", + "assetId": "Window_Fixed_60x48", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.639260292053223, + 1.952282428741455, + 7.4295549392700195 + ], + [ + 4.639260292053223, + 1.952282428741455, + 7.350444793701172 + ], + [ + 4.639260292053223, + 0.7328355312347412, + 7.4295549392700195 + ], + [ + 4.639260292053223, + 0.7328355312347412, + 7.350444793701172 + ], + [ + 3.109616279602051, + 1.952282428741455, + 7.4295549392700195 + ], + [ + 3.109616279602051, + 1.952282428741455, + 7.350444793701172 + ], + [ + 3.109616279602051, + 0.7328355312347412, + 7.4295549392700195 + ], + [ + 3.109616279602051, + 0.7328355312347412, + 7.350444793701172 + ] + ], + "center": { + "x": 3.8744382858276367, + "y": 1.3425589799880981, + "z": 7.389999866485596 + }, + "size": { + "x": 1.5296440124511719, + "y": 1.2194468975067139, + "z": 0.07911014556884766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|2|1___0", + "object_info": { + "name": "Drawer (9)", + "position": { + "x": 0.4307740330696106, + "y": 0.10441046953201294, + "z": 7.014874458312988 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.873513698577881, + "objectType": "Drawer", + "objectId": "Dresser|2|1___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.8261010646820068, + 0.19244249165058136, + 7.274550437927246 + ], + [ + 0.8261010646820068, + 0.19244249165058136, + 6.773323059082031 + ], + [ + 0.8261010646820068, + 0.01637844741344452, + 7.274550437927246 + ], + [ + 0.8261010646820068, + 0.01637844741344452, + 6.773323059082031 + ], + [ + 0.035446882247924805, + 0.19244249165058136, + 7.274550437927246 + ], + [ + 0.035446882247924805, + 0.19244249165058136, + 6.773323059082031 + ], + [ + 0.035446882247924805, + 0.01637844741344452, + 7.274550437927246 + ], + [ + 0.035446882247924805, + 0.01637844741344452, + 6.773323059082031 + ] + ], + "center": { + "x": 0.4307739734649658, + "y": 0.10441046953201294, + "z": 7.023936748504639 + }, + "size": { + "x": 0.790654182434082, + "y": 0.17606404423713684, + "z": 0.5012273788452148 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 5.900000095367432, + "y": 0.9009997844696045, + "z": 6.699999809265137 + }, + "agent_rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "agent_cameraHorizon": 60.00001525878906, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 5.900000095367432, + "y": 1.5759997367858887, + "z": 6.699999809265137 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "door|2|7", + "GarbageCan|7|2" + ], + "different_object": [ + "GarbageCan|2|4", + "Dresser|2|1", + "Dresser|2|1___1", + "window|2|0", + "Dresser|2|1___0", + "Painting|2|7", + "window|7|0", + "Dresser|2|1___3" + ] +} \ No newline at end of file diff --git a/train/train157/3/1_depth_npy.npy b/train/train157/3/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..3793bf3a74b9dcffb32975559d5f218fc87e72f8 --- /dev/null +++ b/train/train157/3/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c0674c1d45bacf7671e2c98051b7fa512ea68ef96a08d763c89d10f2ad0db785 +size 3145856 diff --git a/train/train157/3/1_semantic_sensor_npy.npy b/train/train157/3/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..a293bb81bb4f1e3ae1358bd2e78ce692851b15b7 --- /dev/null +++ b/train/train157/3/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:038fee6fef933699f1071086bb389f72a7fc38b4e9c08a114b56355f0c9b67f8 +size 2359424 diff --git a/train/train157/3/depth_0.png b/train/train157/3/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..cdc90ee7897dbeb08c4a266a7d019cf9c660e55e Binary files /dev/null and b/train/train157/3/depth_0.png differ diff --git a/train/train157/3/depth_1.png b/train/train157/3/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..76153da5418c17b602244b5addeb066886524c38 Binary files /dev/null and b/train/train157/3/depth_1.png differ diff --git a/train/train157/3/mask_questions.jsonl b/train/train157/3/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b4adea959f691916a5c7e0de1e367bb157c80784 --- /dev/null +++ b/train/train157/3/mask_questions.jsonl @@ -0,0 +1,2 @@ +{"id": 11193, "folder_dir": "train157/3", "pair_name": "0-1:GarbageCan|7|2", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Pillow\nB. GarbageCan\nC. Sofa\nD. Doorway", "answer": "B", "object_name": "GarbageCan", "image_1": "train157/3/rgb_0.png", "image_2": "train157/3/rgb_1.png", "mask_image": "train157/3/rgb_1_mask_GarbageCan|7|2.png", "options": ["Pillow", "GarbageCan", "Sofa", "Doorway"]} +{"id": 11194, "folder_dir": "train157/3", "pair_name": "1-0:GarbageCan|7|2", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. GarbageCan\nB. Doorway\nC. Drawer\nD. Window", "answer": "A", "object_name": "GarbageCan", "image_1": "train157/3/rgb_1.png", "image_2": "train157/3/rgb_0.png", "mask_image": "train157/3/rgb_0_mask_GarbageCan|7|2.png", "options": ["GarbageCan", "Doorway", "Drawer", "Window"]} diff --git a/train/train157/3/questions_direction.jsonl b/train/train157/3/questions_direction.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..08fe47be23dce7954b0c9994cccb39979c6c7708 --- /dev/null +++ b/train/train157/3/questions_direction.jsonl @@ -0,0 +1,4 @@ +{"id": 18054, "folder_dir": "train157/3", "pair_name": "Pillow-Painting", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Pillow. Where is the centroid position of Painting in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Pillow", "tgt_object": "Painting", "src_com": {"x": 7.086668491363525, "y": 0.4863947629928589, "z": 6.851111888885498}, "tgt_com": {"x": 5.026704788208008, "y": 1.2745929956436157, "z": 7.369129657745361}, "agent_pos": {"x": 5.900000095367432, "y": 1.5759997367858887, "z": 6.5}, "image_1": "train157/3/rgb_0.png", "image_2": "train157/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 18055, "folder_dir": "train157/3", "pair_name": "Sofa-Painting", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Sofa. Where is the centroid position of Painting in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Sofa", "tgt_object": "Painting", "src_com": {"x": 7.814478397369385, "y": 0.45227816700935364, "z": 6.966343879699707}, "tgt_com": {"x": 5.026704788208008, "y": 1.2745929956436157, "z": 7.369129657745361}, "agent_pos": {"x": 5.900000095367432, "y": 1.5759997367858887, "z": 6.5}, "image_1": "train157/3/rgb_0.png", "image_2": "train157/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 18056, "folder_dir": "train157/3", "pair_name": "Painting-Pillow", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Painting. Where is the centroid position of Pillow in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Painting", "tgt_object": "Pillow", "src_com": {"x": 5.026704788208008, "y": 1.2745929956436157, "z": 7.369129657745361}, "tgt_com": {"x": 7.086668491363525, "y": 0.4863947629928589, "z": 6.851111888885498}, "agent_pos": {"x": 5.900000095367432, "y": 1.5759997367858887, "z": 6.699999809265137}, "image_1": "train157/3/rgb_1.png", "image_2": "train157/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 18057, "folder_dir": "train157/3", "pair_name": "Painting-Sofa", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Painting. Where is the centroid position of Sofa in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Painting", "tgt_object": "Sofa", "src_com": {"x": 5.026704788208008, "y": 1.2745929956436157, "z": 7.369129657745361}, "tgt_com": {"x": 7.814478397369385, "y": 0.45227816700935364, "z": 6.966343879699707}, "agent_pos": {"x": 5.900000095367432, "y": 1.5759997367858887, "z": 6.699999809265137}, "image_1": "train157/3/rgb_1.png", "image_2": "train157/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} diff --git a/train/train157/3/rgb_0.png b/train/train157/3/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..df2c3be001aaf298eb308fe19c0c6380719a3555 --- /dev/null +++ b/train/train157/3/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8326a960d8e52dfb074d2bfc8f9edf1dafa8280bd3c16a388f8e6f53fd850bb7 +size 768463 diff --git a/train/train157/3/rgb_0_mask_GarbageCan|7|2.png b/train/train157/3/rgb_0_mask_GarbageCan|7|2.png new file mode 100644 index 0000000000000000000000000000000000000000..0b18b3a46ed00e7359e225b51b2f5ca803fb6d5d --- /dev/null +++ b/train/train157/3/rgb_0_mask_GarbageCan|7|2.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a53418e6c0621d4f5efd5f8fd4d0c40bc17f759e8b103bd3e6682eaefd40cd07 +size 658607 diff --git a/train/train157/3/rgb_1.png b/train/train157/3/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..caa59c95cb1f1238aff8fb448403bad9fdf10296 --- /dev/null +++ b/train/train157/3/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b56a3322e76d06ce79bd702d2bb5e5c2d2e877bde1b72639049c8f5824381eaa +size 859640 diff --git a/train/train157/3/rgb_1_mask_GarbageCan|7|2.png b/train/train157/3/rgb_1_mask_GarbageCan|7|2.png new file mode 100644 index 0000000000000000000000000000000000000000..b413a324dc0d97b08e4718f15d2ede3aa3facaf3 --- /dev/null +++ b/train/train157/3/rgb_1_mask_GarbageCan|7|2.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c4cc478404881542672b45c31338de7ad87aa1267d392d6dbaffb006cfc32d7e +size 744808 diff --git a/train/train157/3/semantic_0.png b/train/train157/3/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..3e822711936f528c0063245b2719e1cfceeccbbb Binary files /dev/null and b/train/train157/3/semantic_0.png differ diff --git a/train/train157/3/semantic_1.png b/train/train157/3/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..e0b5f31c94d5c252c6ed4a46b51fdd6ea30a9fa9 Binary files /dev/null and b/train/train157/3/semantic_1.png differ diff --git a/train/train157/4/0.json b/train/train157/4/0.json new file mode 100644 index 0000000000000000000000000000000000000000..ff9afd7e254c208dc2e2e32a1e48121220ba8d19 --- /dev/null +++ b/train/train157/4/0.json @@ -0,0 +1,633 @@ +{ + "object": [ + { + "objectId": "Television|7|6", + "object_info": { + "name": "Television|7|6", + "position": { + "x": 7.478085517883301, + "y": 1.951249361038208, + "z": 7.378292560577393 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 1.6596155166625977, + "objectType": "Television", + "objectId": "Television|7|6", + "assetId": "Television_3", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.123732566833496, + 2.339372396469116, + 7.3849992752075195 + ], + [ + 8.123732566833496, + 2.339372396469116, + 7.308093070983887 + ], + [ + 8.123732566833496, + 1.5593111515045166, + 7.3849992752075195 + ], + [ + 8.123732566833496, + 1.5593111515045166, + 7.308093070983887 + ], + [ + 6.8324384689331055, + 2.339372396469116, + 7.3849992752075195 + ], + [ + 6.8324384689331055, + 2.339372396469116, + 7.308093070983887 + ], + [ + 6.8324384689331055, + 1.5593111515045166, + 7.3849992752075195 + ], + [ + 6.8324384689331055, + 1.5593111515045166, + 7.308093070983887 + ] + ], + "center": { + "x": 7.478085517883301, + "y": 1.9493417739868164, + "z": 7.346546173095703 + }, + "size": { + "x": 1.2912940979003906, + "y": 0.7800612449645996, + "z": 0.07690620422363281 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "window|7|0", + "object_info": { + "name": "window|7|0", + "position": { + "x": 5.566455841064453, + "y": 0.8885002136230469, + "z": 7.3899993896484375 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 0.7870758175849915, + "objectType": "Window", + "objectId": "window|7|0", + "assetId": "Window_Slider_36x36", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.480878829956055, + 1.802907109260559, + 7.431199073791504 + ], + [ + 6.480878829956055, + 1.802907109260559, + 7.3488006591796875 + ], + [ + 6.480878829956055, + 0.8864167928695679, + 7.431199073791504 + ], + [ + 6.480878829956055, + 0.8864167928695679, + 7.3488006591796875 + ], + [ + 5.566432952880859, + 1.802907109260559, + 7.431199073791504 + ], + [ + 5.566432952880859, + 1.802907109260559, + 7.3488006591796875 + ], + [ + 5.566432952880859, + 0.8864167928695679, + 7.431199073791504 + ], + [ + 5.566432952880859, + 0.8864167928695679, + 7.3488006591796875 + ] + ], + "center": { + "x": 6.023655891418457, + "y": 1.3446619510650635, + "z": 7.389999866485596 + }, + "size": { + "x": 0.9144458770751953, + "y": 0.9164903163909912, + "z": 0.0823984146118164 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|7", + "object_info": { + "name": "door|2|7", + "position": { + "x": 5.542049884796143, + "y": -0.0005983114242553711, + "z": 6.084535121917725 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.4670202732086182, + "objectType": "Doorway", + "objectId": "door|2|7", + "assetId": "Doorway_8", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.611670970916748, + 2.099397897720337, + 7.132956504821777 + ], + [ + 5.611670970916748, + 2.099397897720337, + 6.06899356842041 + ], + [ + 5.611670970916748, + 0.0, + 7.132956504821777 + ], + [ + 5.611670970916748, + 0.0, + 6.06899356842041 + ], + [ + 4.625014781951904, + 2.099397897720337, + 7.132956504821777 + ], + [ + 4.625014781951904, + 2.099397897720337, + 6.06899356842041 + ], + [ + 4.625014781951904, + 0.0, + 7.132956504821777 + ], + [ + 4.625014781951904, + 0.0, + 6.06899356842041 + ] + ], + "center": { + "x": 5.118342876434326, + "y": 1.0496989488601685, + "z": 6.600975036621094 + }, + "size": { + "x": 0.9866561889648438, + "y": 2.099397897720337, + "z": 1.0639629364013672 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|2|7", + "object_info": { + "name": "Painting|2|7", + "position": { + "x": 5.026704788208008, + "y": 1.2745929956436157, + "z": 7.38500452041626 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 1.3357588052749634, + "objectType": "Painting", + "objectId": "Painting|2|7", + "assetId": "Wall_Decor_Photo_10", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.382490634918213, + 1.486901879310608, + 7.385000228881836 + ], + [ + 5.382490634918213, + 1.486901879310608, + 7.353259086608887 + ], + [ + 5.382490634918213, + 1.0622841119766235, + 7.385000228881836 + ], + [ + 5.382490634918213, + 1.0622841119766235, + 7.353259086608887 + ], + [ + 4.670918941497803, + 1.486901879310608, + 7.385000228881836 + ], + [ + 4.670918941497803, + 1.486901879310608, + 7.353259086608887 + ], + [ + 4.670918941497803, + 1.0622841119766235, + 7.385000228881836 + ], + [ + 4.670918941497803, + 1.0622841119766235, + 7.353259086608887 + ] + ], + "center": { + "x": 5.026704788208008, + "y": 1.2745929956436157, + "z": 7.369129657745361 + }, + "size": { + "x": 0.7115716934204102, + "y": 0.4246177673339844, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sofa|7|1", + "object_info": { + "name": "Sofa|7|1", + "position": { + "x": 7.814478397369385, + "y": 0.004032701253890991, + "z": 6.9644083976745605 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 103.99999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [ + "Pillow|surface|7|29" + ], + "distance": 1.8037209510803223, + "objectType": "Sofa", + "objectId": "Sofa|7|1", + "assetId": "Sofa_223_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.06397819519043, + 0.904558539390564, + 7.364999294281006 + ], + [ + 9.06397819519043, + 0.904558539390564, + 6.567688465118408 + ], + [ + 9.06397819519043, + -2.205371856689453e-06, + 7.364999294281006 + ], + [ + 9.06397819519043, + -2.205371856689453e-06, + 6.567688465118408 + ], + [ + 6.56497859954834, + 0.904558539390564, + 7.364999294281006 + ], + [ + 6.56497859954834, + 0.904558539390564, + 6.567688465118408 + ], + [ + 6.56497859954834, + -2.205371856689453e-06, + 7.364999294281006 + ], + [ + 6.56497859954834, + -2.205371856689453e-06, + 6.567688465118408 + ] + ], + "center": { + "x": 7.814478397369385, + "y": 0.45227816700935364, + "z": 6.966343879699707 + }, + "size": { + "x": 2.49899959564209, + "y": 0.9045607447624207, + "z": 0.7973108291625977 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.56497859954834, + -2.2351741790771484e-06, + 6.567688465118408 + ], + [ + 9.06397819519043, + -2.2351741790771484e-06, + 6.567688465118408 + ], + [ + 9.06397819519043, + -2.2351741790771484e-06, + 7.364999294281006 + ], + [ + 6.56497859954834, + -2.2351741790771484e-06, + 7.364999294281006 + ], + [ + 6.56497859954834, + 0.904558539390564, + 6.567688465118408 + ], + [ + 9.06397819519043, + 0.904558539390564, + 6.567688465118408 + ], + [ + 9.06397819519043, + 0.904558539390564, + 7.364999294281006 + ], + [ + 6.56497859954834, + 0.904558539390564, + 7.364999294281006 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 6.099999904632568, + "y": 0.9009997844696045, + "z": 6.599999904632568 + }, + "agent_rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "agent_cameraHorizon": 1.5309450418499182e-06, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 6.099999904632568, + "y": 1.5759997367858887, + "z": 6.599999904632568 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Painting|2|7", + "door|2|7" + ], + "different_object": [ + "Sofa|7|1", + "window|7|0", + "Television|7|6" + ] +} \ No newline at end of file diff --git a/train/train157/4/0_depth_npy.npy b/train/train157/4/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..f1ad0e98378c20eb732196863ecc1504ae3016b0 --- /dev/null +++ b/train/train157/4/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:730c30d2f02dae753a85aff994a407fd057daa13c5d39d02ffeefb8c32fa05ff +size 3145856 diff --git a/train/train157/4/0_semantic_sensor_npy.npy b/train/train157/4/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..62b784b0c715836968abe3b1d9cff3417a5e9f35 --- /dev/null +++ b/train/train157/4/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e9faada4e0594fdabc5b5f1223070a93521ddcd6253a9dc0d93d9f423b5076d7 +size 2359424 diff --git a/train/train157/4/1.json b/train/train157/4/1.json new file mode 100644 index 0000000000000000000000000000000000000000..a6b297f9e9657fabc2be28eec8507233cf20da6c --- /dev/null +++ b/train/train157/4/1.json @@ -0,0 +1,2103 @@ +{ + "object": [ + { + "objectId": "Dresser|2|1___9", + "object_info": { + "name": "Drawer (2)", + "position": { + "x": 1.2247228622436523, + "y": 0.8680523037910461, + "z": 7.015685558319092 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.025409698486328, + "objectType": "Drawer", + "objectId": "Dresser|2|1___9", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.6200499534606934, + 0.9560843110084534, + 7.27536153793335 + ], + [ + 1.6200499534606934, + 0.9560843110084534, + 6.774134159088135 + ], + [ + 1.6200499534606934, + 0.7800202965736389, + 7.27536153793335 + ], + [ + 1.6200499534606934, + 0.7800202965736389, + 6.774134159088135 + ], + [ + 0.8293957710266113, + 0.9560843110084534, + 7.27536153793335 + ], + [ + 0.8293957710266113, + 0.9560843110084534, + 6.774134159088135 + ], + [ + 0.8293957710266113, + 0.7800202965736389, + 7.27536153793335 + ], + [ + 0.8293957710266113, + 0.7800202965736389, + 6.774134159088135 + ] + ], + "center": { + "x": 1.2247228622436523, + "y": 0.8680523037910461, + "z": 7.024747848510742 + }, + "size": { + "x": 0.790654182434082, + "y": 0.17606401443481445, + "z": 0.5012273788452148 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|7", + "object_info": { + "name": "door|2|7", + "position": { + "x": 5.542049884796143, + "y": -0.0005983114242553711, + "z": 6.084535121917725 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.4670202732086182, + "objectType": "Doorway", + "objectId": "door|2|7", + "assetId": "Doorway_8", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.611670970916748, + 2.099397897720337, + 7.132956504821777 + ], + [ + 5.611670970916748, + 2.099397897720337, + 6.06899356842041 + ], + [ + 5.611670970916748, + 0.0, + 7.132956504821777 + ], + [ + 5.611670970916748, + 0.0, + 6.06899356842041 + ], + [ + 4.625014781951904, + 2.099397897720337, + 7.132956504821777 + ], + [ + 4.625014781951904, + 2.099397897720337, + 6.06899356842041 + ], + [ + 4.625014781951904, + 0.0, + 7.132956504821777 + ], + [ + 4.625014781951904, + 0.0, + 6.06899356842041 + ] + ], + "center": { + "x": 5.118342876434326, + "y": 1.0496989488601685, + "z": 6.600975036621094 + }, + "size": { + "x": 0.9866561889648438, + "y": 2.099397897720337, + "z": 1.0639629364013672 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|2|7", + "object_info": { + "name": "Painting|2|7", + "position": { + "x": 5.026704788208008, + "y": 1.2745929956436157, + "z": 7.38500452041626 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 1.3357588052749634, + "objectType": "Painting", + "objectId": "Painting|2|7", + "assetId": "Wall_Decor_Photo_10", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.382490634918213, + 1.486901879310608, + 7.385000228881836 + ], + [ + 5.382490634918213, + 1.486901879310608, + 7.353259086608887 + ], + [ + 5.382490634918213, + 1.0622841119766235, + 7.385000228881836 + ], + [ + 5.382490634918213, + 1.0622841119766235, + 7.353259086608887 + ], + [ + 4.670918941497803, + 1.486901879310608, + 7.385000228881836 + ], + [ + 4.670918941497803, + 1.486901879310608, + 7.353259086608887 + ], + [ + 4.670918941497803, + 1.0622841119766235, + 7.385000228881836 + ], + [ + 4.670918941497803, + 1.0622841119766235, + 7.353259086608887 + ] + ], + "center": { + "x": 5.026704788208008, + "y": 1.2745929956436157, + "z": 7.369129657745361 + }, + "size": { + "x": 0.7115716934204102, + "y": 0.4246177673339844, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|2|1___8", + "object_info": { + "name": "Drawer (1)", + "position": { + "x": 0.4307740330696106, + "y": 0.8680523037910461, + "z": 7.015686511993408 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.819340229034424, + "objectType": "Drawer", + "objectId": "Dresser|2|1___8", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.8261010646820068, + 0.9560843110084534, + 7.275362491607666 + ], + [ + 0.8261010646820068, + 0.9560843110084534, + 6.774135112762451 + ], + [ + 0.8261010646820068, + 0.7800202965736389, + 7.275362491607666 + ], + [ + 0.8261010646820068, + 0.7800202965736389, + 6.774135112762451 + ], + [ + 0.035446882247924805, + 0.9560843110084534, + 7.275362491607666 + ], + [ + 0.035446882247924805, + 0.9560843110084534, + 6.774135112762451 + ], + [ + 0.035446882247924805, + 0.7800202965736389, + 7.275362491607666 + ], + [ + 0.035446882247924805, + 0.7800202965736389, + 6.774135112762451 + ] + ], + "center": { + "x": 0.4307739734649658, + "y": 0.8680523037910461, + "z": 7.024748802185059 + }, + "size": { + "x": 0.790654182434082, + "y": 0.17606401443481445, + "z": 0.5012273788452148 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|2|1___5", + "object_info": { + "name": "Drawer (6)", + "position": { + "x": 1.2247228622436523, + "y": 0.4862314760684967, + "z": 7.015104293823242 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.04238748550415, + "objectType": "Drawer", + "objectId": "Dresser|2|1___5", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.621583104133606, + 0.5837717652320862, + 7.27401065826416 + ], + [ + 1.621583104133606, + 0.5837717652320862, + 6.773306846618652 + ], + [ + 1.621583104133606, + 0.39097481966018677, + 7.27401065826416 + ], + [ + 1.621583104133606, + 0.39097481966018677, + 6.773306846618652 + ], + [ + 0.8278626203536987, + 0.5837717652320862, + 7.27401065826416 + ], + [ + 0.8278626203536987, + 0.5837717652320862, + 6.773306846618652 + ], + [ + 0.8278626203536987, + 0.39097481966018677, + 7.27401065826416 + ], + [ + 0.8278626203536987, + 0.39097481966018677, + 6.773306846618652 + ] + ], + "center": { + "x": 1.2247228622436523, + "y": 0.4873732924461365, + "z": 7.023658752441406 + }, + "size": { + "x": 0.7937204837799072, + "y": 0.19279694557189941, + "z": 0.5007038116455078 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|2|1___6", + "object_info": { + "name": "Drawer (3)", + "position": { + "x": 0.4307740330696106, + "y": 0.6805692911148071, + "z": 7.015218734741211 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.823419094085693, + "objectType": "Drawer", + "objectId": "Dresser|2|1___6", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.8276342153549194, + 0.7781096696853638, + 7.2741241455078125 + ], + [ + 0.8276342153549194, + 0.7781096696853638, + 6.773421287536621 + ], + [ + 0.8276342153549194, + 0.5853127241134644, + 7.2741241455078125 + ], + [ + 0.8276342153549194, + 0.5853127241134644, + 6.773421287536621 + ], + [ + 0.03391367197036743, + 0.7781096696853638, + 7.2741241455078125 + ], + [ + 0.03391367197036743, + 0.7781096696853638, + 6.773421287536621 + ], + [ + 0.03391367197036743, + 0.5853127241134644, + 7.2741241455078125 + ], + [ + 0.03391367197036743, + 0.5853127241134644, + 6.773421287536621 + ] + ], + "center": { + "x": 0.43077394366264343, + "y": 0.6817111968994141, + "z": 7.023772716522217 + }, + "size": { + "x": 0.793720543384552, + "y": 0.19279694557189941, + "z": 0.5007028579711914 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|2|1___1", + "object_info": { + "name": "Drawer (10)", + "position": { + "x": 1.2247228622436523, + "y": 0.10441046953201294, + "z": 7.014874458312988 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "CreditCard|surface|2|34" + ], + "distance": 5.088043212890625, + "objectType": "Drawer", + "objectId": "Dresser|2|1___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.6200499534606934, + 0.19244249165058136, + 7.274550437927246 + ], + [ + 1.6200499534606934, + 0.19244249165058136, + 6.773323059082031 + ], + [ + 1.6200499534606934, + 0.01637844741344452, + 7.274550437927246 + ], + [ + 1.6200499534606934, + 0.01637844741344452, + 6.773323059082031 + ], + [ + 0.8293957710266113, + 0.19244249165058136, + 7.274550437927246 + ], + [ + 0.8293957710266113, + 0.19244249165058136, + 6.773323059082031 + ], + [ + 0.8293957710266113, + 0.01637844741344452, + 7.274550437927246 + ], + [ + 0.8293957710266113, + 0.01637844741344452, + 6.773323059082031 + ] + ], + "center": { + "x": 1.2247228622436523, + "y": 0.10441046953201294, + "z": 7.023936748504639 + }, + "size": { + "x": 0.790654182434082, + "y": 0.17606404423713684, + "z": 0.5012273788452148 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|2|1___7", + "object_info": { + "name": "Drawer (4)", + "position": { + "x": 1.2247228622436523, + "y": 0.6805692911148071, + "z": 7.015218257904053 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Bowl|surface|2|38" + ], + "distance": 5.030132293701172, + "objectType": "Drawer", + "objectId": "Dresser|2|1___7", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.621583104133606, + 0.7781096696853638, + 7.2741241455078125 + ], + [ + 1.621583104133606, + 0.7781096696853638, + 6.773420333862305 + ], + [ + 1.621583104133606, + 0.5853127241134644, + 7.2741241455078125 + ], + [ + 1.621583104133606, + 0.5853127241134644, + 6.773420333862305 + ], + [ + 0.8278626203536987, + 0.7781096696853638, + 7.2741241455078125 + ], + [ + 0.8278626203536987, + 0.7781096696853638, + 6.773420333862305 + ], + [ + 0.8278626203536987, + 0.5853127241134644, + 7.2741241455078125 + ], + [ + 0.8278626203536987, + 0.5853127241134644, + 6.773420333862305 + ] + ], + "center": { + "x": 1.2247228622436523, + "y": 0.6817111968994141, + "z": 7.023772239685059 + }, + "size": { + "x": 0.7937204837799072, + "y": 0.19279694557189941, + "z": 0.5007038116455078 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|2|1", + "object_info": { + "name": "Dresser|2|1", + "position": { + "x": 0.8279138207435608, + "y": 0.0006616711616516113, + "z": 7.0598835945129395 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Safe|surface|2|39", + "KeyChain|surface|2|40", + "HousePlant|surface|2|41" + ], + "distance": 5.496654987335205, + "objectType": "Dresser", + "objectId": "Dresser|2|1", + "assetId": "Dresser_315_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.638013482093811, + 0.9697651863098145, + 7.365000247955322 + ], + [ + 1.638013482093811, + 0.9697651863098145, + 6.770939350128174 + ], + [ + 1.638013482093811, + 2.950429916381836e-06, + 7.365000247955322 + ], + [ + 1.638013482093811, + 2.950429916381836e-06, + 6.770939350128174 + ], + [ + 0.02500128746032715, + 0.9697651863098145, + 7.365000247955322 + ], + [ + 0.02500128746032715, + 0.9697651863098145, + 6.770939350128174 + ], + [ + 0.02500128746032715, + 2.950429916381836e-06, + 7.365000247955322 + ], + [ + 0.02500128746032715, + 2.950429916381836e-06, + 6.770939350128174 + ] + ], + "center": { + "x": 0.8315073847770691, + "y": 0.4848840534687042, + "z": 7.067969799041748 + }, + "size": { + "x": 1.6130121946334839, + "y": 0.9697622060775757, + "z": 0.5940608978271484 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.025001347064971924, + 2.9206275939941406e-06, + 6.770939350128174 + ], + [ + 1.6380133628845215, + 2.9206275939941406e-06, + 6.770939350128174 + ], + [ + 1.6380133628845215, + 2.9206275939941406e-06, + 7.365000247955322 + ], + [ + 0.025001347064971924, + 2.9206275939941406e-06, + 7.365000247955322 + ], + [ + 0.025001347064971924, + 0.9697653651237488, + 6.770939350128174 + ], + [ + 1.6380133628845215, + 0.9697653651237488, + 6.770939350128174 + ], + [ + 1.6380133628845215, + 0.9697653651237488, + 7.365000247955322 + ], + [ + 0.025001347064971924, + 0.9697653651237488, + 7.365000247955322 + ] + ] + } + } + }, + { + "objectId": "Safe|surface|2|39", + "object_info": { + "name": "Safe|surface|2|39", + "position": { + "x": 0.8278000354766846, + "y": 0.969763994216919, + "z": 7.06594181060791 + }, + "rotation": { + "x": -0.0011596863623708487, + "y": 270.0002136230469, + "z": -0.0006923432811163366 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 5.423037052154541, + "objectType": "Safe", + "objectId": "Safe|surface|2|39", + "assetId": "Safe_18_2", + "parentReceptacles": [ + "Dresser|2|1" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.9774131774902344, + 1.2729480266571045, + 7.213712692260742 + ], + [ + 0.9774131774902344, + 1.2729480266571045, + 6.917139053344727 + ], + [ + 0.9774131774902344, + 0.9697589874267578, + 7.213712692260742 + ], + [ + 0.9774131774902344, + 0.9697589874267578, + 6.917139053344727 + ], + [ + 0.6427638530731201, + 1.2729480266571045, + 7.213712692260742 + ], + [ + 0.6427638530731201, + 1.2729480266571045, + 6.917139053344727 + ], + [ + 0.6427638530731201, + 0.9697589874267578, + 7.213712692260742 + ], + [ + 0.6427638530731201, + 0.9697589874267578, + 6.917139053344727 + ] + ], + "center": { + "x": 0.8100885152816772, + "y": 1.1213535070419312, + "z": 7.065425872802734 + }, + "size": { + "x": 0.33464932441711426, + "y": 0.3031890392303467, + "z": 0.2965736389160156 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.6427615880966187, + 0.9697651863098145, + 7.213709831237793 + ], + [ + 0.6427605152130127, + 0.969768762588501, + 6.917138576507568 + ], + [ + 0.9774069786071777, + 0.9697619676589966, + 6.917137145996094 + ], + [ + 0.9774080514907837, + 0.9697583913803101, + 7.213708400726318 + ], + [ + 0.6427676677703857, + 1.2729456424713135, + 7.2137131690979 + ], + [ + 0.6427666544914246, + 1.27294921875, + 6.917141914367676 + ], + [ + 0.9774131178855896, + 1.2729425430297852, + 6.917140960693359 + ], + [ + 0.9774141907691956, + 1.2729389667510986, + 7.213712215423584 + ] + ] + } + } + }, + { + "objectId": "Dresser|2|1___3", + "object_info": { + "name": "Drawer (8)", + "position": { + "x": 1.2247228622436523, + "y": 0.29189369082450867, + "z": 7.0150146484375 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.062079429626465, + "objectType": "Drawer", + "objectId": "Dresser|2|1___3", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.6217710971832275, + 0.3873782455921173, + 7.273773193359375 + ], + [ + 1.6217710971832275, + 0.3873782455921173, + 6.774410247802734 + ], + [ + 1.6217710971832275, + 0.19640913605690002, + 7.273773193359375 + ], + [ + 1.6217710971832275, + 0.19640913605690002, + 6.774410247802734 + ], + [ + 0.8276746273040771, + 0.3873782455921173, + 7.273773193359375 + ], + [ + 0.8276746273040771, + 0.3873782455921173, + 6.774410247802734 + ], + [ + 0.8276746273040771, + 0.19640913605690002, + 7.273773193359375 + ], + [ + 0.8276746273040771, + 0.19640913605690002, + 6.774410247802734 + ] + ], + "center": { + "x": 1.2247228622436523, + "y": 0.29189369082450867, + "z": 7.024091720581055 + }, + "size": { + "x": 0.7940964698791504, + "y": 0.19096910953521729, + "z": 0.4993629455566406 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "GarbageCan|2|4", + "object_info": { + "name": "GarbageCan|2|4", + "position": { + "x": 2.307553768157959, + "y": -0.0020743757486343384, + "z": 7.119320869445801 + }, + "rotation": { + "x": 359.9693908691406, + "y": 179.99996948242188, + "z": 359.99139404296875 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.699999988079071, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": [], + "distance": 4.046314716339111, + "objectType": "GarbageCan", + "objectId": "GarbageCan|2|4", + "assetId": "bin_26", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.573953628540039, + 0.6210020780563354, + 7.365263938903809 + ], + [ + 2.573953628540039, + 0.6210020780563354, + 6.88468074798584 + ], + [ + 2.573953628540039, + -0.0020743608474731445, + 7.365263938903809 + ], + [ + 2.573953628540039, + -0.0020743608474731445, + 6.88468074798584 + ], + [ + 2.0380687713623047, + 0.6210020780563354, + 7.365263938903809 + ], + [ + 2.0380687713623047, + 0.6210020780563354, + 6.88468074798584 + ], + [ + 2.0380687713623047, + -0.0020743608474731445, + 7.365263938903809 + ], + [ + 2.0380687713623047, + -0.0020743608474731445, + 6.88468074798584 + ] + ], + "center": { + "x": 2.306011199951172, + "y": 0.30946385860443115, + "z": 7.124972343444824 + }, + "size": { + "x": 0.5358848571777344, + "y": 0.6230764389038086, + "z": 0.48058319091796875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.0381503105163574, + -0.00198950432240963, + 6.884679317474365 + ], + [ + 2.5739574432373047, + -0.0019090456189587712, + 6.884679794311523 + ], + [ + 2.5739569664001465, + -0.00216557621024549, + 7.364968299865723 + ], + [ + 2.0381500720977783, + -0.002246034797281027, + 7.364968299865723 + ], + [ + 2.0380568504333496, + 0.6211638450622559, + 6.885012149810791 + ], + [ + 2.5738637447357178, + 0.6212443113327026, + 6.885012626647949 + ], + [ + 2.5738635063171387, + 0.6209877729415894, + 7.365301132202148 + ], + [ + 2.0380563735961914, + 0.6209073066711426, + 7.365301132202148 + ] + ] + } + } + }, + { + "objectId": "HousePlant|surface|2|41", + "object_info": { + "name": "HousePlant|surface|2|41", + "position": { + "x": 1.4309431314468384, + "y": 0.9737226366996765, + "z": 7.213325500488281 + }, + "rotation": { + "x": 0.024494050070643425, + "y": 269.994384765625, + "z": 0.008720720186829567 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.0, + "salientMaterials": [ + "Ceramic", + "Organic" + ], + "receptacleObjectIds": null, + "distance": 4.824324607849121, + "objectType": "HousePlant", + "objectId": "HousePlant|surface|2|41", + "assetId": "Houseplant_2", + "parentReceptacles": [ + "Dresser|2|1" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.568263053894043, + 1.6677122116088867, + 7.303956031799316 + ], + [ + 1.568263053894043, + 1.6677122116088867, + 7.06734561920166 + ], + [ + 1.568263053894043, + 0.9697514176368713, + 7.303956031799316 + ], + [ + 1.568263053894043, + 0.9697514176368713, + 7.06734561920166 + ], + [ + 1.292172908782959, + 1.6677122116088867, + 7.303956031799316 + ], + [ + 1.292172908782959, + 1.6677122116088867, + 7.06734561920166 + ], + [ + 1.292172908782959, + 0.9697514176368713, + 7.303956031799316 + ], + [ + 1.292172908782959, + 0.9697514176368713, + 7.06734561920166 + ] + ], + "center": { + "x": 1.430217981338501, + "y": 1.3187317848205566, + "z": 7.185650825500488 + }, + "size": { + "x": 0.276090145111084, + "y": 0.6979607343673706, + "z": 0.23661041259765625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.292435884475708, + 0.9697293639183044, + 7.304012298583984 + ], + [ + 1.2924591302871704, + 0.9696933627128601, + 7.067412376403809 + ], + [ + 1.568559169769287, + 0.9698113799095154, + 7.067439556121826 + ], + [ + 1.5685359239578247, + 0.9698474407196045, + 7.304039478302002 + ], + [ + 1.2921375036239624, + 1.6676771640777588, + 7.303906440734863 + ], + [ + 1.2921607494354248, + 1.6676411628723145, + 7.067306041717529 + ], + [ + 1.5682607889175415, + 1.6677591800689697, + 7.067333221435547 + ], + [ + 1.568237543106079, + 1.667795181274414, + 7.303933143615723 + ] + ] + } + } + }, + { + "objectId": "window|2|0", + "object_info": { + "name": "window|2|0", + "position": { + "x": 3.112438201904297, + "y": 0.733083963394165, + "z": 7.389998912811279 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.166163206100464, + "objectType": "Window", + "objectId": "window|2|0", + "assetId": "Window_Fixed_60x48", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.639260292053223, + 1.952282428741455, + 7.4295549392700195 + ], + [ + 4.639260292053223, + 1.952282428741455, + 7.350444793701172 + ], + [ + 4.639260292053223, + 0.7328355312347412, + 7.4295549392700195 + ], + [ + 4.639260292053223, + 0.7328355312347412, + 7.350444793701172 + ], + [ + 3.109616279602051, + 1.952282428741455, + 7.4295549392700195 + ], + [ + 3.109616279602051, + 1.952282428741455, + 7.350444793701172 + ], + [ + 3.109616279602051, + 0.7328355312347412, + 7.4295549392700195 + ], + [ + 3.109616279602051, + 0.7328355312347412, + 7.350444793701172 + ] + ], + "center": { + "x": 3.8744382858276367, + "y": 1.3425589799880981, + "z": 7.389999866485596 + }, + "size": { + "x": 1.5296440124511719, + "y": 1.2194468975067139, + "z": 0.07911014556884766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|2|1___4", + "object_info": { + "name": "Drawer (5)", + "position": { + "x": 0.4307740330696106, + "y": 0.4862314760684967, + "z": 7.0151047706604 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.83400821685791, + "objectType": "Drawer", + "objectId": "Dresser|2|1___4", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.8276342153549194, + 0.5837717652320862, + 7.27401065826416 + ], + [ + 0.8276342153549194, + 0.5837717652320862, + 6.773306846618652 + ], + [ + 0.8276342153549194, + 0.39097481966018677, + 7.27401065826416 + ], + [ + 0.8276342153549194, + 0.39097481966018677, + 6.773306846618652 + ], + [ + 0.03391367197036743, + 0.5837717652320862, + 7.27401065826416 + ], + [ + 0.03391367197036743, + 0.5837717652320862, + 6.773306846618652 + ], + [ + 0.03391367197036743, + 0.39097481966018677, + 7.27401065826416 + ], + [ + 0.03391367197036743, + 0.39097481966018677, + 6.773306846618652 + ] + ], + "center": { + "x": 0.43077394366264343, + "y": 0.4873732924461365, + "z": 7.023658752441406 + }, + "size": { + "x": 0.793720543384552, + "y": 0.19279694557189941, + "z": 0.5007038116455078 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|2|1___2", + "object_info": { + "name": "Drawer (7)", + "position": { + "x": 0.4307740330696106, + "y": 0.29189369082450867, + "z": 7.0150146484375 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.851036071777344, + "objectType": "Drawer", + "objectId": "Dresser|2|1___2", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.827822208404541, + 0.3873782455921173, + 7.273773193359375 + ], + [ + 0.827822208404541, + 0.3873782455921173, + 6.774410247802734 + ], + [ + 0.827822208404541, + 0.19640913605690002, + 7.273773193359375 + ], + [ + 0.827822208404541, + 0.19640913605690002, + 6.774410247802734 + ], + [ + 0.03372567892074585, + 0.3873782455921173, + 7.273773193359375 + ], + [ + 0.03372567892074585, + 0.3873782455921173, + 6.774410247802734 + ], + [ + 0.03372567892074585, + 0.19640913605690002, + 7.273773193359375 + ], + [ + 0.03372567892074585, + 0.19640913605690002, + 6.774410247802734 + ] + ], + "center": { + "x": 0.43077394366264343, + "y": 0.29189369082450867, + "z": 7.024091720581055 + }, + "size": { + "x": 0.7940965294837952, + "y": 0.19096910953521729, + "z": 0.4993629455566406 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|2|1___0", + "object_info": { + "name": "Drawer (9)", + "position": { + "x": 0.4307740330696106, + "y": 0.10441046953201294, + "z": 7.014874458312988 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.873513698577881, + "objectType": "Drawer", + "objectId": "Dresser|2|1___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.8261010646820068, + 0.19244249165058136, + 7.274550437927246 + ], + [ + 0.8261010646820068, + 0.19244249165058136, + 6.773323059082031 + ], + [ + 0.8261010646820068, + 0.01637844741344452, + 7.274550437927246 + ], + [ + 0.8261010646820068, + 0.01637844741344452, + 6.773323059082031 + ], + [ + 0.035446882247924805, + 0.19244249165058136, + 7.274550437927246 + ], + [ + 0.035446882247924805, + 0.19244249165058136, + 6.773323059082031 + ], + [ + 0.035446882247924805, + 0.01637844741344452, + 7.274550437927246 + ], + [ + 0.035446882247924805, + 0.01637844741344452, + 6.773323059082031 + ] + ], + "center": { + "x": 0.4307739734649658, + "y": 0.10441046953201294, + "z": 7.023936748504639 + }, + "size": { + "x": 0.790654182434082, + "y": 0.17606404423713684, + "z": 0.5012273788452148 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 6.0, + "y": 0.9009997844696045, + "z": 6.699999809265137 + }, + "agent_rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "agent_cameraHorizon": 1.530945155536756e-06, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 6.0, + "y": 1.5759997367858887, + "z": 6.699999809265137 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Painting|2|7", + "door|2|7" + ], + "different_object": [ + "Safe|surface|2|39", + "Dresser|2|1___9", + "GarbageCan|2|4", + "Dresser|2|1___8", + "Dresser|2|1", + "HousePlant|surface|2|41", + "Dresser|2|1___2", + "Dresser|2|1___7", + "Dresser|2|1___4", + "Dresser|2|1___6", + "Dresser|2|1___0", + "Dresser|2|1___1", + "window|2|0", + "Dresser|2|1___5", + "Dresser|2|1___3" + ] +} \ No newline at end of file diff --git a/train/train157/4/1_depth_npy.npy b/train/train157/4/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..5ee10441d1cf3117306f234f830a3773e70ce383 --- /dev/null +++ b/train/train157/4/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:97c15ed5fda9206a95327f2fdb1a912750451b7ce43ef4904408730be012c359 +size 3145856 diff --git a/train/train157/4/1_semantic_sensor_npy.npy b/train/train157/4/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..174e59f1884686aa633650de52e57d8c2edfebd2 --- /dev/null +++ b/train/train157/4/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cfac8a7341d8c4457693e02a7dd304a6b684caf0a45a592ada6068ae55cc5dbd +size 2359424 diff --git a/train/train157/4/depth_0.png b/train/train157/4/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..d6be791fb33c02d7e68c7d8922164d6bd47275fb Binary files /dev/null and b/train/train157/4/depth_0.png differ diff --git a/train/train157/4/depth_1.png b/train/train157/4/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..6ea7830fcf1ef06fd5fa1770dc961bcd35765583 Binary files /dev/null and b/train/train157/4/depth_1.png differ diff --git a/train/train157/4/mask_questions.jsonl b/train/train157/4/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d5a94a88163287a9edb8695b7a4632b6f264cdbc --- /dev/null +++ b/train/train157/4/mask_questions.jsonl @@ -0,0 +1,2 @@ +{"id": 11195, "folder_dir": "train157/4", "pair_name": "0-1:Painting|2|7", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Doorway\nB. Sofa\nC. Television\nD. Painting", "answer": "D", "object_name": "Painting", "image_1": "train157/4/rgb_0.png", "image_2": "train157/4/rgb_1.png", "mask_image": "train157/4/rgb_1_mask_Painting|2|7.png", "options": ["Doorway", "Sofa", "Television", "Painting"]} +{"id": 11196, "folder_dir": "train157/4", "pair_name": "1-0:Painting|2|7", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Drawer\nB. Safe\nC. Doorway\nD. Painting", "answer": "D", "object_name": "Painting", "image_1": "train157/4/rgb_1.png", "image_2": "train157/4/rgb_0.png", "mask_image": "train157/4/rgb_0_mask_Painting|2|7.png", "options": ["Drawer", "Safe", "Doorway", "Painting"]} diff --git a/train/train157/4/questions_distance.jsonl b/train/train157/4/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5651896efacc378d4f5eec990af0bda2baae1cd8 --- /dev/null +++ b/train/train157/4/questions_distance.jsonl @@ -0,0 +1 @@ +{"id": 4558, "folder_dir": "train157/4", "query": "Which of the following objects is closest to Doorway in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Sofa\nB. Television\nC. Painting\nD. Other\n", "answer": "C", "src_object": "Doorway", "target_object": "Painting", "question": "Which of the following objects is closest to Doorway in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Sofa", "semantic_id": "Sofa|7|1", "distance": 2.785597373872901, "com": {"x": 7.814478397369385, "y": 0.45227816700935364, "z": 6.966343879699707}}, {"text": "Television", "semantic_id": "Television|7|6", "distance": 2.63317657330808, "com": {"x": 7.478085517883301, "y": 1.9493417739868164, "z": 7.346546173095703}}, {"text": "Painting", "semantic_id": "Painting|2|7", "distance": 0.805627949767743, "com": {"x": 5.026704788208008, "y": 1.2745929956436157, "z": 7.369129657745361}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train157/4/rgb_0.png", "image_2": "train157/4/rgb_1.png"} diff --git a/train/train157/4/rgb_0.png b/train/train157/4/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..b65f52f299566d366b4f0f382f1df844b1535a36 --- /dev/null +++ b/train/train157/4/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5969947934c2f9121fa4824d77e27dcb5e13c80d64e259946cf10c39d4d524af +size 966338 diff --git a/train/train157/4/rgb_0_mask_Painting|2|7.png b/train/train157/4/rgb_0_mask_Painting|2|7.png new file mode 100644 index 0000000000000000000000000000000000000000..cb8c251553084a350a7803e0b944afc32e99687e --- /dev/null +++ b/train/train157/4/rgb_0_mask_Painting|2|7.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ccc99a95ff95570c50b54ddc25c8b42cceef9b977113bfa6ffe34bddb3c6bfad +size 848209 diff --git a/train/train157/4/rgb_1.png b/train/train157/4/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..95bc5b3013dee8bddeee58d5be080b158f1a2025 --- /dev/null +++ b/train/train157/4/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:48b9a88c576754063e109231388dbb6afc5246ab3f3a4e11495ced5f1df74ad9 +size 777518 diff --git a/train/train157/4/rgb_1_mask_Painting|2|7.png b/train/train157/4/rgb_1_mask_Painting|2|7.png new file mode 100644 index 0000000000000000000000000000000000000000..62a944fa6a8191091f1e3e58ecb956a75817916a --- /dev/null +++ b/train/train157/4/rgb_1_mask_Painting|2|7.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:07e11105f1042117963d352828a84e3c661082cc4793689b5d3c8baeea42661c +size 658577 diff --git a/train/train157/4/semantic_0.png b/train/train157/4/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..dc51645d2739fdfd9f8847f620a917e75d800fbc Binary files /dev/null and b/train/train157/4/semantic_0.png differ diff --git a/train/train157/4/semantic_1.png b/train/train157/4/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..176b8368b4916b32309cb26e698885c4d841c2c9 Binary files /dev/null and b/train/train157/4/semantic_1.png differ diff --git a/train/train157/color_to_object_id.json b/train/train157/color_to_object_id.json new file mode 100644 index 0000000000000000000000000000000000000000..b7c6404047117a9a1a956678a1d79e67982c0968 --- /dev/null +++ b/train/train157/color_to_object_id.json @@ -0,0 +1,1661 @@ +[ + { + "window|7|0": [ + 75, + 237, + 134 + ] + }, + { + "Window": [ + 200, + 150, + 134 + ] + }, + { + "window|6|1": [ + 102, + 42, + 202 + ] + }, + { + "window|6|0": [ + 43, + 165, + 91 + ] + }, + { + "window|2|0": [ + 226, + 232, + 42 + ] + }, + { + "door|1|6": [ + 130, + 205, + 0 + ] + }, + { + "Doorway": [ + 163, + 222, + 124 + ] + }, + { + "door|2|7": [ + 84, + 129, + 135 + ] + }, + { + "door|6|7": [ + 203, + 131, + 110 + ] + }, + { + "Painting|7|9": [ + 170, + 235, + 169 + ] + }, + { + "Painting": [ + 40, + 117, + 236 + ] + }, + { + "Painting|7|8": [ + 144, + 38, + 186 + ] + }, + { + "Painting|7|7": [ + 191, + 175, + 252 + ] + }, + { + "Painting|6|7": [ + 153, + 91, + 237 + ] + }, + { + "Painting|6|6": [ + 136, + 191, + 27 + ] + }, + { + "Painting|6|5": [ + 177, + 100, + 11 + ] + }, + { + "Painting|6|4": [ + 14, + 140, + 224 + ] + }, + { + "Painting|2|8": [ + 141, + 73, + 9 + ] + }, + { + "Painting|2|7": [ + 86, + 38, + 34 + ] + }, + { + "Painting|2|6": [ + 189, + 42, + 23 + ] + }, + { + "Television|7|6": [ + 54, + 91, + 57 + ] + }, + { + "Television": [ + 27, + 245, + 217 + ] + }, + { + "DogBed|2|5": [ + 174, + 199, + 118 + ] + }, + { + "DogBed": [ + 106, + 193, + 45 + ] + }, + { + "GarbageCan|2|4": [ + 210, + 165, + 150 + ] + }, + { + "GarbageCan": [ + 225, + 40, + 55 + ] + }, + { + "Chair|2|3|1": [ + 185, + 135, + 39 + ] + }, + { + "Chair": [ + 166, + 13, + 176 + ] + }, + { + "TennisRacket|surface|2|43": [ + 106, + 189, + 250 + ] + }, + { + "TennisRacket": [ + 138, + 71, + 107 + ] + }, + { + "Mug|surface|2|42": [ + 123, + 9, + 121 + ] + }, + { + "Mug": [ + 8, + 94, + 186 + ] + }, + { + "Pencil|surface|2|35": [ + 246, + 87, + 135 + ] + }, + { + "Pencil": [ + 177, + 226, + 23 + ] + }, + { + "Laptop|surface|2|33": [ + 7, + 244, + 186 + ] + }, + { + "Laptop": [ + 20, + 107, + 222 + ] + }, + { + "BaseballBat|surface|2|31": [ + 229, + 33, + 179 + ] + }, + { + "BaseballBat": [ + 171, + 20, + 38 + ] + }, + { + "DiningTable|2|3|0": [ + 1, + 138, + 160 + ] + }, + { + "DiningTable": [ + 83, + 33, + 33 + ] + }, + { + "AlarmClock|surface|2|37": [ + 155, + 249, + 20 + ] + }, + { + "AlarmClock": [ + 184, + 20, + 170 + ] + }, + { + "ShelvingUnit|2|2___4": [ + 156, + 39, + 221 + ] + }, + { + "Shelf": [ + 39, + 54, + 158 + ] + }, + { + "ShelvingUnit|2|2___3": [ + 140, + 199, + 73 + ] + }, + { + "ShelvingUnit|2|2___2": [ + 132, + 157, + 254 + ] + }, + { + "ShelvingUnit|2|2___1": [ + 40, + 72, + 55 + ] + }, + { + "ShelvingUnit|2|2___0": [ + 163, + 164, + 218 + ] + }, + { + "ShelvingUnit|2|2": [ + 62, + 150, + 249 + ] + }, + { + "ShelvingUnit": [ + 125, + 226, + 119 + ] + }, + { + "HousePlant|surface|2|41": [ + 210, + 182, + 85 + ] + }, + { + "HousePlant": [ + 73, + 144, + 213 + ] + }, + { + "KeyChain|surface|2|40": [ + 161, + 101, + 33 + ] + }, + { + "KeyChain": [ + 27, + 54, + 18 + ] + }, + { + "Safe|surface|2|39": [ + 208, + 116, + 149 + ] + }, + { + "Safe": [ + 198, + 238, + 160 + ] + }, + { + "Bowl|surface|2|38": [ + 212, + 107, + 163 + ] + }, + { + "Bowl": [ + 209, + 182, + 193 + ] + }, + { + "CreditCard|surface|2|34": [ + 38, + 134, + 234 + ] + }, + { + "CreditCard": [ + 56, + 235, + 12 + ] + }, + { + "Dresser|2|1___9": [ + 65, + 115, + 209 + ] + }, + { + "Drawer": [ + 155, + 30, + 210 + ] + }, + { + "Dresser|2|1___8": [ + 130, + 235, + 214 + ] + }, + { + "Dresser|2|1___7": [ + 177, + 154, + 139 + ] + }, + { + "Dresser|2|1___6": [ + 171, + 131, + 135 + ] + }, + { + "Dresser|2|1___5": [ + 157, + 204, + 166 + ] + }, + { + "Dresser|2|1___4": [ + 227, + 81, + 62 + ] + }, + { + "Dresser|2|1___3": [ + 209, + 90, + 181 + ] + }, + { + "Dresser|2|1___2": [ + 238, + 209, + 103 + ] + }, + { + "Dresser|2|1___1": [ + 177, + 14, + 233 + ] + }, + { + "Dresser|2|1___0": [ + 244, + 240, + 140 + ] + }, + { + "Dresser|2|1": [ + 195, + 152, + 116 + ] + }, + { + "Dresser": [ + 51, + 128, + 146 + ] + }, + { + "CellPhone|surface|2|36": [ + 96, + 48, + 176 + ] + }, + { + "CellPhone": [ + 227, + 98, + 136 + ] + }, + { + "Pillow|surface|2|32": [ + 50, + 247, + 83 + ] + }, + { + "Pillow": [ + 217, + 193, + 130 + ] + }, + { + "Bed|2|0": [ + 84, + 61, + 195 + ] + }, + { + "Bed": [ + 209, + 156, + 101 + ] + }, + { + "Watch|surface|7|25": [ + 90, + 196, + 31 + ] + }, + { + "Watch": [ + 242, + 6, + 88 + ] + }, + { + "KeyChain|surface|7|22": [ + 154, + 235, + 233 + ] + }, + { + "KeyChain|surface|7|21": [ + 125, + 61, + 192 + ] + }, + { + "CellPhone|surface|7|19": [ + 20, + 136, + 239 + ] + }, + { + "CellPhone|surface|7|18": [ + 168, + 231, + 21 + ] + }, + { + "SideTable|7|5": [ + 81, + 85, + 187 + ] + }, + { + "SideTable": [ + 202, + 45, + 114 + ] + }, + { + "Box|7|4": [ + 72, + 126, + 203 + ] + }, + { + "Box": [ + 60, + 252, + 230 + ] + }, + { + "Newspaper|surface|7|30": [ + 0, + 188, + 198 + ] + }, + { + "Newspaper": [ + 19, + 196, + 2 + ] + }, + { + "ShelvingUnit|7|3___6": [ + 9, + 144, + 169 + ] + }, + { + "ShelvingUnit|7|3___5": [ + 123, + 78, + 126 + ] + }, + { + "ShelvingUnit|7|3___4": [ + 206, + 179, + 92 + ] + }, + { + "ShelvingUnit|7|3___3": [ + 229, + 100, + 67 + ] + }, + { + "ShelvingUnit|7|3___2": [ + 53, + 228, + 37 + ] + }, + { + "ShelvingUnit|7|3___1": [ + 160, + 54, + 66 + ] + }, + { + "ShelvingUnit|7|3___0": [ + 36, + 103, + 50 + ] + }, + { + "ShelvingUnit|7|3": [ + 41, + 63, + 119 + ] + }, + { + "GarbageCan|7|2": [ + 162, + 18, + 162 + ] + }, + { + "Pillow|surface|7|29": [ + 16, + 16, + 8 + ] + }, + { + "Sofa|7|1": [ + 207, + 240, + 173 + ] + }, + { + "Sofa": [ + 82, + 143, + 39 + ] + }, + { + "RemoteControl|surface|7|28": [ + 126, + 103, + 123 + ] + }, + { + "RemoteControl": [ + 187, + 19, + 208 + ] + }, + { + "CellPhone|surface|7|27": [ + 205, + 244, + 149 + ] + }, + { + "Plate|surface|7|26": [ + 107, + 116, + 46 + ] + }, + { + "Plate": [ + 188, + 154, + 128 + ] + }, + { + "Candle|surface|7|24": [ + 65, + 82, + 94 + ] + }, + { + "Candle": [ + 233, + 102, + 178 + ] + }, + { + "Pencil|surface|7|23": [ + 78, + 117, + 147 + ] + }, + { + "Laptop|surface|7|20": [ + 43, + 85, + 111 + ] + }, + { + "DiningTable|7|0": [ + 119, + 37, + 61 + ] + }, + { + "HousePlant|6|3|0": [ + 62, + 207, + 185 + ] + }, + { + "GarbageBag|6|2": [ + 28, + 164, + 156 + ] + }, + { + "GarbageBag": [ + 250, + 186, + 207 + ] + }, + { + "Egg|surface|6|11": [ + 46, + 255, + 124 + ] + }, + { + "Egg": [ + 240, + 75, + 163 + ] + }, + { + "Tomato|surface|6|3": [ + 60, + 13, + 190 + ] + }, + { + "Tomato": [ + 119, + 189, + 121 + ] + }, + { + "Fridge|6|1": [ + 45, + 15, + 119 + ] + }, + { + "Fridge": [ + 91, + 156, + 207 + ] + }, + { + "CreditCard|surface|6|17": [ + 247, + 182, + 61 + ] + }, + { + "Bottle|surface|6|16": [ + 94, + 17, + 216 + ] + }, + { + "Bottle": [ + 64, + 80, + 115 + ] + }, + { + "Toaster|surface|6|15": [ + 14, + 171, + 79 + ] + }, + { + "Toaster": [ + 55, + 33, + 114 + ] + }, + { + "CoffeeMachine|surface|6|14": [ + 144, + 119, + 210 + ] + }, + { + "CoffeeMachine": [ + 147, + 71, + 238 + ] + }, + { + "CellPhone|surface|6|13": [ + 7, + 153, + 242 + ] + }, + { + "Mug|surface|6|12": [ + 3, + 133, + 247 + ] + }, + { + "SaltShaker|surface|6|10": [ + 180, + 155, + 147 + ] + }, + { + "SaltShaker": [ + 36, + 222, + 26 + ] + }, + { + "Knife|surface|6|9": [ + 2, + 225, + 213 + ] + }, + { + "Knife": [ + 211, + 157, + 122 + ] + }, + { + "Knife|surface|6|8": [ + 173, + 100, + 214 + ] + }, + { + "Kettle|surface|6|7": [ + 46, + 39, + 28 + ] + }, + { + "Kettle": [ + 7, + 83, + 48 + ] + }, + { + "Ladle|surface|6|6": [ + 163, + 91, + 133 + ] + }, + { + "Ladle": [ + 174, + 98, + 216 + ] + }, + { + "Pencil|surface|6|5": [ + 201, + 75, + 183 + ] + }, + { + "Egg|surface|6|4": [ + 66, + 0, + 43 + ] + }, + { + "Apple|surface|6|2": [ + 28, + 160, + 182 + ] + }, + { + "Apple": [ + 159, + 98, + 144 + ] + }, + { + "Plate|surface|6|1": [ + 228, + 46, + 193 + ] + }, + { + "Cup|surface|6|0": [ + 200, + 9, + 88 + ] + }, + { + "Cup": [ + 35, + 71, + 130 + ] + }, + { + "CounterTop|6|0": [ + 175, + 244, + 241 + ] + }, + { + "CounterTop": [ + 103, + 209, + 30 + ] + }, + { + "Ceiling_room|7|0|2.690912|0": [ + 83, + 186, + 211 + ] + }, + { + "Ceiling": [ + 50, + 55, + 251 + ] + }, + { + "Ceiling_room|6|0|2.690912|0": [ + 191, + 42, + 192 + ] + }, + { + "Ceiling_room|2|0|2.690912|0": [ + 79, + 107, + 112 + ] + }, + { + "wall|exterior|11.09|5.54|11.09|7.39": [ + 117, + 13, + 185 + ] + }, + { + "Wall": [ + 148, + 232, + 164 + ] + }, + { + "wall|exterior|5.54|7.39|11.09|7.39": [ + 109, + 73, + 97 + ] + }, + { + "wall|exterior|11.09|0.00|11.09|5.54": [ + 33, + 213, + 48 + ] + }, + { + "wall|exterior|5.54|0.00|11.09|0.00": [ + 239, + 68, + 61 + ] + }, + { + "wall|exterior|3.69|1.85|5.54|1.85": [ + 215, + 83, + 197 + ] + }, + { + "wall|exterior|5.54|0.00|5.54|1.85": [ + 82, + 137, + 198 + ] + }, + { + "wall|exterior|0.00|7.39|5.54|7.39": [ + 59, + 11, + 154 + ] + }, + { + "wall|exterior|0.00|1.85|3.69|1.85": [ + 172, + 204, + 216 + ] + }, + { + "wall|exterior|0.00|1.85|0.00|7.39": [ + 111, + 255, + 48 + ] + }, + { + "wall|7|5.54|5.54|11.09|5.54": [ + 71, + 25, + 240 + ] + }, + { + "wall|7|11.09|5.54|11.09|7.39": [ + 12, + 56, + 24 + ] + }, + { + "wall|7|5.54|7.39|11.09|7.39": [ + 175, + 25, + 176 + ] + }, + { + "wall|7|5.54|5.54|5.54|7.39": [ + 231, + 6, + 131 + ] + }, + { + "wall|6|3.69|3.69|5.54|3.69": [ + 238, + 180, + 174 + ] + }, + { + "wall|6|3.69|1.85|3.69|3.69": [ + 29, + 46, + 65 + ] + }, + { + "wall|6|3.69|1.85|5.54|1.85": [ + 242, + 120, + 175 + ] + }, + { + "wall|6|5.54|0.00|5.54|1.85": [ + 105, + 58, + 232 + ] + }, + { + "wall|6|5.54|0.00|11.09|0.00": [ + 37, + 62, + 164 + ] + }, + { + "wall|6|11.09|0.00|11.09|5.54": [ + 232, + 168, + 5 + ] + }, + { + "wall|6|5.54|5.54|11.09|5.54": [ + 7, + 222, + 141 + ] + }, + { + "wall|6|5.54|3.69|5.54|5.54": [ + 40, + 8, + 232 + ] + }, + { + "wall|2|0.00|1.85|3.69|1.85": [ + 236, + 187, + 153 + ] + }, + { + "wall|2|3.69|1.85|3.69|3.69": [ + 58, + 178, + 210 + ] + }, + { + "wall|2|3.69|3.69|5.54|3.69": [ + 246, + 85, + 64 + ] + }, + { + "wall|2|5.54|3.69|5.54|5.54": [ + 185, + 137, + 215 + ] + }, + { + "wall|2|5.54|5.54|5.54|7.39": [ + 182, + 145, + 0 + ] + }, + { + "wall|2|0.00|7.39|5.54|7.39": [ + 255, + 108, + 71 + ] + }, + { + "wall|2|0.00|1.85|0.00|7.39": [ + 210, + 142, + 142 + ] + }, + { + "room|7": [ + 183, + 155, + 144 + ] + }, + { + "Floor": [ + 243, + 246, + 208 + ] + }, + { + "room|6": [ + 217, + 194, + 196 + ] + }, + { + "room|2": [ + 188, + 125, + 135 + ] + }, + { + "TheHand": [ + 255, + 136, + 237 + ] + }, + { + "agent_neck_1": [ + 30, + 64, + 67 + ] + }, + { + "agent_body_1 (shadows)": [ + 134, + 158, + 226 + ] + }, + { + "agent_collarbone_1 (shadows)": [ + 217, + 96, + 80 + ] + }, + { + "agent_head_1 (shadows)": [ + 140, + 210, + 177 + ] + }, + { + "stretch_robot_base_code": [ + 101, + 30, + 126 + ] + }, + { + "agent_head_1": [ + 1, + 149, + 209 + ] + }, + { + "stretch_robot_laser": [ + 140, + 24, + 249 + ] + }, + { + "stretch_robot_mast": [ + 136, + 63, + 93 + ] + }, + { + "stretch_robot_head_1": [ + 0, + 57, + 255 + ] + }, + { + "agent_neck_3": [ + 209, + 228, + 37 + ] + }, + { + "robot_tilt_link_n (shadows)": [ + 202, + 16, + 52 + ] + }, + { + "agent_head_2 (shadows)": [ + 156, + 59, + 238 + ] + }, + { + "stretch_robot_head_3 (shadows)": [ + 83, + 209, + 138 + ] + }, + { + "agent_collarbone_2": [ + 152, + 152, + 185 + ] + }, + { + "agent_neck_2 (shadows)": [ + 244, + 240, + 196 + ] + }, + { + "agent_head_2": [ + 14, + 66, + 230 + ] + }, + { + "stretch_robot_head_2": [ + 73, + 58, + 96 + ] + }, + { + "agent_neck_3 (shadows)": [ + 239, + 35, + 232 + ] + }, + { + "stretch_robot_omniwheel": [ + 227, + 166, + 104 + ] + }, + { + "robot_elbow_link": [ + 231, + 128, + 58 + ] + }, + { + "robot_camera_link_n": [ + 140, + 65, + 197 + ] + }, + { + "robot_finger_r": [ + 122, + 202, + 170 + ] + }, + { + "robot_finger_l": [ + 178, + 169, + 157 + ] + }, + { + "robot_ar_tag": [ + 46, + 234, + 150 + ] + }, + { + "robot_cam_mount_n": [ + 54, + 221, + 114 + ] + }, + { + "robot_battery_n": [ + 165, + 68, + 55 + ] + }, + { + "robot_plate": [ + 211, + 118, + 132 + ] + }, + { + "robot_main_wheel_r_n": [ + 36, + 84, + 49 + ] + }, + { + "robot_shoulder_link": [ + 92, + 95, + 127 + ] + }, + { + "robot_roll_link_n": [ + 135, + 154, + 116 + ] + }, + { + "robot_gripper_link": [ + 241, + 136, + 173 + ] + }, + { + "robot_forearm_link": [ + 149, + 185, + 52 + ] + }, + { + "robot_main_wheel_l_n": [ + 139, + 151, + 200 + ] + }, + { + "robot_main_body": [ + 27, + 62, + 251 + ] + }, + { + "robot_wrist_link": [ + 3, + 195, + 0 + ] + }, + { + "robot_tilt_link_n": [ + 251, + 182, + 71 + ] + }, + { + "agent_collarbone_2 (shadows)": [ + 27, + 29, + 156 + ] + }, + { + "stretch_robot_head_2 (shadows)": [ + 167, + 106, + 44 + ] + }, + { + "stretch_robot_wheel_r": [ + 43, + 10, + 241 + ] + }, + { + "agent_collarbone_3": [ + 33, + 153, + 80 + ] + }, + { + "stretch_robot_wheel_l": [ + 209, + 121, + 111 + ] + }, + { + "agent_collarbone_3 (shadows)": [ + 12, + 185, + 24 + ] + }, + { + "agent_neck_1 (shadows)": [ + 5, + 106, + 127 + ] + }, + { + "agent_body_1": [ + 19, + 85, + 240 + ] + }, + { + "stretch_robot_base": [ + 18, + 223, + 56 + ] + }, + { + "robot_roll_link_n (shadows)": [ + 104, + 6, + 177 + ] + }, + { + "agent_neck_2": [ + 134, + 34, + 121 + ] + }, + { + "agent_collarbone_1": [ + 180, + 251, + 165 + ] + }, + { + "stretch_robot_head_3": [ + 175, + 244, + 187 + ] + }, + { + "robot_camera_link_n (shadows)": [ + 49, + 9, + 106 + ] + } +] \ No newline at end of file diff --git a/train/train157/top_down_image.png b/train/train157/top_down_image.png new file mode 100644 index 0000000000000000000000000000000000000000..ff7f7ed9e0699dbabcf863b429349832d0e3955c --- /dev/null +++ b/train/train157/top_down_image.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f0c6b30928d3ac3958f90a5a8d4e5f8155ee60db6306c61dcb3633edd0919ea8 +size 261670 diff --git a/train/train1843/0/0.json b/train/train1843/0/0.json new file mode 100644 index 0000000000000000000000000000000000000000..02f7dd07f1363468555b8ee8b26a1033d6dcf782 --- /dev/null +++ b/train/train1843/0/0.json @@ -0,0 +1,2625 @@ +{ + "object": [ + { + "objectId": "Plate|surface|6|21", + "object_info": { + "name": "Plate|surface|6|21", + "position": { + "x": 7.606054306030273, + "y": 0.6799222230911255, + "z": 9.919393539428711 + }, + "rotation": { + "x": 359.9570007324219, + "y": 89.99894714355469, + "z": 0.11190862208604813 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 1.7294343709945679, + "objectType": "Plate", + "objectId": "Plate|surface|6|21", + "assetId": "Plate_22", + "parentReceptacles": [ + "DiningTable|6|2|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.699070930480957, + 0.6977603435516357, + 10.017152786254883 + ], + [ + 7.699070930480957, + 0.6977603435516357, + 9.824880599975586 + ], + [ + 7.699070930480957, + 0.6780743598937988, + 10.017152786254883 + ], + [ + 7.699070930480957, + 0.6780743598937988, + 9.824880599975586 + ], + [ + 7.50679874420166, + 0.6977603435516357, + 10.017152786254883 + ], + [ + 7.50679874420166, + 0.6977603435516357, + 9.824880599975586 + ], + [ + 7.50679874420166, + 0.6780743598937988, + 10.017152786254883 + ], + [ + 7.50679874420166, + 0.6780743598937988, + 9.824880599975586 + ] + ], + "center": { + "x": 7.602934837341309, + "y": 0.6879173517227173, + "z": 9.921016693115234 + }, + "size": { + "x": 0.19227218627929688, + "y": 0.019685983657836914, + "z": 0.19227218627929688 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.699081897735596, + 0.6784887313842773, + 9.824854850769043 + ], + [ + 7.699078559875488, + 0.6781132221221924, + 10.01712703704834 + ], + [ + 7.506808280944824, + 0.6779688596725464, + 10.017123222351074 + ], + [ + 7.506811618804932, + 0.6783444285392761, + 9.824851036071777 + ], + [ + 7.699067115783691, + 0.6981801986694336, + 9.8248929977417 + ], + [ + 7.699063777923584, + 0.6978046894073486, + 10.017165184020996 + ], + [ + 7.50679349899292, + 0.6976603865623474, + 10.017162322998047 + ], + [ + 7.506796836853027, + 0.6980358958244324, + 9.82489013671875 + ] + ] + } + } + }, + { + "objectId": "Chair|6|2|1", + "object_info": { + "name": "Chair|6|2|1", + "position": { + "x": 6.648900508880615, + "y": -0.0016570687294006348, + "z": 9.698123931884766 + }, + "rotation": { + "x": -0.0, + "y": 84.76823425292969, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 2.1765389442443848, + "objectType": "Chair", + "objectId": "Chair|6|2|1", + "assetId": "Chair_227_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.89082145690918, + 0.7736937999725342, + 9.908531188964844 + ], + [ + 6.89082145690918, + 0.7736937999725342, + 9.487716674804688 + ], + [ + 6.89082145690918, + -2.9206275939941406e-06, + 9.908531188964844 + ], + [ + 6.89082145690918, + -2.9206275939941406e-06, + 9.487716674804688 + ], + [ + 6.393077850341797, + 0.7736937999725342, + 9.908531188964844 + ], + [ + 6.393077850341797, + 0.7736937999725342, + 9.487716674804688 + ], + [ + 6.393077850341797, + -2.9206275939941406e-06, + 9.908531188964844 + ], + [ + 6.393077850341797, + -2.9206275939941406e-06, + 9.487716674804688 + ] + ], + "center": { + "x": 6.641949653625488, + "y": 0.3868454396724701, + "z": 9.698123931884766 + }, + "size": { + "x": 0.4977436065673828, + "y": 0.7736967206001282, + "z": 0.42081451416015625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.89082145690918, + -2.86102294921875e-06, + 9.528837203979492 + ], + [ + 6.856054306030273, + -2.86102294921875e-06, + 9.908531188964844 + ], + [ + 6.391991138458252, + -2.86102294921875e-06, + 9.86603832244873 + ], + [ + 6.426758289337158, + -2.86102294921875e-06, + 9.486344337463379 + ], + [ + 6.89082145690918, + 0.7736939191818237, + 9.528837203979492 + ], + [ + 6.856054306030273, + 0.7736939191818237, + 9.908531188964844 + ], + [ + 6.391991138458252, + 0.7736939191818237, + 9.86603832244873 + ], + [ + 6.426758289337158, + 0.7736939191818237, + 9.486344337463379 + ] + ] + } + } + }, + { + "objectId": "Pencil|surface|6|27", + "object_info": { + "name": "Pencil|surface|6|27", + "position": { + "x": 6.988069534301758, + "y": 0.6829441785812378, + "z": 9.919360160827637 + }, + "rotation": { + "x": 0.00016481903730891645, + "y": 90.0, + "z": -7.080207433318719e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": null, + "distance": 1.964259386062622, + "objectType": "Pencil", + "objectId": "Pencil|surface|6|27", + "assetId": "Pencil_5", + "parentReceptacles": [ + "DiningTable|6|2|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.061227321624756, + 0.6876717805862427, + 9.924087524414062 + ], + [ + 7.061227321624756, + 0.6876717805862427, + 9.914632797241211 + ], + [ + 7.061227321624756, + 0.6782165765762329, + 9.924087524414062 + ], + [ + 7.061227321624756, + 0.6782165765762329, + 9.914632797241211 + ], + [ + 6.921295642852783, + 0.6876717805862427, + 9.924087524414062 + ], + [ + 6.921295642852783, + 0.6876717805862427, + 9.914632797241211 + ], + [ + 6.921295642852783, + 0.6782165765762329, + 9.924087524414062 + ], + [ + 6.921295642852783, + 0.6782165765762329, + 9.914632797241211 + ] + ], + "center": { + "x": 6.9912614822387695, + "y": 0.6829441785812378, + "z": 9.919360160827637 + }, + "size": { + "x": 0.13993167877197266, + "y": 0.009455204010009766, + "z": 0.009454727172851562 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.061227321624756, + 0.6782162189483643, + 9.914632797241211 + ], + [ + 7.061227321624756, + 0.6782162189483643, + 9.924087524414062 + ], + [ + 6.921295642852783, + 0.6782166361808777, + 9.924087524414062 + ], + [ + 6.921295642852783, + 0.6782165765762329, + 9.914632797241211 + ], + [ + 7.061227321624756, + 0.6876717209815979, + 9.914632797241211 + ], + [ + 7.061227321624756, + 0.6876717209815979, + 9.924087524414062 + ], + [ + 6.921295642852783, + 0.6876721382141113, + 9.924087524414062 + ], + [ + 6.921295642852783, + 0.6876721382141113, + 9.914632797241211 + ] + ] + } + } + }, + { + "objectId": "Spatula|surface|6|34", + "object_info": { + "name": "Spatula|surface|6|34", + "position": { + "x": 9.596115112304688, + "y": 0.9457909464836121, + "z": 9.598554611206055 + }, + "rotation": { + "x": 0.19118916988372803, + "y": -0.00189886218868196, + "z": 358.8526916503906 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.06499999761581421, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.0900213718414307, + "objectType": "Spatula", + "objectId": "Spatula|surface|6|34", + "assetId": "Spatula_1", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.628328323364258, + 0.9554284811019897, + 9.81928825378418 + ], + [ + 9.628328323364258, + 0.9554284811019897, + 9.521757125854492 + ], + [ + 9.628328323364258, + 0.9371154308319092, + 9.81928825378418 + ], + [ + 9.628328323364258, + 0.9371154308319092, + 9.521757125854492 + ], + [ + 9.563932418823242, + 0.9554284811019897, + 9.81928825378418 + ], + [ + 9.563932418823242, + 0.9554284811019897, + 9.521757125854492 + ], + [ + 9.563932418823242, + 0.9371154308319092, + 9.81928825378418 + ], + [ + 9.563932418823242, + 0.9371154308319092, + 9.521757125854492 + ] + ], + "center": { + "x": 9.59613037109375, + "y": 0.9462719559669495, + "z": 9.670522689819336 + }, + "size": { + "x": 0.06439590454101562, + "y": 0.018313050270080566, + "z": 0.2975311279296875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.62798023223877, + 0.9368060827255249, + 9.819238662719727 + ], + [ + 9.56393051147461, + 0.9380887746810913, + 9.81924057006836 + ], + [ + 9.563940048217773, + 0.9390815496444702, + 9.521730422973633 + ], + [ + 9.62799072265625, + 0.9377988576889038, + 9.521728515625 + ], + [ + 9.628327369689941, + 0.9541439414024353, + 9.819295883178711 + ], + [ + 9.564277648925781, + 0.9554266333580017, + 9.81929874420166 + ], + [ + 9.564287185668945, + 0.9564194083213806, + 9.521788597106934 + ], + [ + 9.628337860107422, + 0.9551366567611694, + 9.521785736083984 + ] + ] + } + } + }, + { + "objectId": "door|1|6", + "object_info": { + "name": "door|1|6", + "position": { + "x": 8.809093475341797, + "y": -0.0005959272384643555, + "z": 10.612021446228027 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.654553174972534, + "objectType": "Doorway", + "objectId": "door|1|6", + "assetId": "Doorway_9", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.80488395690918, + 2.0743770599365234, + 10.722686767578125 + ], + [ + 9.80488395690918, + 2.0743770599365234, + 10.501314163208008 + ], + [ + 9.80488395690918, + 0.0, + 10.722686767578125 + ], + [ + 9.80488395690918, + 0.0, + 10.501314163208008 + ], + [ + 8.806859970092773, + 2.0743770599365234, + 10.722686767578125 + ], + [ + 8.806859970092773, + 2.0743770599365234, + 10.501314163208008 + ], + [ + 8.806859970092773, + 0.0, + 10.722686767578125 + ], + [ + 8.806859970092773, + 0.0, + 10.501314163208008 + ] + ], + "center": { + "x": 9.305871963500977, + "y": 1.0371885299682617, + "z": 10.612000465393066 + }, + "size": { + "x": 0.9980239868164062, + "y": 2.0743770599365234, + "z": 0.2213726043701172 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DiningTable|6|2|0", + "object_info": { + "name": "DiningTable|6|2|0", + "position": { + "x": 7.235268592834473, + "y": -0.018440067768096924, + "z": 9.697439193725586 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood", + "Glass" + ], + "receptacleObjectIds": [ + "Pot|surface|6|28", + "Plate|surface|6|21", + "Pencil|surface|6|27", + "Toaster|surface|6|31", + "Ladle|surface|6|32", + "CellPhone|surface|6|36" + ], + "distance": 1.8775686025619507, + "objectType": "DiningTable", + "objectId": "DiningTable|6|2|0", + "assetId": "Dining_Table_201_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.729119777679443, + 0.6782166361808777, + 10.586999893188477 + ], + [ + 7.729119777679443, + 0.6782166361808777, + 8.807878494262695 + ], + [ + 7.729119777679443, + 1.5497207641601562e-06, + 10.586999893188477 + ], + [ + 7.729119777679443, + 1.5497207641601562e-06, + 8.807878494262695 + ], + [ + 6.741417407989502, + 0.6782166361808777, + 10.586999893188477 + ], + [ + 6.741417407989502, + 0.6782166361808777, + 8.807878494262695 + ], + [ + 6.741417407989502, + 1.5497207641601562e-06, + 10.586999893188477 + ], + [ + 6.741417407989502, + 1.5497207641601562e-06, + 8.807878494262695 + ] + ], + "center": { + "x": 7.235268592834473, + "y": 0.3391090929508209, + "z": 9.697439193725586 + }, + "size": { + "x": 0.9877023696899414, + "y": 0.6782150864601135, + "z": 1.7791213989257812 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.729119777679443, + 1.6093254089355469e-06, + 8.807878494262695 + ], + [ + 7.729119777679443, + 1.6093254089355469e-06, + 10.586999893188477 + ], + [ + 6.741417407989502, + 1.6093254089355469e-06, + 10.586999893188477 + ], + [ + 6.741417407989502, + 1.6093254089355469e-06, + 8.807878494262695 + ], + [ + 7.729119777679443, + 0.6782165169715881, + 8.807878494262695 + ], + [ + 7.729119777679443, + 0.6782165169715881, + 10.586999893188477 + ], + [ + 6.741417407989502, + 0.6782165169715881, + 10.586999893188477 + ], + [ + 6.741417407989502, + 0.6782165169715881, + 8.807878494262695 + ] + ] + } + } + }, + { + "objectId": "Toaster|surface|6|31", + "object_info": { + "name": "Toaster|surface|6|31", + "position": { + "x": 6.988070011138916, + "y": 0.6782166361808777, + "z": 9.031681060791016 + }, + "rotation": { + "x": -2.608218437671894e-06, + "y": 90.00001525878906, + "z": 3.174660378135741e-05 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 5.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.2979445457458496, + "objectType": "Toaster", + "objectId": "Toaster|surface|6|31", + "assetId": "Toaster_6", + "parentReceptacles": [ + "DiningTable|6|2|0", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.190628528594971, + 0.8852825164794922, + 9.130928039550781 + ], + [ + 7.190628528594971, + 0.8852825164794922, + 8.93243408203125 + ], + [ + 7.190628528594971, + 0.6782165765762329, + 9.130928039550781 + ], + [ + 7.190628528594971, + 0.6782165765762329, + 8.93243408203125 + ], + [ + 6.829248905181885, + 0.8852825164794922, + 9.130928039550781 + ], + [ + 6.829248905181885, + 0.8852825164794922, + 8.93243408203125 + ], + [ + 6.829248905181885, + 0.6782165765762329, + 9.130928039550781 + ], + [ + 6.829248905181885, + 0.6782165765762329, + 8.93243408203125 + ] + ], + "center": { + "x": 7.009938716888428, + "y": 0.7817495465278625, + "z": 9.031681060791016 + }, + "size": { + "x": 0.36137962341308594, + "y": 0.20706593990325928, + "z": 0.19849395751953125 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.190628528594971, + 0.6782164573669434, + 8.93243408203125 + ], + [ + 7.190628528594971, + 0.6782163381576538, + 9.130927085876465 + ], + [ + 6.829248428344727, + 0.6782163381576538, + 9.130928039550781 + ], + [ + 6.829248428344727, + 0.6782164573669434, + 8.932435035705566 + ], + [ + 7.190628528594971, + 0.885282576084137, + 8.93243408203125 + ], + [ + 7.190628528594971, + 0.8852824568748474, + 9.130928039550781 + ], + [ + 6.829248428344727, + 0.8852824568748474, + 9.130928039550781 + ], + [ + 6.829248428344727, + 0.885282576084137, + 8.932435035705566 + ] + ] + } + } + }, + { + "objectId": "DishSponge|surface|6|40", + "object_info": { + "name": "DishSponge|surface|6|40", + "position": { + "x": 9.826562881469727, + "y": 0.9404739737510681, + "z": 9.753806114196777 + }, + "rotation": { + "x": 6.674708129139617e-05, + "y": 270.00006103515625, + "z": -0.0003779351245611906 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.029999997466802597, + "salientMaterials": [ + "Sponge" + ], + "receptacleObjectIds": null, + "distance": 2.366288900375366, + "objectType": "DishSponge", + "objectId": "DishSponge|surface|6|40", + "assetId": "Dish_Sponge_1", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.896036148071289, + 0.9644221067428589, + 9.7905855178833 + ], + [ + 9.896036148071289, + 0.9644221067428589, + 9.717026710510254 + ], + [ + 9.896036148071289, + 0.9383825063705444, + 9.7905855178833 + ], + [ + 9.896036148071289, + 0.9383825063705444, + 9.717026710510254 + ], + [ + 9.757089614868164, + 0.9644221067428589, + 9.7905855178833 + ], + [ + 9.757089614868164, + 0.9644221067428589, + 9.717026710510254 + ], + [ + 9.757089614868164, + 0.9383825063705444, + 9.7905855178833 + ], + [ + 9.757089614868164, + 0.9383825063705444, + 9.717026710510254 + ] + ], + "center": { + "x": 9.826562881469727, + "y": 0.9514023065567017, + "z": 9.753806114196777 + }, + "size": { + "x": 0.138946533203125, + "y": 0.026039600372314453, + "z": 0.07355880737304688 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.757089614868164, + 0.9383825063705444, + 9.7905855178833 + ], + [ + 9.757089614868164, + 0.9383829832077026, + 9.717026710510254 + ], + [ + 9.896036148071289, + 0.9383831024169922, + 9.717026710510254 + ], + [ + 9.896036148071289, + 0.938382625579834, + 9.7905855178833 + ], + [ + 9.757089614868164, + 0.9644215106964111, + 9.7905855178833 + ], + [ + 9.757089614868164, + 0.9644219875335693, + 9.717026710510254 + ], + [ + 9.896036148071289, + 0.9644221067428589, + 9.717026710510254 + ], + [ + 9.896036148071289, + 0.9644216299057007, + 9.7905855178833 + ] + ] + } + } + }, + { + "objectId": "Egg|surface|6|26", + "object_info": { + "name": "Egg|surface|6|26", + "position": { + "x": 9.442055702209473, + "y": 0.9781785607337952, + "z": 9.598512649536133 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": true, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.054999999701976776, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 1.9758460521697998, + "objectType": "Egg", + "objectId": "Egg|surface|6|26", + "assetId": "Egg_19", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.468320846557617, + 1.0179742574691772, + 9.624578475952148 + ], + [ + 9.468320846557617, + 1.0179742574691772, + 9.572744369506836 + ], + [ + 9.468320846557617, + 0.9383828639984131, + 9.624578475952148 + ], + [ + 9.468320846557617, + 0.9383828639984131, + 9.572744369506836 + ], + [ + 9.415594100952148, + 1.0179742574691772, + 9.624578475952148 + ], + [ + 9.415594100952148, + 1.0179742574691772, + 9.572744369506836 + ], + [ + 9.415594100952148, + 0.9383828639984131, + 9.624578475952148 + ], + [ + 9.415594100952148, + 0.9383828639984131, + 9.572744369506836 + ] + ], + "center": { + "x": 9.441957473754883, + "y": 0.9781785607337952, + "z": 9.598661422729492 + }, + "size": { + "x": 0.052725791931152344, + "y": 0.07959139347076416, + "z": 0.0518341064453125 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.415594100952148, + 0.9383828639984131, + 9.624578475952148 + ], + [ + 9.415594100952148, + 0.9383828639984131, + 9.572744369506836 + ], + [ + 9.4683198928833, + 0.9383828639984131, + 9.572744369506836 + ], + [ + 9.4683198928833, + 0.9383828639984131, + 9.624578475952148 + ], + [ + 9.415594100952148, + 1.0179742574691772, + 9.624578475952148 + ], + [ + 9.415594100952148, + 1.0179742574691772, + 9.572744369506836 + ], + [ + 9.4683198928833, + 1.0179742574691772, + 9.572744369506836 + ], + [ + 9.4683198928833, + 1.0179742574691772, + 9.624578475952148 + ] + ] + } + } + }, + { + "objectId": "CounterTop|6|0", + "object_info": { + "name": "CounterTop|6|0", + "position": { + "x": 10.586999893188477, + "y": 0.0012565553188323975, + "z": 9.906636238098145 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Pan|surface|6|38", + "PepperShaker|surface|6|24", + "Statue|surface|6|35", + "Mug|surface|6|33", + "Cup|surface|6|22", + "SoapBottle|surface|6|20", + "Spoon|surface|6|29", + "Egg|surface|6|26", + "DishSponge|surface|6|40", + "Spatula|surface|6|34", + "SprayBottle|surface|6|39", + "Spoon|surface|6|30", + "SaltShaker|surface|6|37" + ], + "distance": 3.2010233402252197, + "objectType": "CounterTop", + "objectId": "CounterTop|6|0", + "assetId": "Countertop_L_6x4", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.586999893188477, + 0.9383828639984131, + 9.906635284423828 + ], + [ + 10.586999893188477, + 0.9383828639984131, + 8.077831268310547 + ], + [ + 10.586999893188477, + 2.086162567138672e-07, + 9.906635284423828 + ], + [ + 10.586999893188477, + 2.086162567138672e-07, + 8.077831268310547 + ], + [ + 9.3677978515625, + 0.9383828639984131, + 9.906635284423828 + ], + [ + 9.3677978515625, + 0.9383828639984131, + 8.077831268310547 + ], + [ + 9.3677978515625, + 2.086162567138672e-07, + 9.906635284423828 + ], + [ + 9.3677978515625, + 2.086162567138672e-07, + 8.077831268310547 + ] + ], + "center": { + "x": 9.977398872375488, + "y": 0.4691915214061737, + "z": 8.992233276367188 + }, + "size": { + "x": 1.2192020416259766, + "y": 0.938382625579834, + "z": 1.8288049697875977 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Spoon|surface|6|30", + "object_info": { + "name": "Spoon|surface|6|30", + "position": { + "x": 9.59584903717041, + "y": 0.9386671781539917, + "z": 9.36561393737793 + }, + "rotation": { + "x": 0.10866478830575943, + "y": 270.000732421875, + "z": 359.6162109375 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.03999999910593033, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 1.9474977254867554, + "objectType": "Spoon", + "objectId": "Spoon|surface|6|30", + "assetId": "Spoon_1", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.713079452514648, + 0.9572588801383972, + 9.385297775268555 + ], + [ + 9.713079452514648, + 0.9572588801383972, + 9.343864440917969 + ], + [ + 9.713079452514648, + 0.9382080435752869, + 9.385297775268555 + ], + [ + 9.713079452514648, + 0.9382080435752869, + 9.343864440917969 + ], + [ + 9.505643844604492, + 0.9572588801383972, + 9.385297775268555 + ], + [ + 9.505643844604492, + 0.9572588801383972, + 9.343864440917969 + ], + [ + 9.505643844604492, + 0.9382080435752869, + 9.385297775268555 + ], + [ + 9.505643844604492, + 0.9382080435752869, + 9.343864440917969 + ] + ], + "center": { + "x": 9.60936164855957, + "y": 0.947733461856842, + "z": 9.364581108093262 + }, + "size": { + "x": 0.20743560791015625, + "y": 0.01905083656311035, + "z": 0.04143333435058594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.505664825439453, + 0.9379144906997681, + 9.385235786437988 + ], + [ + 9.505663871765137, + 0.9381917715072632, + 9.343844413757324 + ], + [ + 9.713088035583496, + 0.9385851621627808, + 9.343842506408691 + ], + [ + 9.713089942932129, + 0.9383079409599304, + 9.385232925415039 + ], + [ + 9.50562858581543, + 0.9569703936576843, + 9.38536262512207 + ], + [ + 9.505627632141113, + 0.9572476744651794, + 9.343972206115723 + ], + [ + 9.713052749633789, + 0.957641065120697, + 9.34397029876709 + ], + [ + 9.713053703308105, + 0.9573637843132019, + 9.385360717773438 + ] + ] + } + } + }, + { + "objectId": "Pot|surface|6|28", + "object_info": { + "name": "Pot|surface|6|28", + "position": { + "x": 7.3588690757751465, + "y": 0.6777743101119995, + "z": 9.475521087646484 + }, + "rotation": { + "x": -1.3460327181746834e-06, + "y": 89.99971771240234, + "z": 0.000818484288174659 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5699999928474426, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.4009926319122314, + "objectType": "Pot", + "objectId": "Pot|surface|6|28", + "assetId": "Pot_5", + "parentReceptacles": [ + "DiningTable|6|2|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.493688583374023, + 0.843828558921814, + 9.618644714355469 + ], + [ + 7.493688583374023, + 0.843828558921814, + 9.3330078125 + ], + [ + 7.493688583374023, + 0.6782162189483643, + 9.618644714355469 + ], + [ + 7.493688583374023, + 0.6782162189483643, + 9.3330078125 + ], + [ + 7.224050521850586, + 0.843828558921814, + 9.618644714355469 + ], + [ + 7.224050521850586, + 0.843828558921814, + 9.3330078125 + ], + [ + 7.224050521850586, + 0.6782162189483643, + 9.618644714355469 + ], + [ + 7.224050521850586, + 0.6782162189483643, + 9.3330078125 + ] + ], + "center": { + "x": 7.358869552612305, + "y": 0.7610223889350891, + "z": 9.475826263427734 + }, + "size": { + "x": 0.2696380615234375, + "y": 0.1656123399734497, + "z": 0.28563690185546875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.493689060211182, + 0.678218424320221, + 9.333005905151367 + ], + [ + 7.493687629699707, + 0.6782143115997314, + 9.618644714355469 + ], + [ + 7.2240495681762695, + 0.6782143115997314, + 9.618642807006836 + ], + [ + 7.224050998687744, + 0.678218424320221, + 9.33300495147705 + ], + [ + 7.493689060211182, + 0.8438296318054199, + 9.333008766174316 + ], + [ + 7.493687629699707, + 0.8438255190849304, + 9.618646621704102 + ], + [ + 7.2240495681762695, + 0.8438255190849304, + 9.618645668029785 + ], + [ + 7.224050998687744, + 0.8438296318054199, + 9.3330078125 + ] + ] + } + } + }, + { + "objectId": "CellPhone|surface|6|36", + "object_info": { + "name": "CellPhone|surface|6|36", + "position": { + "x": 7.35886812210083, + "y": 0.6782166361808777, + "z": 10.363202095031738 + }, + "rotation": { + "x": 7.488393021048978e-05, + "y": 90.0003890991211, + "z": -0.0012406454188749194 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1599999964237213, + "salientMaterials": [ + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 2.2195281982421875, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|6|36", + "assetId": "RoboTHOR_cellphone_blackberry_v", + "parentReceptacles": [ + "DiningTable|6|2|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.4151201248168945, + 0.6924915313720703, + 10.39450454711914 + ], + [ + 7.4151201248168945, + 0.6924915313720703, + 10.331899642944336 + ], + [ + 7.4151201248168945, + 0.6782158613204956, + 10.39450454711914 + ], + [ + 7.4151201248168945, + 0.6782158613204956, + 10.331899642944336 + ], + [ + 7.302616119384766, + 0.6924915313720703, + 10.39450454711914 + ], + [ + 7.302616119384766, + 0.6924915313720703, + 10.331899642944336 + ], + [ + 7.302616119384766, + 0.6782158613204956, + 10.39450454711914 + ], + [ + 7.302616119384766, + 0.6782158613204956, + 10.331899642944336 + ] + ], + "center": { + "x": 7.35886812210083, + "y": 0.685353696346283, + "z": 10.363202095031738 + }, + "size": { + "x": 0.1125040054321289, + "y": 0.014275670051574707, + "z": 0.06260490417480469 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.415119647979736, + 0.6782158613204956, + 10.331899642944336 + ], + [ + 7.4151201248168945, + 0.6782172322273254, + 10.394503593444824 + ], + [ + 7.302616596221924, + 0.6782174110412598, + 10.39450454711914 + ], + [ + 7.302616119384766, + 0.6782160401344299, + 10.331900596618652 + ], + [ + 7.415119647979736, + 0.6924900412559509, + 10.331899642944336 + ], + [ + 7.4151201248168945, + 0.6924914121627808, + 10.394502639770508 + ], + [ + 7.302616596221924, + 0.6924915313720703, + 10.394503593444824 + ], + [ + 7.302616596221924, + 0.6924902200698853, + 10.331900596618652 + ] + ] + } + } + }, + { + "objectId": "SprayBottle|surface|6|39", + "object_info": { + "name": "SprayBottle|surface|6|39", + "position": { + "x": 9.44205379486084, + "y": 0.9378632307052612, + "z": 9.753796577453613 + }, + "rotation": { + "x": 0.014907661825418472, + "y": 269.9989013671875, + "z": 0.040948666632175446 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.10999999940395355, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.0838143825531006, + "objectType": "SprayBottle", + "objectId": "SprayBottle|surface|6|39", + "assetId": "Spray_Bottle_6", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.49439811706543, + 1.1838736534118652, + 9.770223617553711 + ], + [ + 9.49439811706543, + 1.1838736534118652, + 9.737226486206055 + ], + [ + 9.49439811706543, + 0.9383547306060791, + 9.770223617553711 + ], + [ + 9.49439811706543, + 0.9383547306060791, + 9.737226486206055 + ], + [ + 9.381900787353516, + 1.1838736534118652, + 9.770223617553711 + ], + [ + 9.381900787353516, + 1.1838736534118652, + 9.737226486206055 + ], + [ + 9.381900787353516, + 0.9383547306060791, + 9.770223617553711 + ], + [ + 9.381900787353516, + 0.9383547306060791, + 9.737226486206055 + ] + ], + "center": { + "x": 9.438149452209473, + "y": 1.0611141920089722, + "z": 9.753725051879883 + }, + "size": { + "x": 0.11249732971191406, + "y": 0.24551892280578613, + "z": 0.03299713134765625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.38193130493164, + 0.938378095626831, + 9.770222663879395 + ], + [ + 9.381932258605957, + 0.9383546113967896, + 9.737367630004883 + ], + [ + 9.49439811706543, + 0.9383838772773743, + 9.737369537353516 + ], + [ + 9.49439811706543, + 0.9384073615074158, + 9.770224571228027 + ], + [ + 9.381867408752441, + 1.183876395225525, + 9.770047187805176 + ], + [ + 9.381868362426758, + 1.1838529109954834, + 9.737192153930664 + ], + [ + 9.49433422088623, + 1.183882236480713, + 9.737194061279297 + ], + [ + 9.49433422088623, + 1.1839057207107544, + 9.770049095153809 + ] + ] + } + } + }, + { + "objectId": "GarbageCan|6|3", + "object_info": { + "name": "GarbageCan|6|3", + "position": { + "x": 6.568835258483887, + "y": -0.05039361119270325, + "z": 8.42866039276123 + }, + "rotation": { + "x": 359.9588928222656, + "y": 89.99987030029297, + "z": 359.9815368652344 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.699999988079071, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.7278025150299072, + "objectType": "GarbageCan", + "objectId": "GarbageCan|6|3", + "assetId": "bin_29", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.74216365814209, + 0.6587642431259155, + 8.623628616333008 + ], + [ + 6.74216365814209, + 0.6587642431259155, + 8.232809066772461 + ], + [ + 6.74216365814209, + -0.0021403133869171143, + 8.623628616333008 + ], + [ + 6.74216365814209, + -0.0021403133869171143, + 8.232809066772461 + ], + [ + 6.391571998596191, + 0.6587642431259155, + 8.623628616333008 + ], + [ + 6.391571998596191, + 0.6587642431259155, + 8.232809066772461 + ], + [ + 6.391571998596191, + -0.0021403133869171143, + 8.623628616333008 + ], + [ + 6.391571998596191, + -0.0021403133869171143, + 8.232809066772461 + ] + ], + "center": { + "x": 6.566867828369141, + "y": 0.328311949968338, + "z": 8.428218841552734 + }, + "size": { + "x": 0.35059165954589844, + "y": 0.6609045267105103, + "z": 0.3908195495605469 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.742166519165039, + -0.0020808465778827667, + 8.23300552368164 + ], + [ + 6.742165565490723, + -0.001954924315214157, + 8.623631477355957 + ], + [ + 6.392014503479004, + -0.0022062286734580994, + 8.62363052368164 + ], + [ + 6.39201545715332, + -0.002332150936126709, + 8.23300552368164 + ], + [ + 6.741692066192627, + 0.6588419675827026, + 8.232792854309082 + ], + [ + 6.7416911125183105, + 0.6589678525924683, + 8.623418807983398 + ], + [ + 6.391540050506592, + 0.6587165594100952, + 8.623417854309082 + ], + [ + 6.391541004180908, + 0.6585906744003296, + 8.232791900634766 + ] + ] + } + } + }, + { + "objectId": "Spoon|surface|6|29", + "object_info": { + "name": "Spoon|surface|6|29", + "position": { + "x": 9.518946647644043, + "y": 0.9386671781539917, + "z": 9.443269729614258 + }, + "rotation": { + "x": 0.1097664088010788, + "y": 270.00140380859375, + "z": 359.5987243652344 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.03999999910593033, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 1.9319705963134766, + "objectType": "Spoon", + "objectId": "Spoon|surface|6|29", + "assetId": "Spoon_1", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.636177062988281, + 0.957260012626648, + 9.462956428527832 + ], + [ + 9.636177062988281, + 0.957260012626648, + 9.421521186828613 + ], + [ + 9.636177062988281, + 0.9382011890411377, + 9.462956428527832 + ], + [ + 9.636177062988281, + 0.9382011890411377, + 9.421521186828613 + ], + [ + 9.428741455078125, + 0.957260012626648, + 9.462956428527832 + ], + [ + 9.428741455078125, + 0.957260012626648, + 9.421521186828613 + ], + [ + 9.428741455078125, + 0.9382011890411377, + 9.462956428527832 + ], + [ + 9.428741455078125, + 0.9382011890411377, + 9.421521186828613 + ] + ], + "center": { + "x": 9.532459259033203, + "y": 0.9477306008338928, + "z": 9.442238807678223 + }, + "size": { + "x": 0.20743560791015625, + "y": 0.019058823585510254, + "z": 0.04143524169921875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.428762435913086, + 0.937906801700592, + 9.462892532348633 + ], + [ + 9.428760528564453, + 0.9381966590881348, + 9.421502113342285 + ], + [ + 9.636185646057129, + 0.9385940432548523, + 9.421496391296387 + ], + [ + 9.636187553405762, + 0.9383041858673096, + 9.462886810302734 + ], + [ + 9.428726196289062, + 0.9569626450538635, + 9.463025093078613 + ], + [ + 9.42872428894043, + 0.957252562046051, + 9.421634674072266 + ], + [ + 9.636149406433105, + 0.9576499462127686, + 9.421629905700684 + ], + [ + 9.636150360107422, + 0.957360029220581, + 9.463020324707031 + ] + ] + } + } + }, + { + "objectId": "Ladle|surface|6|32", + "object_info": { + "name": "Ladle|surface|6|32", + "position": { + "x": 7.229639530181885, + "y": 0.7005589604377747, + "z": 10.15164566040039 + }, + "rotation": { + "x": 351.2943420410156, + "y": 85.39877319335938, + "z": 27.456687927246094 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07999999821186066, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.061525583267212, + "objectType": "Ladle", + "objectId": "Ladle|surface|6|32", + "assetId": "Ladle_1", + "parentReceptacles": [ + "DiningTable|6|2|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.384504318237305, + 0.7279442548751831, + 10.188520431518555 + ], + [ + 7.384504318237305, + 0.7279442548751831, + 10.125310897827148 + ], + [ + 7.384504318237305, + 0.677679181098938, + 10.188520431518555 + ], + [ + 7.384504318237305, + 0.677679181098938, + 10.125310897827148 + ], + [ + 7.100492477416992, + 0.7279442548751831, + 10.188520431518555 + ], + [ + 7.100492477416992, + 0.7279442548751831, + 10.125310897827148 + ], + [ + 7.100492477416992, + 0.677679181098938, + 10.188520431518555 + ], + [ + 7.100492477416992, + 0.677679181098938, + 10.125310897827148 + ] + ], + "center": { + "x": 7.242498397827148, + "y": 0.7028117179870605, + "z": 10.156915664672852 + }, + "size": { + "x": 0.2840118408203125, + "y": 0.05026507377624512, + "z": 0.06320953369140625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.389695167541504, + 0.7053394317626953, + 10.1202392578125 + ], + [ + 7.389592170715332, + 0.6763448715209961, + 10.176865577697754 + ], + [ + 7.108338832855225, + 0.633139431476593, + 10.154230117797852 + ], + [ + 7.1084418296813965, + 0.6621339321136475, + 10.097604751586914 + ], + [ + 7.3814697265625, + 0.747565507888794, + 10.141845703125 + ], + [ + 7.381366729736328, + 0.7185710072517395, + 10.198472023010254 + ], + [ + 7.100113391876221, + 0.6753655076026917, + 10.175836563110352 + ], + [ + 7.100216388702393, + 0.7043600082397461, + 10.119211196899414 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 8.0, + "y": 0.9009997844696045, + "z": 8.100000381469727 + }, + "agent_rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "agent_cameraHorizon": 60.00001525878906, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 8.0, + "y": 1.5759997367858887, + "z": 8.100000381469727 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Pencil|surface|6|27", + "Toaster|surface|6|31", + "GarbageCan|6|3", + "Pot|surface|6|28", + "Chair|6|2|1", + "DiningTable|6|2|0" + ], + "different_object": [ + "DishSponge|surface|6|40", + "Spoon|surface|6|29", + "Egg|surface|6|26", + "Spatula|surface|6|34", + "Plate|surface|6|21", + "door|1|6", + "CounterTop|6|0", + "SprayBottle|surface|6|39", + "Ladle|surface|6|32", + "CellPhone|surface|6|36", + "Spoon|surface|6|30" + ] +} \ No newline at end of file diff --git a/train/train1843/0/0_depth_npy.npy b/train/train1843/0/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..c6f2cef0af2bf486777c5f0e46f8e587368b7f43 --- /dev/null +++ b/train/train1843/0/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6b0dfd01aef14448c96c619252b753c0231111058f82be0fa1bdb4bfd62499f4 +size 3145856 diff --git a/train/train1843/0/0_semantic_sensor_npy.npy b/train/train1843/0/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..8f620fd5ccb10eba33aaf7b7b772896f5901682a --- /dev/null +++ b/train/train1843/0/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d70e8c6de041b1d75f5fa6fe889e7c7b1815763f7a0e3515fb038de87914711a +size 2359424 diff --git a/train/train1843/0/1.json b/train/train1843/0/1.json new file mode 100644 index 0000000000000000000000000000000000000000..92f9d31f3d2e7cab3cb70c08911b17f0385249c0 --- /dev/null +++ b/train/train1843/0/1.json @@ -0,0 +1,1206 @@ +{ + "object": [ + { + "objectId": "Fridge|6|1", + "object_info": { + "name": "Fridge|6|1", + "position": { + "x": 6.976770877838135, + "y": 0.008309364318847656, + "z": 6.714920520782471 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Potato|surface|6|25", + "Egg|surface|6|23", + "Tomato|surface|6|41" + ], + "distance": 2.049478769302368, + "objectType": "Fridge", + "objectId": "Fridge|6|1", + "assetId": "Fridge_7", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.557404518127441, + 2.0204920768737793, + 7.186298370361328 + ], + [ + 7.557404518127441, + 2.0204920768737793, + 6.392000198364258 + ], + [ + 7.557404518127441, + 4.76837158203125e-07, + 7.186298370361328 + ], + [ + 7.557404518127441, + 4.76837158203125e-07, + 6.392000198364258 + ], + [ + 6.392000198364258, + 2.0204920768737793, + 7.186298370361328 + ], + [ + 6.392000198364258, + 2.0204920768737793, + 6.392000198364258 + ], + [ + 6.392000198364258, + 4.76837158203125e-07, + 7.186298370361328 + ], + [ + 6.392000198364258, + 4.76837158203125e-07, + 6.392000198364258 + ] + ], + "center": { + "x": 6.97470235824585, + "y": 1.0102462768554688, + "z": 6.789149284362793 + }, + "size": { + "x": 1.1654043197631836, + "y": 2.020491600036621, + "z": 0.7942981719970703 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Chair|6|2|1", + "object_info": { + "name": "Chair|6|2|1", + "position": { + "x": 6.648900508880615, + "y": -0.0016570687294006348, + "z": 9.698123931884766 + }, + "rotation": { + "x": -0.0, + "y": 84.76823425292969, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 2.1765389442443848, + "objectType": "Chair", + "objectId": "Chair|6|2|1", + "assetId": "Chair_227_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.89082145690918, + 0.7736937999725342, + 9.908531188964844 + ], + [ + 6.89082145690918, + 0.7736937999725342, + 9.487716674804688 + ], + [ + 6.89082145690918, + -2.9206275939941406e-06, + 9.908531188964844 + ], + [ + 6.89082145690918, + -2.9206275939941406e-06, + 9.487716674804688 + ], + [ + 6.393077850341797, + 0.7736937999725342, + 9.908531188964844 + ], + [ + 6.393077850341797, + 0.7736937999725342, + 9.487716674804688 + ], + [ + 6.393077850341797, + -2.9206275939941406e-06, + 9.908531188964844 + ], + [ + 6.393077850341797, + -2.9206275939941406e-06, + 9.487716674804688 + ] + ], + "center": { + "x": 6.641949653625488, + "y": 0.3868454396724701, + "z": 9.698123931884766 + }, + "size": { + "x": 0.4977436065673828, + "y": 0.7736967206001282, + "z": 0.42081451416015625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.89082145690918, + -2.86102294921875e-06, + 9.528837203979492 + ], + [ + 6.856054306030273, + -2.86102294921875e-06, + 9.908531188964844 + ], + [ + 6.391991138458252, + -2.86102294921875e-06, + 9.86603832244873 + ], + [ + 6.426758289337158, + -2.86102294921875e-06, + 9.486344337463379 + ], + [ + 6.89082145690918, + 0.7736939191818237, + 9.528837203979492 + ], + [ + 6.856054306030273, + 0.7736939191818237, + 9.908531188964844 + ], + [ + 6.391991138458252, + 0.7736939191818237, + 9.86603832244873 + ], + [ + 6.426758289337158, + 0.7736939191818237, + 9.486344337463379 + ] + ] + } + } + }, + { + "objectId": "Pencil|surface|6|27", + "object_info": { + "name": "Pencil|surface|6|27", + "position": { + "x": 6.988069534301758, + "y": 0.6829441785812378, + "z": 9.919360160827637 + }, + "rotation": { + "x": 0.00016481903730891645, + "y": 90.0, + "z": -7.080207433318719e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": null, + "distance": 1.964259386062622, + "objectType": "Pencil", + "objectId": "Pencil|surface|6|27", + "assetId": "Pencil_5", + "parentReceptacles": [ + "DiningTable|6|2|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.061227321624756, + 0.6876717805862427, + 9.924087524414062 + ], + [ + 7.061227321624756, + 0.6876717805862427, + 9.914632797241211 + ], + [ + 7.061227321624756, + 0.6782165765762329, + 9.924087524414062 + ], + [ + 7.061227321624756, + 0.6782165765762329, + 9.914632797241211 + ], + [ + 6.921295642852783, + 0.6876717805862427, + 9.924087524414062 + ], + [ + 6.921295642852783, + 0.6876717805862427, + 9.914632797241211 + ], + [ + 6.921295642852783, + 0.6782165765762329, + 9.924087524414062 + ], + [ + 6.921295642852783, + 0.6782165765762329, + 9.914632797241211 + ] + ], + "center": { + "x": 6.9912614822387695, + "y": 0.6829441785812378, + "z": 9.919360160827637 + }, + "size": { + "x": 0.13993167877197266, + "y": 0.009455204010009766, + "z": 0.009454727172851562 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.061227321624756, + 0.6782162189483643, + 9.914632797241211 + ], + [ + 7.061227321624756, + 0.6782162189483643, + 9.924087524414062 + ], + [ + 6.921295642852783, + 0.6782166361808777, + 9.924087524414062 + ], + [ + 6.921295642852783, + 0.6782165765762329, + 9.914632797241211 + ], + [ + 7.061227321624756, + 0.6876717209815979, + 9.914632797241211 + ], + [ + 7.061227321624756, + 0.6876717209815979, + 9.924087524414062 + ], + [ + 6.921295642852783, + 0.6876721382141113, + 9.924087524414062 + ], + [ + 6.921295642852783, + 0.6876721382141113, + 9.914632797241211 + ] + ] + } + } + }, + { + "objectId": "DiningTable|6|2|0", + "object_info": { + "name": "DiningTable|6|2|0", + "position": { + "x": 7.235268592834473, + "y": -0.018440067768096924, + "z": 9.697439193725586 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood", + "Glass" + ], + "receptacleObjectIds": [ + "Pot|surface|6|28", + "Plate|surface|6|21", + "Pencil|surface|6|27", + "Toaster|surface|6|31", + "Ladle|surface|6|32", + "CellPhone|surface|6|36" + ], + "distance": 1.8775686025619507, + "objectType": "DiningTable", + "objectId": "DiningTable|6|2|0", + "assetId": "Dining_Table_201_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.729119777679443, + 0.6782166361808777, + 10.586999893188477 + ], + [ + 7.729119777679443, + 0.6782166361808777, + 8.807878494262695 + ], + [ + 7.729119777679443, + 1.5497207641601562e-06, + 10.586999893188477 + ], + [ + 7.729119777679443, + 1.5497207641601562e-06, + 8.807878494262695 + ], + [ + 6.741417407989502, + 0.6782166361808777, + 10.586999893188477 + ], + [ + 6.741417407989502, + 0.6782166361808777, + 8.807878494262695 + ], + [ + 6.741417407989502, + 1.5497207641601562e-06, + 10.586999893188477 + ], + [ + 6.741417407989502, + 1.5497207641601562e-06, + 8.807878494262695 + ] + ], + "center": { + "x": 7.235268592834473, + "y": 0.3391090929508209, + "z": 9.697439193725586 + }, + "size": { + "x": 0.9877023696899414, + "y": 0.6782150864601135, + "z": 1.7791213989257812 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.729119777679443, + 1.6093254089355469e-06, + 8.807878494262695 + ], + [ + 7.729119777679443, + 1.6093254089355469e-06, + 10.586999893188477 + ], + [ + 6.741417407989502, + 1.6093254089355469e-06, + 10.586999893188477 + ], + [ + 6.741417407989502, + 1.6093254089355469e-06, + 8.807878494262695 + ], + [ + 7.729119777679443, + 0.6782165169715881, + 8.807878494262695 + ], + [ + 7.729119777679443, + 0.6782165169715881, + 10.586999893188477 + ], + [ + 6.741417407989502, + 0.6782165169715881, + 10.586999893188477 + ], + [ + 6.741417407989502, + 0.6782165169715881, + 8.807878494262695 + ] + ] + } + } + }, + { + "objectId": "Toaster|surface|6|31", + "object_info": { + "name": "Toaster|surface|6|31", + "position": { + "x": 6.988070011138916, + "y": 0.6782166361808777, + "z": 9.031681060791016 + }, + "rotation": { + "x": -2.608218437671894e-06, + "y": 90.00001525878906, + "z": 3.174660378135741e-05 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 5.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.2979445457458496, + "objectType": "Toaster", + "objectId": "Toaster|surface|6|31", + "assetId": "Toaster_6", + "parentReceptacles": [ + "DiningTable|6|2|0", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.190628528594971, + 0.8852825164794922, + 9.130928039550781 + ], + [ + 7.190628528594971, + 0.8852825164794922, + 8.93243408203125 + ], + [ + 7.190628528594971, + 0.6782165765762329, + 9.130928039550781 + ], + [ + 7.190628528594971, + 0.6782165765762329, + 8.93243408203125 + ], + [ + 6.829248905181885, + 0.8852825164794922, + 9.130928039550781 + ], + [ + 6.829248905181885, + 0.8852825164794922, + 8.93243408203125 + ], + [ + 6.829248905181885, + 0.6782165765762329, + 9.130928039550781 + ], + [ + 6.829248905181885, + 0.6782165765762329, + 8.93243408203125 + ] + ], + "center": { + "x": 7.009938716888428, + "y": 0.7817495465278625, + "z": 9.031681060791016 + }, + "size": { + "x": 0.36137962341308594, + "y": 0.20706593990325928, + "z": 0.19849395751953125 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.190628528594971, + 0.6782164573669434, + 8.93243408203125 + ], + [ + 7.190628528594971, + 0.6782163381576538, + 9.130927085876465 + ], + [ + 6.829248428344727, + 0.6782163381576538, + 9.130928039550781 + ], + [ + 6.829248428344727, + 0.6782164573669434, + 8.932435035705566 + ], + [ + 7.190628528594971, + 0.885282576084137, + 8.93243408203125 + ], + [ + 7.190628528594971, + 0.8852824568748474, + 9.130928039550781 + ], + [ + 6.829248428344727, + 0.8852824568748474, + 9.130928039550781 + ], + [ + 6.829248428344727, + 0.885282576084137, + 8.932435035705566 + ] + ] + } + } + }, + { + "objectId": "Painting|6|5", + "object_info": { + "name": "Painting|6|5", + "position": { + "x": 6.371995449066162, + "y": 1.9637149572372437, + "z": 9.103633880615234 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Wood" + ], + "receptacleObjectIds": null, + "distance": 2.123311758041382, + "objectType": "Painting", + "objectId": "Painting|6|5", + "assetId": "Wall_Decor_Painting_1V", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.403740882873535, + 2.287040948867798, + 9.564838409423828 + ], + [ + 6.403740882873535, + 2.287040948867798, + 8.64242935180664 + ], + [ + 6.403740882873535, + 1.6403892040252686, + 9.564838409423828 + ], + [ + 6.403740882873535, + 1.6403892040252686, + 8.64242935180664 + ], + [ + 6.371999740600586, + 2.287040948867798, + 9.564838409423828 + ], + [ + 6.371999740600586, + 2.287040948867798, + 8.64242935180664 + ], + [ + 6.371999740600586, + 1.6403892040252686, + 9.564838409423828 + ], + [ + 6.371999740600586, + 1.6403892040252686, + 8.64242935180664 + ] + ], + "center": { + "x": 6.3878703117370605, + "y": 1.9637150764465332, + "z": 9.103633880615234 + }, + "size": { + "x": 0.03174114227294922, + "y": 0.6466517448425293, + "z": 0.9224090576171875 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Pot|surface|6|28", + "object_info": { + "name": "Pot|surface|6|28", + "position": { + "x": 7.3588690757751465, + "y": 0.6777743101119995, + "z": 9.475521087646484 + }, + "rotation": { + "x": -1.3460327181746834e-06, + "y": 89.99971771240234, + "z": 0.000818484288174659 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5699999928474426, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.4009926319122314, + "objectType": "Pot", + "objectId": "Pot|surface|6|28", + "assetId": "Pot_5", + "parentReceptacles": [ + "DiningTable|6|2|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.493688583374023, + 0.843828558921814, + 9.618644714355469 + ], + [ + 7.493688583374023, + 0.843828558921814, + 9.3330078125 + ], + [ + 7.493688583374023, + 0.6782162189483643, + 9.618644714355469 + ], + [ + 7.493688583374023, + 0.6782162189483643, + 9.3330078125 + ], + [ + 7.224050521850586, + 0.843828558921814, + 9.618644714355469 + ], + [ + 7.224050521850586, + 0.843828558921814, + 9.3330078125 + ], + [ + 7.224050521850586, + 0.6782162189483643, + 9.618644714355469 + ], + [ + 7.224050521850586, + 0.6782162189483643, + 9.3330078125 + ] + ], + "center": { + "x": 7.358869552612305, + "y": 0.7610223889350891, + "z": 9.475826263427734 + }, + "size": { + "x": 0.2696380615234375, + "y": 0.1656123399734497, + "z": 0.28563690185546875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.493689060211182, + 0.678218424320221, + 9.333005905151367 + ], + [ + 7.493687629699707, + 0.6782143115997314, + 9.618644714355469 + ], + [ + 7.2240495681762695, + 0.6782143115997314, + 9.618642807006836 + ], + [ + 7.224050998687744, + 0.678218424320221, + 9.33300495147705 + ], + [ + 7.493689060211182, + 0.8438296318054199, + 9.333008766174316 + ], + [ + 7.493687629699707, + 0.8438255190849304, + 9.618646621704102 + ], + [ + 7.2240495681762695, + 0.8438255190849304, + 9.618645668029785 + ], + [ + 7.224050998687744, + 0.8438296318054199, + 9.3330078125 + ] + ] + } + } + }, + { + "objectId": "GarbageCan|6|3", + "object_info": { + "name": "GarbageCan|6|3", + "position": { + "x": 6.568835258483887, + "y": -0.05039361119270325, + "z": 8.42866039276123 + }, + "rotation": { + "x": 359.9588928222656, + "y": 89.99987030029297, + "z": 359.9815368652344 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.699999988079071, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.7278025150299072, + "objectType": "GarbageCan", + "objectId": "GarbageCan|6|3", + "assetId": "bin_29", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.74216365814209, + 0.6587642431259155, + 8.623628616333008 + ], + [ + 6.74216365814209, + 0.6587642431259155, + 8.232809066772461 + ], + [ + 6.74216365814209, + -0.0021403133869171143, + 8.623628616333008 + ], + [ + 6.74216365814209, + -0.0021403133869171143, + 8.232809066772461 + ], + [ + 6.391571998596191, + 0.6587642431259155, + 8.623628616333008 + ], + [ + 6.391571998596191, + 0.6587642431259155, + 8.232809066772461 + ], + [ + 6.391571998596191, + -0.0021403133869171143, + 8.623628616333008 + ], + [ + 6.391571998596191, + -0.0021403133869171143, + 8.232809066772461 + ] + ], + "center": { + "x": 6.566867828369141, + "y": 0.328311949968338, + "z": 8.428218841552734 + }, + "size": { + "x": 0.35059165954589844, + "y": 0.6609045267105103, + "z": 0.3908195495605469 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.742166519165039, + -0.0020808465778827667, + 8.23300552368164 + ], + [ + 6.742165565490723, + -0.001954924315214157, + 8.623631477355957 + ], + [ + 6.392014503479004, + -0.0022062286734580994, + 8.62363052368164 + ], + [ + 6.39201545715332, + -0.002332150936126709, + 8.23300552368164 + ], + [ + 6.741692066192627, + 0.6588419675827026, + 8.232792854309082 + ], + [ + 6.7416911125183105, + 0.6589678525924683, + 8.623418807983398 + ], + [ + 6.391540050506592, + 0.6587165594100952, + 8.623417854309082 + ], + [ + 6.391541004180908, + 0.6585906744003296, + 8.232791900634766 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 8.100000381469727, + "y": 0.9009997844696045, + "z": 8.100000381469727 + }, + "agent_rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "agent_cameraHorizon": 30.000003814697266, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 8.100000381469727, + "y": 1.5759997367858887, + "z": 8.100000381469727 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Pencil|surface|6|27", + "Toaster|surface|6|31", + "GarbageCan|6|3", + "Pot|surface|6|28", + "Chair|6|2|1", + "DiningTable|6|2|0" + ], + "different_object": [ + "Painting|6|5", + "Fridge|6|1" + ] +} \ No newline at end of file diff --git a/train/train1843/0/1_depth_npy.npy b/train/train1843/0/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..6c6c1ded547bf0f55d919d5e832c10b42ce592fe --- /dev/null +++ b/train/train1843/0/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a0946fd506e7584c492cf261f4ff00ddfa66d0e7c3d1bd3fcac78eb89be3d7f2 +size 3145856 diff --git a/train/train1843/0/1_semantic_sensor_npy.npy b/train/train1843/0/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..306e2b3a5a9a89ca6f813b6dc1a5a612f71cb6c1 --- /dev/null +++ b/train/train1843/0/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4411f07cdb898c56e755f7a93294ca527a8de1cb70594c8bd4217aca91f4a247 +size 2359424 diff --git a/train/train1843/0/depth_0.png b/train/train1843/0/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..1adfb4d383047b65185e40bb3911976965fa409a Binary files /dev/null and b/train/train1843/0/depth_0.png differ diff --git a/train/train1843/0/depth_1.png b/train/train1843/0/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..6fd9fe07defb0d723f29998d443dcb09f406be13 Binary files /dev/null and b/train/train1843/0/depth_1.png differ diff --git a/train/train1843/0/mask_questions.jsonl b/train/train1843/0/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a3564d8398761bdacf5cfc21a37034f745e3ae69 --- /dev/null +++ b/train/train1843/0/mask_questions.jsonl @@ -0,0 +1,7 @@ +{"id": 11140, "folder_dir": "train1843/0", "pair_name": "0-1:Toaster|surface|6|31", "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. Spoon\nC. Toaster\nD. Pencil", "answer": "C", "object_name": "Toaster", "image_1": "train1843/0/rgb_0.png", "image_2": "train1843/0/rgb_1.png", "mask_image": "train1843/0/rgb_1_mask_Toaster|surface|6|31.png", "options": ["Doorway", "Spoon", "Toaster", "Pencil"]} +{"id": 11141, "folder_dir": "train1843/0", "pair_name": "0-1:GarbageCan|6|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. Ladle\nB. GarbageCan\nC. SprayBottle\nD. Pencil", "answer": "B", "object_name": "GarbageCan", "image_1": "train1843/0/rgb_0.png", "image_2": "train1843/0/rgb_1.png", "mask_image": "train1843/0/rgb_1_mask_GarbageCan|6|3.png", "options": ["Ladle", "GarbageCan", "SprayBottle", "Pencil"]} +{"id": 11142, "folder_dir": "train1843/0", "pair_name": "0-1:Pot|surface|6|28", "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. Pot\nB. Pencil\nC. Spoon\nD. Doorway", "answer": "A", "object_name": "Pot", "image_1": "train1843/0/rgb_0.png", "image_2": "train1843/0/rgb_1.png", "mask_image": "train1843/0/rgb_1_mask_Pot|surface|6|28.png", "options": ["Pot", "Pencil", "Spoon", "Doorway"]} +{"id": 11143, "folder_dir": "train1843/0", "pair_name": "1-0:Toaster|surface|6|31", "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. Pencil\nB. Fridge\nC. Painting\nD. Toaster", "answer": "D", "object_name": "Toaster", "image_1": "train1843/0/rgb_1.png", "image_2": "train1843/0/rgb_0.png", "mask_image": "train1843/0/rgb_0_mask_Toaster|surface|6|31.png", "options": ["Pencil", "Fridge", "Painting", "Toaster"]} +{"id": 11144, "folder_dir": "train1843/0", "pair_name": "1-0:GarbageCan|6|3", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. GarbageCan\nB. Fridge\nC. Painting\nD. Pencil", "answer": "A", "object_name": "GarbageCan", "image_1": "train1843/0/rgb_1.png", "image_2": "train1843/0/rgb_0.png", "mask_image": "train1843/0/rgb_0_mask_GarbageCan|6|3.png", "options": ["GarbageCan", "Fridge", "Painting", "Pencil"]} +{"id": 11145, "folder_dir": "train1843/0", "pair_name": "1-0:Pot|surface|6|28", "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. Pot\nB. Pencil\nC. Fridge\nD. Painting", "answer": "A", "object_name": "Pot", "image_1": "train1843/0/rgb_1.png", "image_2": "train1843/0/rgb_0.png", "mask_image": "train1843/0/rgb_0_mask_Pot|surface|6|28.png", "options": ["Pot", "Pencil", "Fridge", "Painting"]} +{"id": 11146, "folder_dir": "train1843/0", "pair_name": "1-0:Chair|6|2|1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Fridge\nB. Painting\nC. Pencil\nD. Chair", "answer": "D", "object_name": "Chair", "image_1": "train1843/0/rgb_1.png", "image_2": "train1843/0/rgb_0.png", "mask_image": "train1843/0/rgb_0_mask_Chair|6|2|1.png", "options": ["Fridge", "Painting", "Pencil", "Chair"]} diff --git a/train/train1843/0/questions_distance.jsonl b/train/train1843/0/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9038eeb5adcfbe3a860dba94a6c05b4c5b92512e --- /dev/null +++ b/train/train1843/0/questions_distance.jsonl @@ -0,0 +1,4 @@ +{"id": 4531, "folder_dir": "train1843/0", "query": "Which of the following objects is closest to Toaster in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. DiningTable\nB. Chair\nC. Pot\nD. Other\n", "answer": "C", "src_object": "Toaster", "target_object": "Pot", "question": "Which of the following objects is closest to Toaster in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "DiningTable", "semantic_id": "DiningTable|6|2|0", "distance": 0.8306250752928629, "com": {"x": 7.235268592834473, "y": 0.3391090929508209, "z": 9.697439193725586}}, {"text": "Chair", "semantic_id": "Chair|6|2|1", "distance": 0.8576195571021404, "com": {"x": 6.641949653625488, "y": 0.3868454396724701, "z": 9.698123931884766}}, {"text": "Pot", "semantic_id": "Pot|surface|6|28", "distance": 0.5651966951478492, "com": {"x": 7.358869552612305, "y": 0.7610223889350891, "z": 9.475826263427734}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1843/0/rgb_0.png", "image_2": "train1843/0/rgb_1.png"} +{"id": 4532, "folder_dir": "train1843/0", "query": "Which of the following objects is closest to GarbageCan in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Chair\nB. Pot\nC. Toaster\nD. Other\n", "answer": "C", "src_object": "GarbageCan", "target_object": "Toaster", "question": "Which of the following objects is closest to GarbageCan in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Chair", "semantic_id": "Chair|6|2|1", "distance": 1.2734686444321952, "com": {"x": 6.641949653625488, "y": 0.3868454396724701, "z": 9.698123931884766}}, {"text": "Pot", "semantic_id": "Pot|surface|6|28", "distance": 1.3827459512009166, "com": {"x": 7.358869552612305, "y": 0.7610223889350891, "z": 9.475826263427734}}, {"text": "Toaster", "semantic_id": "Toaster|surface|6|31", "distance": 0.8752623128382372, "com": {"x": 7.009938716888428, "y": 0.7817495465278625, "z": 9.031681060791016}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1843/0/rgb_0.png", "image_2": "train1843/0/rgb_1.png"} +{"id": 4533, "folder_dir": "train1843/0", "query": "Which of the following objects is closest to Pot in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Toaster\nB. Plate\nC. DiningTable\nD. Other\n", "answer": "C", "src_object": "Pot", "target_object": "DiningTable", "question": "Which of the following objects is closest to Pot in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Toaster", "semantic_id": "Toaster|surface|6|31", "distance": 0.5651966951478492, "com": {"x": 7.009938716888428, "y": 0.7817495465278625, "z": 9.031681060791016}}, {"text": "Plate", "semantic_id": "Plate|surface|6|21", "distance": 0.5129393028039603, "com": {"x": 7.602934837341309, "y": 0.6879173517227173, "z": 9.921016693115234}}, {"text": "DiningTable", "semantic_id": "DiningTable|6|2|0", "distance": 0.49234166740334945, "com": {"x": 7.235268592834473, "y": 0.3391090929508209, "z": 9.697439193725586}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1843/0/rgb_0.png", "image_2": "train1843/0/rgb_1.png"} +{"id": 4534, "folder_dir": "train1843/0", "query": "Which of the following objects is closest to DiningTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Pot\nB. Plate\nC. Pencil\nD. Other\n", "answer": "C", "src_object": "DiningTable", "target_object": "Pencil", "question": "Which of the following objects is closest to DiningTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Pot", "semantic_id": "Pot|surface|6|28", "distance": 0.49234166740334945, "com": {"x": 7.358869552612305, "y": 0.7610223889350891, "z": 9.475826263427734}}, {"text": "Plate", "semantic_id": "Plate|surface|6|21", "distance": 0.5539246943137406, "com": {"x": 7.602934837341309, "y": 0.6879173517227173, "z": 9.921016693115234}}, {"text": "Pencil", "semantic_id": "Pencil|surface|6|27", "distance": 0.47645666305682965, "com": {"x": 6.9912614822387695, "y": 0.6829441785812378, "z": 9.919360160827637}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1843/0/rgb_0.png", "image_2": "train1843/0/rgb_1.png"} diff --git a/train/train1843/0/rgb_0.png b/train/train1843/0/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..53628db5713aad2e50926b99cba35f5efa194ff3 --- /dev/null +++ b/train/train1843/0/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b2f8ba8237a867a6571ba17285b7f986d0e2f9402cd991a29abb5078beec8e45 +size 914240 diff --git a/train/train1843/0/rgb_0_mask_Chair|6|2|1.png b/train/train1843/0/rgb_0_mask_Chair|6|2|1.png new file mode 100644 index 0000000000000000000000000000000000000000..82f8e4417da51db42e7e053ba1cc71152cb82e27 --- /dev/null +++ b/train/train1843/0/rgb_0_mask_Chair|6|2|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3f63e88922b22aa17b75dd7b3172f2e46e930578e0e072b0a3c011513cfe049c +size 802141 diff --git a/train/train1843/0/rgb_0_mask_GarbageCan|6|3.png b/train/train1843/0/rgb_0_mask_GarbageCan|6|3.png new file mode 100644 index 0000000000000000000000000000000000000000..cb3b8d0857dcbd9d9c03fb3bfb3f47c894a728f8 --- /dev/null +++ b/train/train1843/0/rgb_0_mask_GarbageCan|6|3.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:13609ace4c74dff3819223033ca53fbc2b3b59e56f972ab2cc9077c101f102e0 +size 783125 diff --git a/train/train1843/0/rgb_0_mask_Pot|surface|6|28.png b/train/train1843/0/rgb_0_mask_Pot|surface|6|28.png new file mode 100644 index 0000000000000000000000000000000000000000..889fa0f2a6c5ef1fff98efd00cd8398c2acacca6 --- /dev/null +++ b/train/train1843/0/rgb_0_mask_Pot|surface|6|28.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9dfd31a9b3546d9552bdf84570be96d4a362f0034207c50cf8bcf8cdd6e4651c +size 802203 diff --git a/train/train1843/0/rgb_0_mask_Toaster|surface|6|31.png b/train/train1843/0/rgb_0_mask_Toaster|surface|6|31.png new file mode 100644 index 0000000000000000000000000000000000000000..91afed065f0cc6447de63d5f550ef2479967f0ff --- /dev/null +++ b/train/train1843/0/rgb_0_mask_Toaster|surface|6|31.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:441380fb294ca405e09423b69dd348945db329e1bcbc20fb2391043614f595cd +size 798477 diff --git a/train/train1843/0/rgb_1.png b/train/train1843/0/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..9ce039225f79a00e52f37f1f25d3e57439cb5958 --- /dev/null +++ b/train/train1843/0/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e35ea3dedb393f73c25837396ab0222b4c4977604fdb861e4a3f7047d64b4d5c +size 809288 diff --git a/train/train1843/0/rgb_1_mask_GarbageCan|6|3.png b/train/train1843/0/rgb_1_mask_GarbageCan|6|3.png new file mode 100644 index 0000000000000000000000000000000000000000..2737f35737d3ca04cd3f65a4c862abd40dd83408 --- /dev/null +++ b/train/train1843/0/rgb_1_mask_GarbageCan|6|3.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1efd875ca4f1257eeda6a13fe451fdaf754b44b65921293005360fc43093fc10 +size 710406 diff --git a/train/train1843/0/rgb_1_mask_Pot|surface|6|28.png b/train/train1843/0/rgb_1_mask_Pot|surface|6|28.png new file mode 100644 index 0000000000000000000000000000000000000000..5dcf2fbe3384ab567f3be06cb21ee771b3a1eb15 --- /dev/null +++ b/train/train1843/0/rgb_1_mask_Pot|surface|6|28.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4f8a36a29d249395788d59fb72ddda7f1ad6fc77a781019b7c4101a12846f8bf +size 710334 diff --git a/train/train1843/0/rgb_1_mask_Toaster|surface|6|31.png b/train/train1843/0/rgb_1_mask_Toaster|surface|6|31.png new file mode 100644 index 0000000000000000000000000000000000000000..b6afd3336ad475a86d0120ec8115fdeda884c078 --- /dev/null +++ b/train/train1843/0/rgb_1_mask_Toaster|surface|6|31.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:83565a8a89c4023dfea4b9d0907fd8e70123a11ad51f58535ae09c0f9dbaf462 +size 709141 diff --git a/train/train1843/0/semantic_0.png b/train/train1843/0/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..0ddafc2dac0b361ba727fba6f8b9873de5c76814 Binary files /dev/null and b/train/train1843/0/semantic_0.png differ diff --git a/train/train1843/0/semantic_1.png b/train/train1843/0/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..8361c58a41ba2bca79aa4fd84dd13396fbdb99a4 Binary files /dev/null and b/train/train1843/0/semantic_1.png differ diff --git a/train/train1843/1/0.json b/train/train1843/1/0.json new file mode 100644 index 0000000000000000000000000000000000000000..86d1bf833fd7b5579e406c763221764db568059c --- /dev/null +++ b/train/train1843/1/0.json @@ -0,0 +1,2782 @@ +{ + "object": [ + { + "objectId": "Plate|surface|6|21", + "object_info": { + "name": "Plate|surface|6|21", + "position": { + "x": 7.606054306030273, + "y": 0.6799222230911255, + "z": 9.919393539428711 + }, + "rotation": { + "x": 359.9570007324219, + "y": 89.99894714355469, + "z": 0.11190862208604813 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 1.7294343709945679, + "objectType": "Plate", + "objectId": "Plate|surface|6|21", + "assetId": "Plate_22", + "parentReceptacles": [ + "DiningTable|6|2|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.699070930480957, + 0.6977603435516357, + 10.017152786254883 + ], + [ + 7.699070930480957, + 0.6977603435516357, + 9.824880599975586 + ], + [ + 7.699070930480957, + 0.6780743598937988, + 10.017152786254883 + ], + [ + 7.699070930480957, + 0.6780743598937988, + 9.824880599975586 + ], + [ + 7.50679874420166, + 0.6977603435516357, + 10.017152786254883 + ], + [ + 7.50679874420166, + 0.6977603435516357, + 9.824880599975586 + ], + [ + 7.50679874420166, + 0.6780743598937988, + 10.017152786254883 + ], + [ + 7.50679874420166, + 0.6780743598937988, + 9.824880599975586 + ] + ], + "center": { + "x": 7.602934837341309, + "y": 0.6879173517227173, + "z": 9.921016693115234 + }, + "size": { + "x": 0.19227218627929688, + "y": 0.019685983657836914, + "z": 0.19227218627929688 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.699081897735596, + 0.6784887313842773, + 9.824854850769043 + ], + [ + 7.699078559875488, + 0.6781132221221924, + 10.01712703704834 + ], + [ + 7.506808280944824, + 0.6779688596725464, + 10.017123222351074 + ], + [ + 7.506811618804932, + 0.6783444285392761, + 9.824851036071777 + ], + [ + 7.699067115783691, + 0.6981801986694336, + 9.8248929977417 + ], + [ + 7.699063777923584, + 0.6978046894073486, + 10.017165184020996 + ], + [ + 7.50679349899292, + 0.6976603865623474, + 10.017162322998047 + ], + [ + 7.506796836853027, + 0.6980358958244324, + 9.82489013671875 + ] + ] + } + } + }, + { + "objectId": "Chair|6|2|1", + "object_info": { + "name": "Chair|6|2|1", + "position": { + "x": 6.648900508880615, + "y": -0.0016570687294006348, + "z": 9.698123931884766 + }, + "rotation": { + "x": -0.0, + "y": 84.76823425292969, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 2.1765389442443848, + "objectType": "Chair", + "objectId": "Chair|6|2|1", + "assetId": "Chair_227_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.89082145690918, + 0.7736937999725342, + 9.908531188964844 + ], + [ + 6.89082145690918, + 0.7736937999725342, + 9.487716674804688 + ], + [ + 6.89082145690918, + -2.9206275939941406e-06, + 9.908531188964844 + ], + [ + 6.89082145690918, + -2.9206275939941406e-06, + 9.487716674804688 + ], + [ + 6.393077850341797, + 0.7736937999725342, + 9.908531188964844 + ], + [ + 6.393077850341797, + 0.7736937999725342, + 9.487716674804688 + ], + [ + 6.393077850341797, + -2.9206275939941406e-06, + 9.908531188964844 + ], + [ + 6.393077850341797, + -2.9206275939941406e-06, + 9.487716674804688 + ] + ], + "center": { + "x": 6.641949653625488, + "y": 0.3868454396724701, + "z": 9.698123931884766 + }, + "size": { + "x": 0.4977436065673828, + "y": 0.7736967206001282, + "z": 0.42081451416015625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.89082145690918, + -2.86102294921875e-06, + 9.528837203979492 + ], + [ + 6.856054306030273, + -2.86102294921875e-06, + 9.908531188964844 + ], + [ + 6.391991138458252, + -2.86102294921875e-06, + 9.86603832244873 + ], + [ + 6.426758289337158, + -2.86102294921875e-06, + 9.486344337463379 + ], + [ + 6.89082145690918, + 0.7736939191818237, + 9.528837203979492 + ], + [ + 6.856054306030273, + 0.7736939191818237, + 9.908531188964844 + ], + [ + 6.391991138458252, + 0.7736939191818237, + 9.86603832244873 + ], + [ + 6.426758289337158, + 0.7736939191818237, + 9.486344337463379 + ] + ] + } + } + }, + { + "objectId": "Pencil|surface|6|27", + "object_info": { + "name": "Pencil|surface|6|27", + "position": { + "x": 6.988069534301758, + "y": 0.6829441785812378, + "z": 9.919360160827637 + }, + "rotation": { + "x": 0.00016481903730891645, + "y": 90.0, + "z": -7.080207433318719e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": null, + "distance": 1.964259386062622, + "objectType": "Pencil", + "objectId": "Pencil|surface|6|27", + "assetId": "Pencil_5", + "parentReceptacles": [ + "DiningTable|6|2|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.061227321624756, + 0.6876717805862427, + 9.924087524414062 + ], + [ + 7.061227321624756, + 0.6876717805862427, + 9.914632797241211 + ], + [ + 7.061227321624756, + 0.6782165765762329, + 9.924087524414062 + ], + [ + 7.061227321624756, + 0.6782165765762329, + 9.914632797241211 + ], + [ + 6.921295642852783, + 0.6876717805862427, + 9.924087524414062 + ], + [ + 6.921295642852783, + 0.6876717805862427, + 9.914632797241211 + ], + [ + 6.921295642852783, + 0.6782165765762329, + 9.924087524414062 + ], + [ + 6.921295642852783, + 0.6782165765762329, + 9.914632797241211 + ] + ], + "center": { + "x": 6.9912614822387695, + "y": 0.6829441785812378, + "z": 9.919360160827637 + }, + "size": { + "x": 0.13993167877197266, + "y": 0.009455204010009766, + "z": 0.009454727172851562 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.061227321624756, + 0.6782162189483643, + 9.914632797241211 + ], + [ + 7.061227321624756, + 0.6782162189483643, + 9.924087524414062 + ], + [ + 6.921295642852783, + 0.6782166361808777, + 9.924087524414062 + ], + [ + 6.921295642852783, + 0.6782165765762329, + 9.914632797241211 + ], + [ + 7.061227321624756, + 0.6876717209815979, + 9.914632797241211 + ], + [ + 7.061227321624756, + 0.6876717209815979, + 9.924087524414062 + ], + [ + 6.921295642852783, + 0.6876721382141113, + 9.924087524414062 + ], + [ + 6.921295642852783, + 0.6876721382141113, + 9.914632797241211 + ] + ] + } + } + }, + { + "objectId": "SaltShaker|surface|6|37", + "object_info": { + "name": "SaltShaker|surface|6|37", + "position": { + "x": 9.826563835144043, + "y": 0.9383825659751892, + "z": 9.520865440368652 + }, + "rotation": { + "x": 359.99139404296875, + "y": 269.9990539550781, + "z": 0.00018419497064314783 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4000000059604645, + "salientMaterials": [ + "Glass", + "Metal" + ], + "receptacleObjectIds": null, + "distance": 2.2254958152770996, + "objectType": "SaltShaker", + "objectId": "SaltShaker|surface|6|37", + "assetId": "RoboTHOR_salt_pepper_shaker_bnyd_salt_v", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.846863746643066, + 1.0342803001403809, + 9.540987968444824 + ], + [ + 9.846863746643066, + 1.0342803001403809, + 9.50074291229248 + ], + [ + 9.846863746643066, + 0.9383794069290161, + 9.540987968444824 + ], + [ + 9.846863746643066, + 0.9383794069290161, + 9.50074291229248 + ], + [ + 9.806279182434082, + 1.0342803001403809, + 9.540987968444824 + ], + [ + 9.806279182434082, + 1.0342803001403809, + 9.50074291229248 + ], + [ + 9.806279182434082, + 0.9383794069290161, + 9.540987968444824 + ], + [ + 9.806279182434082, + 0.9383794069290161, + 9.50074291229248 + ] + ], + "center": { + "x": 9.826571464538574, + "y": 0.9863298535346985, + "z": 9.520865440368652 + }, + "size": { + "x": 0.040584564208984375, + "y": 0.09590089321136475, + "z": 0.04024505615234375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.806278228759766, + 0.9383856654167175, + 9.540987014770508 + ], + [ + 9.806279182434082, + 0.938385546207428, + 9.50074291229248 + ], + [ + 9.84684944152832, + 0.9383794665336609, + 9.500743865966797 + ], + [ + 9.846848487854004, + 0.9383795857429504, + 9.540987968444824 + ], + [ + 9.806293487548828, + 1.0342803001403809, + 9.540987014770508 + ], + [ + 9.806293487548828, + 1.0342801809310913, + 9.50074291229248 + ], + [ + 9.846863746643066, + 1.0342741012573242, + 9.500743865966797 + ], + [ + 9.84686279296875, + 1.0342742204666138, + 9.540987014770508 + ] + ] + } + } + }, + { + "objectId": "Spatula|surface|6|34", + "object_info": { + "name": "Spatula|surface|6|34", + "position": { + "x": 9.596115112304688, + "y": 0.9457909464836121, + "z": 9.598554611206055 + }, + "rotation": { + "x": 0.19118916988372803, + "y": -0.00189886218868196, + "z": 358.8526916503906 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.06499999761581421, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.0900213718414307, + "objectType": "Spatula", + "objectId": "Spatula|surface|6|34", + "assetId": "Spatula_1", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.628328323364258, + 0.9554284811019897, + 9.81928825378418 + ], + [ + 9.628328323364258, + 0.9554284811019897, + 9.521757125854492 + ], + [ + 9.628328323364258, + 0.9371154308319092, + 9.81928825378418 + ], + [ + 9.628328323364258, + 0.9371154308319092, + 9.521757125854492 + ], + [ + 9.563932418823242, + 0.9554284811019897, + 9.81928825378418 + ], + [ + 9.563932418823242, + 0.9554284811019897, + 9.521757125854492 + ], + [ + 9.563932418823242, + 0.9371154308319092, + 9.81928825378418 + ], + [ + 9.563932418823242, + 0.9371154308319092, + 9.521757125854492 + ] + ], + "center": { + "x": 9.59613037109375, + "y": 0.9462719559669495, + "z": 9.670522689819336 + }, + "size": { + "x": 0.06439590454101562, + "y": 0.018313050270080566, + "z": 0.2975311279296875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.62798023223877, + 0.9368060827255249, + 9.819238662719727 + ], + [ + 9.56393051147461, + 0.9380887746810913, + 9.81924057006836 + ], + [ + 9.563940048217773, + 0.9390815496444702, + 9.521730422973633 + ], + [ + 9.62799072265625, + 0.9377988576889038, + 9.521728515625 + ], + [ + 9.628327369689941, + 0.9541439414024353, + 9.819295883178711 + ], + [ + 9.564277648925781, + 0.9554266333580017, + 9.81929874420166 + ], + [ + 9.564287185668945, + 0.9564194083213806, + 9.521788597106934 + ], + [ + 9.628337860107422, + 0.9551366567611694, + 9.521785736083984 + ] + ] + } + } + }, + { + "objectId": "door|1|6", + "object_info": { + "name": "door|1|6", + "position": { + "x": 8.809093475341797, + "y": -0.0005959272384643555, + "z": 10.612021446228027 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.654553174972534, + "objectType": "Doorway", + "objectId": "door|1|6", + "assetId": "Doorway_9", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.80488395690918, + 2.0743770599365234, + 10.722686767578125 + ], + [ + 9.80488395690918, + 2.0743770599365234, + 10.501314163208008 + ], + [ + 9.80488395690918, + 0.0, + 10.722686767578125 + ], + [ + 9.80488395690918, + 0.0, + 10.501314163208008 + ], + [ + 8.806859970092773, + 2.0743770599365234, + 10.722686767578125 + ], + [ + 8.806859970092773, + 2.0743770599365234, + 10.501314163208008 + ], + [ + 8.806859970092773, + 0.0, + 10.722686767578125 + ], + [ + 8.806859970092773, + 0.0, + 10.501314163208008 + ] + ], + "center": { + "x": 9.305871963500977, + "y": 1.0371885299682617, + "z": 10.612000465393066 + }, + "size": { + "x": 0.9980239868164062, + "y": 2.0743770599365234, + "z": 0.2213726043701172 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DiningTable|6|2|0", + "object_info": { + "name": "DiningTable|6|2|0", + "position": { + "x": 7.235268592834473, + "y": -0.018440067768096924, + "z": 9.697439193725586 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood", + "Glass" + ], + "receptacleObjectIds": [ + "Pot|surface|6|28", + "Plate|surface|6|21", + "Pencil|surface|6|27", + "Toaster|surface|6|31", + "Ladle|surface|6|32", + "CellPhone|surface|6|36" + ], + "distance": 1.8775686025619507, + "objectType": "DiningTable", + "objectId": "DiningTable|6|2|0", + "assetId": "Dining_Table_201_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.729119777679443, + 0.6782166361808777, + 10.586999893188477 + ], + [ + 7.729119777679443, + 0.6782166361808777, + 8.807878494262695 + ], + [ + 7.729119777679443, + 1.5497207641601562e-06, + 10.586999893188477 + ], + [ + 7.729119777679443, + 1.5497207641601562e-06, + 8.807878494262695 + ], + [ + 6.741417407989502, + 0.6782166361808777, + 10.586999893188477 + ], + [ + 6.741417407989502, + 0.6782166361808777, + 8.807878494262695 + ], + [ + 6.741417407989502, + 1.5497207641601562e-06, + 10.586999893188477 + ], + [ + 6.741417407989502, + 1.5497207641601562e-06, + 8.807878494262695 + ] + ], + "center": { + "x": 7.235268592834473, + "y": 0.3391090929508209, + "z": 9.697439193725586 + }, + "size": { + "x": 0.9877023696899414, + "y": 0.6782150864601135, + "z": 1.7791213989257812 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.729119777679443, + 1.6093254089355469e-06, + 8.807878494262695 + ], + [ + 7.729119777679443, + 1.6093254089355469e-06, + 10.586999893188477 + ], + [ + 6.741417407989502, + 1.6093254089355469e-06, + 10.586999893188477 + ], + [ + 6.741417407989502, + 1.6093254089355469e-06, + 8.807878494262695 + ], + [ + 7.729119777679443, + 0.6782165169715881, + 8.807878494262695 + ], + [ + 7.729119777679443, + 0.6782165169715881, + 10.586999893188477 + ], + [ + 6.741417407989502, + 0.6782165169715881, + 10.586999893188477 + ], + [ + 6.741417407989502, + 0.6782165169715881, + 8.807878494262695 + ] + ] + } + } + }, + { + "objectId": "Toaster|surface|6|31", + "object_info": { + "name": "Toaster|surface|6|31", + "position": { + "x": 6.988070011138916, + "y": 0.6782166361808777, + "z": 9.031681060791016 + }, + "rotation": { + "x": -2.608218437671894e-06, + "y": 90.00001525878906, + "z": 3.174660378135741e-05 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 5.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.2979445457458496, + "objectType": "Toaster", + "objectId": "Toaster|surface|6|31", + "assetId": "Toaster_6", + "parentReceptacles": [ + "DiningTable|6|2|0", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.190628528594971, + 0.8852825164794922, + 9.130928039550781 + ], + [ + 7.190628528594971, + 0.8852825164794922, + 8.93243408203125 + ], + [ + 7.190628528594971, + 0.6782165765762329, + 9.130928039550781 + ], + [ + 7.190628528594971, + 0.6782165765762329, + 8.93243408203125 + ], + [ + 6.829248905181885, + 0.8852825164794922, + 9.130928039550781 + ], + [ + 6.829248905181885, + 0.8852825164794922, + 8.93243408203125 + ], + [ + 6.829248905181885, + 0.6782165765762329, + 9.130928039550781 + ], + [ + 6.829248905181885, + 0.6782165765762329, + 8.93243408203125 + ] + ], + "center": { + "x": 7.009938716888428, + "y": 0.7817495465278625, + "z": 9.031681060791016 + }, + "size": { + "x": 0.36137962341308594, + "y": 0.20706593990325928, + "z": 0.19849395751953125 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.190628528594971, + 0.6782164573669434, + 8.93243408203125 + ], + [ + 7.190628528594971, + 0.6782163381576538, + 9.130927085876465 + ], + [ + 6.829248428344727, + 0.6782163381576538, + 9.130928039550781 + ], + [ + 6.829248428344727, + 0.6782164573669434, + 8.932435035705566 + ], + [ + 7.190628528594971, + 0.885282576084137, + 8.93243408203125 + ], + [ + 7.190628528594971, + 0.8852824568748474, + 9.130928039550781 + ], + [ + 6.829248428344727, + 0.8852824568748474, + 9.130928039550781 + ], + [ + 6.829248428344727, + 0.885282576084137, + 8.932435035705566 + ] + ] + } + } + }, + { + "objectId": "DishSponge|surface|6|40", + "object_info": { + "name": "DishSponge|surface|6|40", + "position": { + "x": 9.826562881469727, + "y": 0.9404739737510681, + "z": 9.753806114196777 + }, + "rotation": { + "x": 6.674708129139617e-05, + "y": 270.00006103515625, + "z": -0.0003779351245611906 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.029999997466802597, + "salientMaterials": [ + "Sponge" + ], + "receptacleObjectIds": null, + "distance": 2.366288900375366, + "objectType": "DishSponge", + "objectId": "DishSponge|surface|6|40", + "assetId": "Dish_Sponge_1", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.896036148071289, + 0.9644221067428589, + 9.7905855178833 + ], + [ + 9.896036148071289, + 0.9644221067428589, + 9.717026710510254 + ], + [ + 9.896036148071289, + 0.9383825063705444, + 9.7905855178833 + ], + [ + 9.896036148071289, + 0.9383825063705444, + 9.717026710510254 + ], + [ + 9.757089614868164, + 0.9644221067428589, + 9.7905855178833 + ], + [ + 9.757089614868164, + 0.9644221067428589, + 9.717026710510254 + ], + [ + 9.757089614868164, + 0.9383825063705444, + 9.7905855178833 + ], + [ + 9.757089614868164, + 0.9383825063705444, + 9.717026710510254 + ] + ], + "center": { + "x": 9.826562881469727, + "y": 0.9514023065567017, + "z": 9.753806114196777 + }, + "size": { + "x": 0.138946533203125, + "y": 0.026039600372314453, + "z": 0.07355880737304688 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.757089614868164, + 0.9383825063705444, + 9.7905855178833 + ], + [ + 9.757089614868164, + 0.9383829832077026, + 9.717026710510254 + ], + [ + 9.896036148071289, + 0.9383831024169922, + 9.717026710510254 + ], + [ + 9.896036148071289, + 0.938382625579834, + 9.7905855178833 + ], + [ + 9.757089614868164, + 0.9644215106964111, + 9.7905855178833 + ], + [ + 9.757089614868164, + 0.9644219875335693, + 9.717026710510254 + ], + [ + 9.896036148071289, + 0.9644221067428589, + 9.717026710510254 + ], + [ + 9.896036148071289, + 0.9644216299057007, + 9.7905855178833 + ] + ] + } + } + }, + { + "objectId": "Egg|surface|6|26", + "object_info": { + "name": "Egg|surface|6|26", + "position": { + "x": 9.442055702209473, + "y": 0.9781785607337952, + "z": 9.598512649536133 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": true, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.054999999701976776, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 1.9758460521697998, + "objectType": "Egg", + "objectId": "Egg|surface|6|26", + "assetId": "Egg_19", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.468320846557617, + 1.0179742574691772, + 9.624578475952148 + ], + [ + 9.468320846557617, + 1.0179742574691772, + 9.572744369506836 + ], + [ + 9.468320846557617, + 0.9383828639984131, + 9.624578475952148 + ], + [ + 9.468320846557617, + 0.9383828639984131, + 9.572744369506836 + ], + [ + 9.415594100952148, + 1.0179742574691772, + 9.624578475952148 + ], + [ + 9.415594100952148, + 1.0179742574691772, + 9.572744369506836 + ], + [ + 9.415594100952148, + 0.9383828639984131, + 9.624578475952148 + ], + [ + 9.415594100952148, + 0.9383828639984131, + 9.572744369506836 + ] + ], + "center": { + "x": 9.441957473754883, + "y": 0.9781785607337952, + "z": 9.598661422729492 + }, + "size": { + "x": 0.052725791931152344, + "y": 0.07959139347076416, + "z": 0.0518341064453125 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.415594100952148, + 0.9383828639984131, + 9.624578475952148 + ], + [ + 9.415594100952148, + 0.9383828639984131, + 9.572744369506836 + ], + [ + 9.4683198928833, + 0.9383828639984131, + 9.572744369506836 + ], + [ + 9.4683198928833, + 0.9383828639984131, + 9.624578475952148 + ], + [ + 9.415594100952148, + 1.0179742574691772, + 9.624578475952148 + ], + [ + 9.415594100952148, + 1.0179742574691772, + 9.572744369506836 + ], + [ + 9.4683198928833, + 1.0179742574691772, + 9.572744369506836 + ], + [ + 9.4683198928833, + 1.0179742574691772, + 9.624578475952148 + ] + ] + } + } + }, + { + "objectId": "CounterTop|6|0", + "object_info": { + "name": "CounterTop|6|0", + "position": { + "x": 10.586999893188477, + "y": 0.0012565553188323975, + "z": 9.906636238098145 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Pan|surface|6|38", + "PepperShaker|surface|6|24", + "Statue|surface|6|35", + "Mug|surface|6|33", + "Cup|surface|6|22", + "SoapBottle|surface|6|20", + "Spoon|surface|6|29", + "Egg|surface|6|26", + "DishSponge|surface|6|40", + "Spatula|surface|6|34", + "SprayBottle|surface|6|39", + "Spoon|surface|6|30", + "SaltShaker|surface|6|37" + ], + "distance": 3.2010233402252197, + "objectType": "CounterTop", + "objectId": "CounterTop|6|0", + "assetId": "Countertop_L_6x4", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.586999893188477, + 0.9383828639984131, + 9.906635284423828 + ], + [ + 10.586999893188477, + 0.9383828639984131, + 8.077831268310547 + ], + [ + 10.586999893188477, + 2.086162567138672e-07, + 9.906635284423828 + ], + [ + 10.586999893188477, + 2.086162567138672e-07, + 8.077831268310547 + ], + [ + 9.3677978515625, + 0.9383828639984131, + 9.906635284423828 + ], + [ + 9.3677978515625, + 0.9383828639984131, + 8.077831268310547 + ], + [ + 9.3677978515625, + 2.086162567138672e-07, + 9.906635284423828 + ], + [ + 9.3677978515625, + 2.086162567138672e-07, + 8.077831268310547 + ] + ], + "center": { + "x": 9.977398872375488, + "y": 0.4691915214061737, + "z": 8.992233276367188 + }, + "size": { + "x": 1.2192020416259766, + "y": 0.938382625579834, + "z": 1.8288049697875977 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Spoon|surface|6|30", + "object_info": { + "name": "Spoon|surface|6|30", + "position": { + "x": 9.59584903717041, + "y": 0.9386671781539917, + "z": 9.36561393737793 + }, + "rotation": { + "x": 0.10866478830575943, + "y": 270.000732421875, + "z": 359.6162109375 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.03999999910593033, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 1.9474977254867554, + "objectType": "Spoon", + "objectId": "Spoon|surface|6|30", + "assetId": "Spoon_1", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.713079452514648, + 0.9572588801383972, + 9.385297775268555 + ], + [ + 9.713079452514648, + 0.9572588801383972, + 9.343864440917969 + ], + [ + 9.713079452514648, + 0.9382080435752869, + 9.385297775268555 + ], + [ + 9.713079452514648, + 0.9382080435752869, + 9.343864440917969 + ], + [ + 9.505643844604492, + 0.9572588801383972, + 9.385297775268555 + ], + [ + 9.505643844604492, + 0.9572588801383972, + 9.343864440917969 + ], + [ + 9.505643844604492, + 0.9382080435752869, + 9.385297775268555 + ], + [ + 9.505643844604492, + 0.9382080435752869, + 9.343864440917969 + ] + ], + "center": { + "x": 9.60936164855957, + "y": 0.947733461856842, + "z": 9.364581108093262 + }, + "size": { + "x": 0.20743560791015625, + "y": 0.01905083656311035, + "z": 0.04143333435058594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.505664825439453, + 0.9379144906997681, + 9.385235786437988 + ], + [ + 9.505663871765137, + 0.9381917715072632, + 9.343844413757324 + ], + [ + 9.713088035583496, + 0.9385851621627808, + 9.343842506408691 + ], + [ + 9.713089942932129, + 0.9383079409599304, + 9.385232925415039 + ], + [ + 9.50562858581543, + 0.9569703936576843, + 9.38536262512207 + ], + [ + 9.505627632141113, + 0.9572476744651794, + 9.343972206115723 + ], + [ + 9.713052749633789, + 0.957641065120697, + 9.34397029876709 + ], + [ + 9.713053703308105, + 0.9573637843132019, + 9.385360717773438 + ] + ] + } + } + }, + { + "objectId": "Pot|surface|6|28", + "object_info": { + "name": "Pot|surface|6|28", + "position": { + "x": 7.3588690757751465, + "y": 0.6777743101119995, + "z": 9.475521087646484 + }, + "rotation": { + "x": -1.3460327181746834e-06, + "y": 89.99971771240234, + "z": 0.000818484288174659 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5699999928474426, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.4009926319122314, + "objectType": "Pot", + "objectId": "Pot|surface|6|28", + "assetId": "Pot_5", + "parentReceptacles": [ + "DiningTable|6|2|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.493688583374023, + 0.843828558921814, + 9.618644714355469 + ], + [ + 7.493688583374023, + 0.843828558921814, + 9.3330078125 + ], + [ + 7.493688583374023, + 0.6782162189483643, + 9.618644714355469 + ], + [ + 7.493688583374023, + 0.6782162189483643, + 9.3330078125 + ], + [ + 7.224050521850586, + 0.843828558921814, + 9.618644714355469 + ], + [ + 7.224050521850586, + 0.843828558921814, + 9.3330078125 + ], + [ + 7.224050521850586, + 0.6782162189483643, + 9.618644714355469 + ], + [ + 7.224050521850586, + 0.6782162189483643, + 9.3330078125 + ] + ], + "center": { + "x": 7.358869552612305, + "y": 0.7610223889350891, + "z": 9.475826263427734 + }, + "size": { + "x": 0.2696380615234375, + "y": 0.1656123399734497, + "z": 0.28563690185546875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.493689060211182, + 0.678218424320221, + 9.333005905151367 + ], + [ + 7.493687629699707, + 0.6782143115997314, + 9.618644714355469 + ], + [ + 7.2240495681762695, + 0.6782143115997314, + 9.618642807006836 + ], + [ + 7.224050998687744, + 0.678218424320221, + 9.33300495147705 + ], + [ + 7.493689060211182, + 0.8438296318054199, + 9.333008766174316 + ], + [ + 7.493687629699707, + 0.8438255190849304, + 9.618646621704102 + ], + [ + 7.2240495681762695, + 0.8438255190849304, + 9.618645668029785 + ], + [ + 7.224050998687744, + 0.8438296318054199, + 9.3330078125 + ] + ] + } + } + }, + { + "objectId": "CellPhone|surface|6|36", + "object_info": { + "name": "CellPhone|surface|6|36", + "position": { + "x": 7.35886812210083, + "y": 0.6782166361808777, + "z": 10.363202095031738 + }, + "rotation": { + "x": 7.488393021048978e-05, + "y": 90.0003890991211, + "z": -0.0012406454188749194 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1599999964237213, + "salientMaterials": [ + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 2.2195281982421875, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|6|36", + "assetId": "RoboTHOR_cellphone_blackberry_v", + "parentReceptacles": [ + "DiningTable|6|2|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.4151201248168945, + 0.6924915313720703, + 10.39450454711914 + ], + [ + 7.4151201248168945, + 0.6924915313720703, + 10.331899642944336 + ], + [ + 7.4151201248168945, + 0.6782158613204956, + 10.39450454711914 + ], + [ + 7.4151201248168945, + 0.6782158613204956, + 10.331899642944336 + ], + [ + 7.302616119384766, + 0.6924915313720703, + 10.39450454711914 + ], + [ + 7.302616119384766, + 0.6924915313720703, + 10.331899642944336 + ], + [ + 7.302616119384766, + 0.6782158613204956, + 10.39450454711914 + ], + [ + 7.302616119384766, + 0.6782158613204956, + 10.331899642944336 + ] + ], + "center": { + "x": 7.35886812210083, + "y": 0.685353696346283, + "z": 10.363202095031738 + }, + "size": { + "x": 0.1125040054321289, + "y": 0.014275670051574707, + "z": 0.06260490417480469 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.415119647979736, + 0.6782158613204956, + 10.331899642944336 + ], + [ + 7.4151201248168945, + 0.6782172322273254, + 10.394503593444824 + ], + [ + 7.302616596221924, + 0.6782174110412598, + 10.39450454711914 + ], + [ + 7.302616119384766, + 0.6782160401344299, + 10.331900596618652 + ], + [ + 7.415119647979736, + 0.6924900412559509, + 10.331899642944336 + ], + [ + 7.4151201248168945, + 0.6924914121627808, + 10.394502639770508 + ], + [ + 7.302616596221924, + 0.6924915313720703, + 10.394503593444824 + ], + [ + 7.302616596221924, + 0.6924902200698853, + 10.331900596618652 + ] + ] + } + } + }, + { + "objectId": "SprayBottle|surface|6|39", + "object_info": { + "name": "SprayBottle|surface|6|39", + "position": { + "x": 9.44205379486084, + "y": 0.9378632307052612, + "z": 9.753796577453613 + }, + "rotation": { + "x": 0.014907661825418472, + "y": 269.9989013671875, + "z": 0.040948666632175446 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.10999999940395355, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.0838143825531006, + "objectType": "SprayBottle", + "objectId": "SprayBottle|surface|6|39", + "assetId": "Spray_Bottle_6", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.49439811706543, + 1.1838736534118652, + 9.770223617553711 + ], + [ + 9.49439811706543, + 1.1838736534118652, + 9.737226486206055 + ], + [ + 9.49439811706543, + 0.9383547306060791, + 9.770223617553711 + ], + [ + 9.49439811706543, + 0.9383547306060791, + 9.737226486206055 + ], + [ + 9.381900787353516, + 1.1838736534118652, + 9.770223617553711 + ], + [ + 9.381900787353516, + 1.1838736534118652, + 9.737226486206055 + ], + [ + 9.381900787353516, + 0.9383547306060791, + 9.770223617553711 + ], + [ + 9.381900787353516, + 0.9383547306060791, + 9.737226486206055 + ] + ], + "center": { + "x": 9.438149452209473, + "y": 1.0611141920089722, + "z": 9.753725051879883 + }, + "size": { + "x": 0.11249732971191406, + "y": 0.24551892280578613, + "z": 0.03299713134765625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.38193130493164, + 0.938378095626831, + 9.770222663879395 + ], + [ + 9.381932258605957, + 0.9383546113967896, + 9.737367630004883 + ], + [ + 9.49439811706543, + 0.9383838772773743, + 9.737369537353516 + ], + [ + 9.49439811706543, + 0.9384073615074158, + 9.770224571228027 + ], + [ + 9.381867408752441, + 1.183876395225525, + 9.770047187805176 + ], + [ + 9.381868362426758, + 1.1838529109954834, + 9.737192153930664 + ], + [ + 9.49433422088623, + 1.183882236480713, + 9.737194061279297 + ], + [ + 9.49433422088623, + 1.1839057207107544, + 9.770049095153809 + ] + ] + } + } + }, + { + "objectId": "GarbageCan|6|3", + "object_info": { + "name": "GarbageCan|6|3", + "position": { + "x": 6.568835258483887, + "y": -0.05039361119270325, + "z": 8.42866039276123 + }, + "rotation": { + "x": 359.9588928222656, + "y": 89.99987030029297, + "z": 359.9815368652344 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.699999988079071, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.7278025150299072, + "objectType": "GarbageCan", + "objectId": "GarbageCan|6|3", + "assetId": "bin_29", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.74216365814209, + 0.6587642431259155, + 8.623628616333008 + ], + [ + 6.74216365814209, + 0.6587642431259155, + 8.232809066772461 + ], + [ + 6.74216365814209, + -0.0021403133869171143, + 8.623628616333008 + ], + [ + 6.74216365814209, + -0.0021403133869171143, + 8.232809066772461 + ], + [ + 6.391571998596191, + 0.6587642431259155, + 8.623628616333008 + ], + [ + 6.391571998596191, + 0.6587642431259155, + 8.232809066772461 + ], + [ + 6.391571998596191, + -0.0021403133869171143, + 8.623628616333008 + ], + [ + 6.391571998596191, + -0.0021403133869171143, + 8.232809066772461 + ] + ], + "center": { + "x": 6.566867828369141, + "y": 0.328311949968338, + "z": 8.428218841552734 + }, + "size": { + "x": 0.35059165954589844, + "y": 0.6609045267105103, + "z": 0.3908195495605469 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.742166519165039, + -0.0020808465778827667, + 8.23300552368164 + ], + [ + 6.742165565490723, + -0.001954924315214157, + 8.623631477355957 + ], + [ + 6.392014503479004, + -0.0022062286734580994, + 8.62363052368164 + ], + [ + 6.39201545715332, + -0.002332150936126709, + 8.23300552368164 + ], + [ + 6.741692066192627, + 0.6588419675827026, + 8.232792854309082 + ], + [ + 6.7416911125183105, + 0.6589678525924683, + 8.623418807983398 + ], + [ + 6.391540050506592, + 0.6587165594100952, + 8.623417854309082 + ], + [ + 6.391541004180908, + 0.6585906744003296, + 8.232791900634766 + ] + ] + } + } + }, + { + "objectId": "Spoon|surface|6|29", + "object_info": { + "name": "Spoon|surface|6|29", + "position": { + "x": 9.518946647644043, + "y": 0.9386671781539917, + "z": 9.443269729614258 + }, + "rotation": { + "x": 0.1097664088010788, + "y": 270.00140380859375, + "z": 359.5987243652344 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.03999999910593033, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 1.9319705963134766, + "objectType": "Spoon", + "objectId": "Spoon|surface|6|29", + "assetId": "Spoon_1", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.636177062988281, + 0.957260012626648, + 9.462956428527832 + ], + [ + 9.636177062988281, + 0.957260012626648, + 9.421521186828613 + ], + [ + 9.636177062988281, + 0.9382011890411377, + 9.462956428527832 + ], + [ + 9.636177062988281, + 0.9382011890411377, + 9.421521186828613 + ], + [ + 9.428741455078125, + 0.957260012626648, + 9.462956428527832 + ], + [ + 9.428741455078125, + 0.957260012626648, + 9.421521186828613 + ], + [ + 9.428741455078125, + 0.9382011890411377, + 9.462956428527832 + ], + [ + 9.428741455078125, + 0.9382011890411377, + 9.421521186828613 + ] + ], + "center": { + "x": 9.532459259033203, + "y": 0.9477306008338928, + "z": 9.442238807678223 + }, + "size": { + "x": 0.20743560791015625, + "y": 0.019058823585510254, + "z": 0.04143524169921875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.428762435913086, + 0.937906801700592, + 9.462892532348633 + ], + [ + 9.428760528564453, + 0.9381966590881348, + 9.421502113342285 + ], + [ + 9.636185646057129, + 0.9385940432548523, + 9.421496391296387 + ], + [ + 9.636187553405762, + 0.9383041858673096, + 9.462886810302734 + ], + [ + 9.428726196289062, + 0.9569626450538635, + 9.463025093078613 + ], + [ + 9.42872428894043, + 0.957252562046051, + 9.421634674072266 + ], + [ + 9.636149406433105, + 0.9576499462127686, + 9.421629905700684 + ], + [ + 9.636150360107422, + 0.957360029220581, + 9.463020324707031 + ] + ] + } + } + }, + { + "objectId": "Ladle|surface|6|32", + "object_info": { + "name": "Ladle|surface|6|32", + "position": { + "x": 7.229639530181885, + "y": 0.7005589604377747, + "z": 10.15164566040039 + }, + "rotation": { + "x": 351.2943420410156, + "y": 85.39877319335938, + "z": 27.456687927246094 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07999999821186066, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.061525583267212, + "objectType": "Ladle", + "objectId": "Ladle|surface|6|32", + "assetId": "Ladle_1", + "parentReceptacles": [ + "DiningTable|6|2|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.384504318237305, + 0.7279442548751831, + 10.188520431518555 + ], + [ + 7.384504318237305, + 0.7279442548751831, + 10.125310897827148 + ], + [ + 7.384504318237305, + 0.677679181098938, + 10.188520431518555 + ], + [ + 7.384504318237305, + 0.677679181098938, + 10.125310897827148 + ], + [ + 7.100492477416992, + 0.7279442548751831, + 10.188520431518555 + ], + [ + 7.100492477416992, + 0.7279442548751831, + 10.125310897827148 + ], + [ + 7.100492477416992, + 0.677679181098938, + 10.188520431518555 + ], + [ + 7.100492477416992, + 0.677679181098938, + 10.125310897827148 + ] + ], + "center": { + "x": 7.242498397827148, + "y": 0.7028117179870605, + "z": 10.156915664672852 + }, + "size": { + "x": 0.2840118408203125, + "y": 0.05026507377624512, + "z": 0.06320953369140625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.389695167541504, + 0.7053394317626953, + 10.1202392578125 + ], + [ + 7.389592170715332, + 0.6763448715209961, + 10.176865577697754 + ], + [ + 7.108338832855225, + 0.633139431476593, + 10.154230117797852 + ], + [ + 7.1084418296813965, + 0.6621339321136475, + 10.097604751586914 + ], + [ + 7.3814697265625, + 0.747565507888794, + 10.141845703125 + ], + [ + 7.381366729736328, + 0.7185710072517395, + 10.198472023010254 + ], + [ + 7.100113391876221, + 0.6753655076026917, + 10.175836563110352 + ], + [ + 7.100216388702393, + 0.7043600082397461, + 10.119211196899414 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 8.100000381469727, + "y": 0.9009997844696045, + "z": 8.0 + }, + "agent_rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "agent_cameraHorizon": 60.00001525878906, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 8.100000381469727, + "y": 1.5759997367858887, + "z": 8.0 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "GarbageCan|6|3", + "Toaster|surface|6|31", + "Pot|surface|6|28", + "Chair|6|2|1", + "DiningTable|6|2|0" + ], + "different_object": [ + "DishSponge|surface|6|40", + "Pencil|surface|6|27", + "SaltShaker|surface|6|37", + "Spoon|surface|6|29", + "Egg|surface|6|26", + "Spatula|surface|6|34", + "Plate|surface|6|21", + "door|1|6", + "CounterTop|6|0", + "SprayBottle|surface|6|39", + "Ladle|surface|6|32", + "CellPhone|surface|6|36", + "Spoon|surface|6|30" + ] +} \ No newline at end of file diff --git a/train/train1843/1/0_depth_npy.npy b/train/train1843/1/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..30d5f54f5f26d417b70c414ff087c0f7bf668b5a --- /dev/null +++ b/train/train1843/1/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f91d6b53345346c4057cc445c8d33daee5c60665c2bd0b7f7c95319588c5259a +size 3145856 diff --git a/train/train1843/1/0_semantic_sensor_npy.npy b/train/train1843/1/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..9ff241d88f55db8ea6c7f22b22a28540fafd8fbb --- /dev/null +++ b/train/train1843/1/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:35611c1998229bbe4bd6ecefa818c72d37fbeb8c5b2a5e29663e212203db898f +size 2359424 diff --git a/train/train1843/1/1.json b/train/train1843/1/1.json new file mode 100644 index 0000000000000000000000000000000000000000..f689b22083fd4d81358df4ee292489ee838619f0 --- /dev/null +++ b/train/train1843/1/1.json @@ -0,0 +1,1093 @@ +{ + "object": [ + { + "objectId": "Fridge|6|1", + "object_info": { + "name": "Fridge|6|1", + "position": { + "x": 6.976770877838135, + "y": 0.008309364318847656, + "z": 6.714920520782471 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Potato|surface|6|25", + "Egg|surface|6|23", + "Tomato|surface|6|41" + ], + "distance": 2.049478769302368, + "objectType": "Fridge", + "objectId": "Fridge|6|1", + "assetId": "Fridge_7", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.557404518127441, + 2.0204920768737793, + 7.186298370361328 + ], + [ + 7.557404518127441, + 2.0204920768737793, + 6.392000198364258 + ], + [ + 7.557404518127441, + 4.76837158203125e-07, + 7.186298370361328 + ], + [ + 7.557404518127441, + 4.76837158203125e-07, + 6.392000198364258 + ], + [ + 6.392000198364258, + 2.0204920768737793, + 7.186298370361328 + ], + [ + 6.392000198364258, + 2.0204920768737793, + 6.392000198364258 + ], + [ + 6.392000198364258, + 4.76837158203125e-07, + 7.186298370361328 + ], + [ + 6.392000198364258, + 4.76837158203125e-07, + 6.392000198364258 + ] + ], + "center": { + "x": 6.97470235824585, + "y": 1.0102462768554688, + "z": 6.789149284362793 + }, + "size": { + "x": 1.1654043197631836, + "y": 2.020491600036621, + "z": 0.7942981719970703 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Chair|6|2|1", + "object_info": { + "name": "Chair|6|2|1", + "position": { + "x": 6.648900508880615, + "y": -0.0016570687294006348, + "z": 9.698123931884766 + }, + "rotation": { + "x": -0.0, + "y": 84.76823425292969, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 2.1765389442443848, + "objectType": "Chair", + "objectId": "Chair|6|2|1", + "assetId": "Chair_227_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.89082145690918, + 0.7736937999725342, + 9.908531188964844 + ], + [ + 6.89082145690918, + 0.7736937999725342, + 9.487716674804688 + ], + [ + 6.89082145690918, + -2.9206275939941406e-06, + 9.908531188964844 + ], + [ + 6.89082145690918, + -2.9206275939941406e-06, + 9.487716674804688 + ], + [ + 6.393077850341797, + 0.7736937999725342, + 9.908531188964844 + ], + [ + 6.393077850341797, + 0.7736937999725342, + 9.487716674804688 + ], + [ + 6.393077850341797, + -2.9206275939941406e-06, + 9.908531188964844 + ], + [ + 6.393077850341797, + -2.9206275939941406e-06, + 9.487716674804688 + ] + ], + "center": { + "x": 6.641949653625488, + "y": 0.3868454396724701, + "z": 9.698123931884766 + }, + "size": { + "x": 0.4977436065673828, + "y": 0.7736967206001282, + "z": 0.42081451416015625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.89082145690918, + -2.86102294921875e-06, + 9.528837203979492 + ], + [ + 6.856054306030273, + -2.86102294921875e-06, + 9.908531188964844 + ], + [ + 6.391991138458252, + -2.86102294921875e-06, + 9.86603832244873 + ], + [ + 6.426758289337158, + -2.86102294921875e-06, + 9.486344337463379 + ], + [ + 6.89082145690918, + 0.7736939191818237, + 9.528837203979492 + ], + [ + 6.856054306030273, + 0.7736939191818237, + 9.908531188964844 + ], + [ + 6.391991138458252, + 0.7736939191818237, + 9.86603832244873 + ], + [ + 6.426758289337158, + 0.7736939191818237, + 9.486344337463379 + ] + ] + } + } + }, + { + "objectId": "Stool|6|4", + "object_info": { + "name": "Stool|6|4", + "position": { + "x": 8.243863105773926, + "y": 0.000591576099395752, + "z": 6.585229873657227 + }, + "rotation": { + "x": 1.18705153465271, + "y": 359.9930725097656, + "z": 359.8995666503906 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.180000066757202, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 1.9083143472671509, + "objectType": "Stool", + "objectId": "Stool|6|4", + "assetId": "Stool_2_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.538818359375, + 0.7562337517738342, + 6.771154403686523 + ], + [ + 8.538818359375, + 0.7562337517738342, + 6.39228630065918 + ], + [ + 8.538818359375, + -2.491474151611328e-05, + 6.771154403686523 + ], + [ + 8.538818359375, + -2.491474151611328e-05, + 6.39228630065918 + ], + [ + 7.9479522705078125, + 0.7562337517738342, + 6.771154403686523 + ], + [ + 7.9479522705078125, + 0.7562337517738342, + 6.39228630065918 + ], + [ + 7.9479522705078125, + -2.491474151611328e-05, + 6.771154403686523 + ], + [ + 7.9479522705078125, + -2.491474151611328e-05, + 6.39228630065918 + ] + ], + "center": { + "x": 8.243385314941406, + "y": 0.37810441851615906, + "z": 6.581720352172852 + }, + "size": { + "x": 0.5908660888671875, + "y": 0.7562586665153503, + "z": 0.37886810302734375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 8.537458419799805, + -0.006932959891855717, + 6.77088737487793 + ], + [ + 7.947929382324219, + -0.005899687297642231, + 6.770837783813477 + ], + [ + 7.947975158691406, + 0.0019497345201671124, + 6.392021656036377 + ], + [ + 8.537504196166992, + 0.0009164621587842703, + 6.39207124710083 + ], + [ + 8.538780212402344, + 0.7481831312179565, + 6.786534309387207 + ], + [ + 7.949251651763916, + 0.7492163777351379, + 6.786484718322754 + ], + [ + 7.9492974281311035, + 0.7570657730102539, + 6.407668590545654 + ], + [ + 8.538825988769531, + 0.7560325264930725, + 6.407718181610107 + ] + ] + } + } + }, + { + "objectId": "DiningTable|6|2|0", + "object_info": { + "name": "DiningTable|6|2|0", + "position": { + "x": 7.235268592834473, + "y": -0.018440067768096924, + "z": 9.697439193725586 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood", + "Glass" + ], + "receptacleObjectIds": [ + "Pot|surface|6|28", + "Plate|surface|6|21", + "Pencil|surface|6|27", + "Toaster|surface|6|31", + "Ladle|surface|6|32", + "CellPhone|surface|6|36" + ], + "distance": 1.8775686025619507, + "objectType": "DiningTable", + "objectId": "DiningTable|6|2|0", + "assetId": "Dining_Table_201_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.729119777679443, + 0.6782166361808777, + 10.586999893188477 + ], + [ + 7.729119777679443, + 0.6782166361808777, + 8.807878494262695 + ], + [ + 7.729119777679443, + 1.5497207641601562e-06, + 10.586999893188477 + ], + [ + 7.729119777679443, + 1.5497207641601562e-06, + 8.807878494262695 + ], + [ + 6.741417407989502, + 0.6782166361808777, + 10.586999893188477 + ], + [ + 6.741417407989502, + 0.6782166361808777, + 8.807878494262695 + ], + [ + 6.741417407989502, + 1.5497207641601562e-06, + 10.586999893188477 + ], + [ + 6.741417407989502, + 1.5497207641601562e-06, + 8.807878494262695 + ] + ], + "center": { + "x": 7.235268592834473, + "y": 0.3391090929508209, + "z": 9.697439193725586 + }, + "size": { + "x": 0.9877023696899414, + "y": 0.6782150864601135, + "z": 1.7791213989257812 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.729119777679443, + 1.6093254089355469e-06, + 8.807878494262695 + ], + [ + 7.729119777679443, + 1.6093254089355469e-06, + 10.586999893188477 + ], + [ + 6.741417407989502, + 1.6093254089355469e-06, + 10.586999893188477 + ], + [ + 6.741417407989502, + 1.6093254089355469e-06, + 8.807878494262695 + ], + [ + 7.729119777679443, + 0.6782165169715881, + 8.807878494262695 + ], + [ + 7.729119777679443, + 0.6782165169715881, + 10.586999893188477 + ], + [ + 6.741417407989502, + 0.6782165169715881, + 10.586999893188477 + ], + [ + 6.741417407989502, + 0.6782165169715881, + 8.807878494262695 + ] + ] + } + } + }, + { + "objectId": "Toaster|surface|6|31", + "object_info": { + "name": "Toaster|surface|6|31", + "position": { + "x": 6.988070011138916, + "y": 0.6782166361808777, + "z": 9.031681060791016 + }, + "rotation": { + "x": -2.608218437671894e-06, + "y": 90.00001525878906, + "z": 3.174660378135741e-05 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 5.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.2979445457458496, + "objectType": "Toaster", + "objectId": "Toaster|surface|6|31", + "assetId": "Toaster_6", + "parentReceptacles": [ + "DiningTable|6|2|0", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.190628528594971, + 0.8852825164794922, + 9.130928039550781 + ], + [ + 7.190628528594971, + 0.8852825164794922, + 8.93243408203125 + ], + [ + 7.190628528594971, + 0.6782165765762329, + 9.130928039550781 + ], + [ + 7.190628528594971, + 0.6782165765762329, + 8.93243408203125 + ], + [ + 6.829248905181885, + 0.8852825164794922, + 9.130928039550781 + ], + [ + 6.829248905181885, + 0.8852825164794922, + 8.93243408203125 + ], + [ + 6.829248905181885, + 0.6782165765762329, + 9.130928039550781 + ], + [ + 6.829248905181885, + 0.6782165765762329, + 8.93243408203125 + ] + ], + "center": { + "x": 7.009938716888428, + "y": 0.7817495465278625, + "z": 9.031681060791016 + }, + "size": { + "x": 0.36137962341308594, + "y": 0.20706593990325928, + "z": 0.19849395751953125 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.190628528594971, + 0.6782164573669434, + 8.93243408203125 + ], + [ + 7.190628528594971, + 0.6782163381576538, + 9.130927085876465 + ], + [ + 6.829248428344727, + 0.6782163381576538, + 9.130928039550781 + ], + [ + 6.829248428344727, + 0.6782164573669434, + 8.932435035705566 + ], + [ + 7.190628528594971, + 0.885282576084137, + 8.93243408203125 + ], + [ + 7.190628528594971, + 0.8852824568748474, + 9.130928039550781 + ], + [ + 6.829248428344727, + 0.8852824568748474, + 9.130928039550781 + ], + [ + 6.829248428344727, + 0.885282576084137, + 8.932435035705566 + ] + ] + } + } + }, + { + "objectId": "Pot|surface|6|28", + "object_info": { + "name": "Pot|surface|6|28", + "position": { + "x": 7.3588690757751465, + "y": 0.6777743101119995, + "z": 9.475521087646484 + }, + "rotation": { + "x": -1.3460327181746834e-06, + "y": 89.99971771240234, + "z": 0.000818484288174659 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5699999928474426, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.4009926319122314, + "objectType": "Pot", + "objectId": "Pot|surface|6|28", + "assetId": "Pot_5", + "parentReceptacles": [ + "DiningTable|6|2|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.493688583374023, + 0.843828558921814, + 9.618644714355469 + ], + [ + 7.493688583374023, + 0.843828558921814, + 9.3330078125 + ], + [ + 7.493688583374023, + 0.6782162189483643, + 9.618644714355469 + ], + [ + 7.493688583374023, + 0.6782162189483643, + 9.3330078125 + ], + [ + 7.224050521850586, + 0.843828558921814, + 9.618644714355469 + ], + [ + 7.224050521850586, + 0.843828558921814, + 9.3330078125 + ], + [ + 7.224050521850586, + 0.6782162189483643, + 9.618644714355469 + ], + [ + 7.224050521850586, + 0.6782162189483643, + 9.3330078125 + ] + ], + "center": { + "x": 7.358869552612305, + "y": 0.7610223889350891, + "z": 9.475826263427734 + }, + "size": { + "x": 0.2696380615234375, + "y": 0.1656123399734497, + "z": 0.28563690185546875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.493689060211182, + 0.678218424320221, + 9.333005905151367 + ], + [ + 7.493687629699707, + 0.6782143115997314, + 9.618644714355469 + ], + [ + 7.2240495681762695, + 0.6782143115997314, + 9.618642807006836 + ], + [ + 7.224050998687744, + 0.678218424320221, + 9.33300495147705 + ], + [ + 7.493689060211182, + 0.8438296318054199, + 9.333008766174316 + ], + [ + 7.493687629699707, + 0.8438255190849304, + 9.618646621704102 + ], + [ + 7.2240495681762695, + 0.8438255190849304, + 9.618645668029785 + ], + [ + 7.224050998687744, + 0.8438296318054199, + 9.3330078125 + ] + ] + } + } + }, + { + "objectId": "GarbageCan|6|3", + "object_info": { + "name": "GarbageCan|6|3", + "position": { + "x": 6.568835258483887, + "y": -0.05039361119270325, + "z": 8.42866039276123 + }, + "rotation": { + "x": 359.9588928222656, + "y": 89.99987030029297, + "z": 359.9815368652344 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.699999988079071, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.7278025150299072, + "objectType": "GarbageCan", + "objectId": "GarbageCan|6|3", + "assetId": "bin_29", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.74216365814209, + 0.6587642431259155, + 8.623628616333008 + ], + [ + 6.74216365814209, + 0.6587642431259155, + 8.232809066772461 + ], + [ + 6.74216365814209, + -0.0021403133869171143, + 8.623628616333008 + ], + [ + 6.74216365814209, + -0.0021403133869171143, + 8.232809066772461 + ], + [ + 6.391571998596191, + 0.6587642431259155, + 8.623628616333008 + ], + [ + 6.391571998596191, + 0.6587642431259155, + 8.232809066772461 + ], + [ + 6.391571998596191, + -0.0021403133869171143, + 8.623628616333008 + ], + [ + 6.391571998596191, + -0.0021403133869171143, + 8.232809066772461 + ] + ], + "center": { + "x": 6.566867828369141, + "y": 0.328311949968338, + "z": 8.428218841552734 + }, + "size": { + "x": 0.35059165954589844, + "y": 0.6609045267105103, + "z": 0.3908195495605469 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.742166519165039, + -0.0020808465778827667, + 8.23300552368164 + ], + [ + 6.742165565490723, + -0.001954924315214157, + 8.623631477355957 + ], + [ + 6.392014503479004, + -0.0022062286734580994, + 8.62363052368164 + ], + [ + 6.39201545715332, + -0.002332150936126709, + 8.23300552368164 + ], + [ + 6.741692066192627, + 0.6588419675827026, + 8.232792854309082 + ], + [ + 6.7416911125183105, + 0.6589678525924683, + 8.623418807983398 + ], + [ + 6.391540050506592, + 0.6587165594100952, + 8.623417854309082 + ], + [ + 6.391541004180908, + 0.6585906744003296, + 8.232791900634766 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 8.100000381469727, + "y": 0.9009997844696045, + "z": 8.0 + }, + "agent_rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "agent_cameraHorizon": 60.00001525878906, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 8.100000381469727, + "y": 1.5759997367858887, + "z": 8.0 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "GarbageCan|6|3", + "Toaster|surface|6|31", + "Pot|surface|6|28", + "Chair|6|2|1", + "DiningTable|6|2|0" + ], + "different_object": [ + "Stool|6|4", + "Fridge|6|1" + ] +} \ No newline at end of file diff --git a/train/train1843/1/1_depth_npy.npy b/train/train1843/1/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..71be74fb0fa933181aaf9f3dccd7bccf642786d4 --- /dev/null +++ b/train/train1843/1/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9cf90184f87727ea57e730e847e6b1e6f37fb8641b28175c3b6338c4fa1ada09 +size 3145856 diff --git a/train/train1843/1/1_semantic_sensor_npy.npy b/train/train1843/1/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..1f9117088da694d634b216daf51734bf0b40a5b9 --- /dev/null +++ b/train/train1843/1/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a57b240b91773fcb495cff62fd2145535c1042e190ea9d8df6bc9c49f9b78135 +size 2359424 diff --git a/train/train1843/1/depth_0.png b/train/train1843/1/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..f9016378aaeebddce4642a53630065d5104bcae2 Binary files /dev/null and b/train/train1843/1/depth_0.png differ diff --git a/train/train1843/1/depth_1.png b/train/train1843/1/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..30e1649084a23f22c7b9a0508d21f0ba7d16be88 Binary files /dev/null and b/train/train1843/1/depth_1.png differ diff --git a/train/train1843/1/mask_questions.jsonl b/train/train1843/1/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4fb4757b493852f3de65577c38d249204546f7ae --- /dev/null +++ b/train/train1843/1/mask_questions.jsonl @@ -0,0 +1,8 @@ +{"id": 11147, "folder_dir": "train1843/1", "pair_name": "0-1:GarbageCan|6|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. SaltShaker\nB. Doorway\nC. GarbageCan\nD. Toaster", "answer": "C", "object_name": "GarbageCan", "image_1": "train1843/1/rgb_0.png", "image_2": "train1843/1/rgb_1.png", "mask_image": "train1843/1/rgb_1_mask_GarbageCan|6|3.png", "options": ["SaltShaker", "Doorway", "GarbageCan", "Toaster"]} +{"id": 11148, "folder_dir": "train1843/1", "pair_name": "0-1:Toaster|surface|6|31", "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. Pencil\nB. Toaster\nC. GarbageCan\nD. Ladle", "answer": "B", "object_name": "Toaster", "image_1": "train1843/1/rgb_0.png", "image_2": "train1843/1/rgb_1.png", "mask_image": "train1843/1/rgb_1_mask_Toaster|surface|6|31.png", "options": ["Pencil", "Toaster", "GarbageCan", "Ladle"]} +{"id": 11149, "folder_dir": "train1843/1", "pair_name": "0-1:Pot|surface|6|28", "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. Plate\nB. GarbageCan\nC. Pot\nD. DishSponge", "answer": "C", "object_name": "Pot", "image_1": "train1843/1/rgb_0.png", "image_2": "train1843/1/rgb_1.png", "mask_image": "train1843/1/rgb_1_mask_Pot|surface|6|28.png", "options": ["Plate", "GarbageCan", "Pot", "DishSponge"]} +{"id": 11150, "folder_dir": "train1843/1", "pair_name": "0-1:Chair|6|2|1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Ladle\nB. Chair\nC. SaltShaker\nD. GarbageCan", "answer": "B", "object_name": "Chair", "image_1": "train1843/1/rgb_0.png", "image_2": "train1843/1/rgb_1.png", "mask_image": "train1843/1/rgb_1_mask_Chair|6|2|1.png", "options": ["Ladle", "Chair", "SaltShaker", "GarbageCan"]} +{"id": 11151, "folder_dir": "train1843/1", "pair_name": "1-0:GarbageCan|6|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. Toaster\nB. Fridge\nC. GarbageCan\nD. Stool", "answer": "C", "object_name": "GarbageCan", "image_1": "train1843/1/rgb_1.png", "image_2": "train1843/1/rgb_0.png", "mask_image": "train1843/1/rgb_0_mask_GarbageCan|6|3.png", "options": ["Toaster", "Fridge", "GarbageCan", "Stool"]} +{"id": 11152, "folder_dir": "train1843/1", "pair_name": "1-0:Toaster|surface|6|31", "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. Stool\nB. Toaster\nC. Fridge\nD. GarbageCan", "answer": "B", "object_name": "Toaster", "image_1": "train1843/1/rgb_1.png", "image_2": "train1843/1/rgb_0.png", "mask_image": "train1843/1/rgb_0_mask_Toaster|surface|6|31.png", "options": ["Stool", "Toaster", "Fridge", "GarbageCan"]} +{"id": 11153, "folder_dir": "train1843/1", "pair_name": "1-0:Pot|surface|6|28", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Fridge\nB. Pot\nC. GarbageCan\nD. Stool", "answer": "B", "object_name": "Pot", "image_1": "train1843/1/rgb_1.png", "image_2": "train1843/1/rgb_0.png", "mask_image": "train1843/1/rgb_0_mask_Pot|surface|6|28.png", "options": ["Fridge", "Pot", "GarbageCan", "Stool"]} +{"id": 11154, "folder_dir": "train1843/1", "pair_name": "1-0:Chair|6|2|1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Chair\nB. Fridge\nC. GarbageCan\nD. Stool", "answer": "A", "object_name": "Chair", "image_1": "train1843/1/rgb_1.png", "image_2": "train1843/1/rgb_0.png", "mask_image": "train1843/1/rgb_0_mask_Chair|6|2|1.png", "options": ["Chair", "Fridge", "GarbageCan", "Stool"]} diff --git a/train/train1843/1/questions_distance.jsonl b/train/train1843/1/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7184046efc7d8c7f296cfedd8f0a2da52e568d3b --- /dev/null +++ b/train/train1843/1/questions_distance.jsonl @@ -0,0 +1,5 @@ +{"id": 4535, "folder_dir": "train1843/1", "query": "Which of the following objects is closest to GarbageCan in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Chair\nB. Toaster\nC. Pot\nD. Other\n", "answer": "B", "src_object": "GarbageCan", "target_object": "Toaster", "question": "Which of the following objects is closest to GarbageCan in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Chair", "semantic_id": "Chair|6|2|1", "distance": 1.2734686444321952, "com": {"x": 6.641949653625488, "y": 0.3868454396724701, "z": 9.698123931884766}}, {"text": "Toaster", "semantic_id": "Toaster|surface|6|31", "distance": 0.8752623128382372, "com": {"x": 7.009938716888428, "y": 0.7817495465278625, "z": 9.031681060791016}}, {"text": "Pot", "semantic_id": "Pot|surface|6|28", "distance": 1.3827459512009166, "com": {"x": 7.358869552612305, "y": 0.7610223889350891, "z": 9.475826263427734}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1843/1/rgb_0.png", "image_2": "train1843/1/rgb_1.png"} +{"id": 4536, "folder_dir": "train1843/1", "query": "Which of the following objects is closest to Toaster in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Chair\nB. DiningTable\nC. Pot\nD. Other\n", "answer": "C", "src_object": "Toaster", "target_object": "Pot", "question": "Which of the following objects is closest to Toaster in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Chair", "semantic_id": "Chair|6|2|1", "distance": 0.8576195571021404, "com": {"x": 6.641949653625488, "y": 0.3868454396724701, "z": 9.698123931884766}}, {"text": "DiningTable", "semantic_id": "DiningTable|6|2|0", "distance": 0.8306250752928629, "com": {"x": 7.235268592834473, "y": 0.3391090929508209, "z": 9.697439193725586}}, {"text": "Pot", "semantic_id": "Pot|surface|6|28", "distance": 0.5651966951478492, "com": {"x": 7.358869552612305, "y": 0.7610223889350891, "z": 9.475826263427734}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1843/1/rgb_0.png", "image_2": "train1843/1/rgb_1.png"} +{"id": 4537, "folder_dir": "train1843/1", "query": "Which of the following objects is closest to Pot in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Plate\nB. DiningTable\nC. Toaster\nD. Other\n", "answer": "B", "src_object": "Pot", "target_object": "DiningTable", "question": "Which of the following objects is closest to Pot in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Plate", "semantic_id": "Plate|surface|6|21", "distance": 0.5129393028039603, "com": {"x": 7.602934837341309, "y": 0.6879173517227173, "z": 9.921016693115234}}, {"text": "DiningTable", "semantic_id": "DiningTable|6|2|0", "distance": 0.49234166740334945, "com": {"x": 7.235268592834473, "y": 0.3391090929508209, "z": 9.697439193725586}}, {"text": "Toaster", "semantic_id": "Toaster|surface|6|31", "distance": 0.5651966951478492, "com": {"x": 7.009938716888428, "y": 0.7817495465278625, "z": 9.031681060791016}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1843/1/rgb_0.png", "image_2": "train1843/1/rgb_1.png"} +{"id": 4538, "folder_dir": "train1843/1", "query": "Which of the following objects is closest to Chair in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. DiningTable\nB. Pencil\nC. Ladle\nD. Other\n", "answer": "B", "src_object": "Chair", "target_object": "Pencil", "question": "Which of the following objects is closest to Chair in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "DiningTable", "semantic_id": "DiningTable|6|2|0", "distance": 0.5952365842996805, "com": {"x": 7.235268592834473, "y": 0.3391090929508209, "z": 9.697439193725586}}, {"text": "Pencil", "semantic_id": "Pencil|surface|6|27", "distance": 0.5085653210644424, "com": {"x": 6.9912614822387695, "y": 0.6829441785812378, "z": 9.919360160827637}}, {"text": "Ladle", "semantic_id": "Ladle|surface|6|32", "distance": 0.819135725792044, "com": {"x": 7.242498397827148, "y": 0.7028117179870605, "z": 10.156915664672852}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1843/1/rgb_0.png", "image_2": "train1843/1/rgb_1.png"} +{"id": 4539, "folder_dir": "train1843/1", "query": "Which of the following objects is closest to DiningTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Pot\nB. Pencil\nC. Plate\nD. Other\n", "answer": "B", "src_object": "DiningTable", "target_object": "Pencil", "question": "Which of the following objects is closest to DiningTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Pot", "semantic_id": "Pot|surface|6|28", "distance": 0.49234166740334945, "com": {"x": 7.358869552612305, "y": 0.7610223889350891, "z": 9.475826263427734}}, {"text": "Pencil", "semantic_id": "Pencil|surface|6|27", "distance": 0.47645666305682965, "com": {"x": 6.9912614822387695, "y": 0.6829441785812378, "z": 9.919360160827637}}, {"text": "Plate", "semantic_id": "Plate|surface|6|21", "distance": 0.5539246943137406, "com": {"x": 7.602934837341309, "y": 0.6879173517227173, "z": 9.921016693115234}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1843/1/rgb_0.png", "image_2": "train1843/1/rgb_1.png"} diff --git a/train/train1843/1/rgb_0.png b/train/train1843/1/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..2dd1a099c6c21db6a9963332638651534f589d71 --- /dev/null +++ b/train/train1843/1/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7b634ea018646d6da9a936378315a1a6c6293d3063253566c56f5dbb1473e9f7 +size 921564 diff --git a/train/train1843/1/rgb_0_mask_Chair|6|2|1.png b/train/train1843/1/rgb_0_mask_Chair|6|2|1.png new file mode 100644 index 0000000000000000000000000000000000000000..5314481eb5bebc35e155a1111b05c0870ab48335 --- /dev/null +++ b/train/train1843/1/rgb_0_mask_Chair|6|2|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f73927fcd1afc94c65272352e076a67ddef35c096152eec0028acfee6a5577bd +size 809649 diff --git a/train/train1843/1/rgb_0_mask_GarbageCan|6|3.png b/train/train1843/1/rgb_0_mask_GarbageCan|6|3.png new file mode 100644 index 0000000000000000000000000000000000000000..bd115bc291a2e65ce9c67a7a8eeb029131cb959a --- /dev/null +++ b/train/train1843/1/rgb_0_mask_GarbageCan|6|3.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b1d3193751f3bad074d341898c3354c0859648a7498df00029c2e4eb8712551d +size 792857 diff --git a/train/train1843/1/rgb_0_mask_Pot|surface|6|28.png b/train/train1843/1/rgb_0_mask_Pot|surface|6|28.png new file mode 100644 index 0000000000000000000000000000000000000000..a2076a1d4c7f512d67b819e28ee567ddb54dabd0 --- /dev/null +++ b/train/train1843/1/rgb_0_mask_Pot|surface|6|28.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:16bf44ef95ca0c5495adee039898f86765270086eb10561179d43c51fa9a9bce +size 809423 diff --git a/train/train1843/1/rgb_0_mask_Toaster|surface|6|31.png b/train/train1843/1/rgb_0_mask_Toaster|surface|6|31.png new file mode 100644 index 0000000000000000000000000000000000000000..08c44df7d98735a0e457d172a1d87d8da26f6237 --- /dev/null +++ b/train/train1843/1/rgb_0_mask_Toaster|surface|6|31.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ae7c4515ae9ac95b4a1f98ba163152a202a4cba4dff94d5f75bf291fc43ce7a4 +size 806437 diff --git a/train/train1843/1/rgb_1.png b/train/train1843/1/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..88de4f3e54dd6f57a969a20924d831b904d6e729 --- /dev/null +++ b/train/train1843/1/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a53600bd2a5b62f9624c19af55ed64bd40db85a881d1a8f4c061c0ff05e80192 +size 883664 diff --git a/train/train1843/1/rgb_1_mask_Chair|6|2|1.png b/train/train1843/1/rgb_1_mask_Chair|6|2|1.png new file mode 100644 index 0000000000000000000000000000000000000000..fc277bde4d705f5cf989d69ec9470ea09594fb43 --- /dev/null +++ b/train/train1843/1/rgb_1_mask_Chair|6|2|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4790dfd4cc794ac07b12c2d422e4d6b1d25c4e7ae3ea5da69e51d98e95c4572a +size 780360 diff --git a/train/train1843/1/rgb_1_mask_GarbageCan|6|3.png b/train/train1843/1/rgb_1_mask_GarbageCan|6|3.png new file mode 100644 index 0000000000000000000000000000000000000000..ce9411244bab47132dbe76bb78bbece5665d9488 --- /dev/null +++ b/train/train1843/1/rgb_1_mask_GarbageCan|6|3.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:44bb94817198a2daea2259b4b95375f5ac9bc93f80ecdb6363155f9f4d6e5ee3 +size 774352 diff --git a/train/train1843/1/rgb_1_mask_Pot|surface|6|28.png b/train/train1843/1/rgb_1_mask_Pot|surface|6|28.png new file mode 100644 index 0000000000000000000000000000000000000000..29d58ee9b12a3e65c04126a76da81155d65836b9 --- /dev/null +++ b/train/train1843/1/rgb_1_mask_Pot|surface|6|28.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0b8de57b9eae198b71a2f69c2e759ad205b81bf0715d80636e61c0988d22e3d5 +size 781653 diff --git a/train/train1843/1/rgb_1_mask_Toaster|surface|6|31.png b/train/train1843/1/rgb_1_mask_Toaster|surface|6|31.png new file mode 100644 index 0000000000000000000000000000000000000000..cffb3fe206d39e14d078ef636072cb901ec9fada --- /dev/null +++ b/train/train1843/1/rgb_1_mask_Toaster|surface|6|31.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b86890bf8755e73d16136c36e8e4d3a62bb84a08a7f48dd2c0c84a06d5c6a1b3 +size 772695 diff --git a/train/train1843/1/semantic_0.png b/train/train1843/1/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..787cdfb979b9cc1cad2f8d501b1a40a0ad1bade5 Binary files /dev/null and b/train/train1843/1/semantic_0.png differ diff --git a/train/train1843/1/semantic_1.png b/train/train1843/1/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..db7d3d204c327675b16fb57ee314c0695bb9dc73 Binary files /dev/null and b/train/train1843/1/semantic_1.png differ diff --git a/train/train1843/2/0.json b/train/train1843/2/0.json new file mode 100644 index 0000000000000000000000000000000000000000..a37f2d9e65281c475ddb6422a5fa0b061e6fce1d --- /dev/null +++ b/train/train1843/2/0.json @@ -0,0 +1,848 @@ +{ + "object": [ + { + "objectId": "Fridge|6|1", + "object_info": { + "name": "Fridge|6|1", + "position": { + "x": 6.976770877838135, + "y": 0.008309364318847656, + "z": 6.714920520782471 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Potato|surface|6|25", + "Egg|surface|6|23", + "Tomato|surface|6|41" + ], + "distance": 2.049478769302368, + "objectType": "Fridge", + "objectId": "Fridge|6|1", + "assetId": "Fridge_7", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.557404518127441, + 2.0204920768737793, + 7.186298370361328 + ], + [ + 7.557404518127441, + 2.0204920768737793, + 6.392000198364258 + ], + [ + 7.557404518127441, + 4.76837158203125e-07, + 7.186298370361328 + ], + [ + 7.557404518127441, + 4.76837158203125e-07, + 6.392000198364258 + ], + [ + 6.392000198364258, + 2.0204920768737793, + 7.186298370361328 + ], + [ + 6.392000198364258, + 2.0204920768737793, + 6.392000198364258 + ], + [ + 6.392000198364258, + 4.76837158203125e-07, + 7.186298370361328 + ], + [ + 6.392000198364258, + 4.76837158203125e-07, + 6.392000198364258 + ] + ], + "center": { + "x": 6.97470235824585, + "y": 1.0102462768554688, + "z": 6.789149284362793 + }, + "size": { + "x": 1.1654043197631836, + "y": 2.020491600036621, + "z": 0.7942981719970703 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Stool|6|4", + "object_info": { + "name": "Stool|6|4", + "position": { + "x": 8.243863105773926, + "y": 0.000591576099395752, + "z": 6.585229873657227 + }, + "rotation": { + "x": 1.18705153465271, + "y": 359.9930725097656, + "z": 359.8995666503906 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.180000066757202, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 1.9083143472671509, + "objectType": "Stool", + "objectId": "Stool|6|4", + "assetId": "Stool_2_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.538818359375, + 0.7562337517738342, + 6.771154403686523 + ], + [ + 8.538818359375, + 0.7562337517738342, + 6.39228630065918 + ], + [ + 8.538818359375, + -2.491474151611328e-05, + 6.771154403686523 + ], + [ + 8.538818359375, + -2.491474151611328e-05, + 6.39228630065918 + ], + [ + 7.9479522705078125, + 0.7562337517738342, + 6.771154403686523 + ], + [ + 7.9479522705078125, + 0.7562337517738342, + 6.39228630065918 + ], + [ + 7.9479522705078125, + -2.491474151611328e-05, + 6.771154403686523 + ], + [ + 7.9479522705078125, + -2.491474151611328e-05, + 6.39228630065918 + ] + ], + "center": { + "x": 8.243385314941406, + "y": 0.37810441851615906, + "z": 6.581720352172852 + }, + "size": { + "x": 0.5908660888671875, + "y": 0.7562586665153503, + "z": 0.37886810302734375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 8.537458419799805, + -0.006932959891855717, + 6.77088737487793 + ], + [ + 7.947929382324219, + -0.005899687297642231, + 6.770837783813477 + ], + [ + 7.947975158691406, + 0.0019497345201671124, + 6.392021656036377 + ], + [ + 8.537504196166992, + 0.0009164621587842703, + 6.39207124710083 + ], + [ + 8.538780212402344, + 0.7481831312179565, + 6.786534309387207 + ], + [ + 7.949251651763916, + 0.7492163777351379, + 6.786484718322754 + ], + [ + 7.9492974281311035, + 0.7570657730102539, + 6.407668590545654 + ], + [ + 8.538825988769531, + 0.7560325264930725, + 6.407718181610107 + ] + ] + } + } + }, + { + "objectId": "DiningTable|7|1", + "object_info": { + "name": "DiningTable|7|1", + "position": { + "x": 9.697437286376953, + "y": -0.018440067768096924, + "z": 4.763852596282959 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood", + "Glass" + ], + "receptacleObjectIds": [ + "Statue|surface|7|50", + "Bowl|surface|7|43", + "Book|surface|7|48", + "Box|surface|7|55", + "Pen|surface|7|45", + "CreditCard|surface|7|51", + "Statue|surface|7|49" + ], + "distance": 3.984957456588745, + "objectType": "DiningTable", + "objectId": "DiningTable|7|1", + "assetId": "Dining_Table_201_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.586997985839844, + 0.6782165169715881, + 5.25770378112793 + ], + [ + 10.586997985839844, + 0.6782165169715881, + 4.270001411437988 + ], + [ + 10.586997985839844, + 1.5497207641601562e-06, + 5.25770378112793 + ], + [ + 10.586997985839844, + 1.5497207641601562e-06, + 4.270001411437988 + ], + [ + 8.807876586914062, + 0.6782165169715881, + 5.25770378112793 + ], + [ + 8.807876586914062, + 0.6782165169715881, + 4.270001411437988 + ], + [ + 8.807876586914062, + 1.5497207641601562e-06, + 5.25770378112793 + ], + [ + 8.807876586914062, + 1.5497207641601562e-06, + 4.270001411437988 + ] + ], + "center": { + "x": 9.697437286376953, + "y": 0.33910903334617615, + "z": 4.763852596282959 + }, + "size": { + "x": 1.7791213989257812, + "y": 0.678214967250824, + "z": 0.9877023696899414 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 10.586997985839844, + 1.6093254089355469e-06, + 5.25770378112793 + ], + [ + 8.807876586914062, + 1.6093254089355469e-06, + 5.25770378112793 + ], + [ + 8.807876586914062, + 1.6093254089355469e-06, + 4.270001411437988 + ], + [ + 10.586997985839844, + 1.6093254089355469e-06, + 4.270001411437988 + ], + [ + 10.586997985839844, + 0.6782165169715881, + 5.25770378112793 + ], + [ + 8.807876586914062, + 0.6782165169715881, + 5.25770378112793 + ], + [ + 8.807876586914062, + 0.6782165169715881, + 4.270001411437988 + ], + [ + 10.586997985839844, + 0.6782165169715881, + 4.270001411437988 + ] + ] + } + } + }, + { + "objectId": "Box|surface|7|55", + "object_info": { + "name": "Box|surface|7|55", + "position": { + "x": 10.363200187683105, + "y": 0.9251344799995422, + "z": 5.134660720825195 + }, + "rotation": { + "x": 0.0001798956363927573, + "y": 0.0002077342214761302, + "z": 0.00026511040050536394 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.30000001192092896, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": [], + "distance": 3.9103243350982666, + "objectType": "Box", + "objectId": "Box|surface|7|55", + "assetId": "Box_9", + "parentReceptacles": [ + "DiningTable|7|1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.575349807739258, + 0.9903056621551514, + 5.250185012817383 + ], + [ + 10.575349807739258, + 0.9903056621551514, + 4.81419563293457 + ], + [ + 10.575349807739258, + 0.6782164573669434, + 5.250185012817383 + ], + [ + 10.575349807739258, + 0.6782164573669434, + 4.81419563293457 + ], + [ + 10.156194686889648, + 0.9903056621551514, + 5.250185012817383 + ], + [ + 10.156194686889648, + 0.9903056621551514, + 4.81419563293457 + ], + [ + 10.156194686889648, + 0.6782164573669434, + 5.250185012817383 + ], + [ + 10.156194686889648, + 0.6782164573669434, + 4.81419563293457 + ] + ], + "center": { + "x": 10.365772247314453, + "y": 0.8342610597610474, + "z": 5.032190322875977 + }, + "size": { + "x": 0.4191551208496094, + "y": 0.312089204788208, + "z": 0.4359893798828125 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 10.575352668762207, + 0.6782156229019165, + 5.250184059143066 + ], + [ + 10.156195640563965, + 0.6782136559486389, + 5.250185489654541 + ], + [ + 10.156193733215332, + 0.6782150268554688, + 4.814191818237305 + ], + [ + 10.575350761413574, + 0.6782169938087463, + 4.81419038772583 + ], + [ + 10.575350761413574, + 0.9903079271316528, + 5.250185012817383 + ], + [ + 10.156193733215332, + 0.9903059601783752, + 5.250186443328857 + ], + [ + 10.1561918258667, + 0.9903073310852051, + 4.814192771911621 + ], + [ + 10.575348854064941, + 0.9903092980384827, + 4.8141913414001465 + ] + ] + } + } + }, + { + "objectId": "Painting|7|4", + "object_info": { + "name": "Painting|7|4", + "position": { + "x": 10.610312461853027, + "y": 1.843272089958191, + "z": 4.801291465759277 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.4266462326049805, + "objectType": "Painting", + "objectId": "Painting|7|4", + "assetId": "Wall_Decor_Painting_6", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.59433650970459, + 2.1440935134887695, + 5.201486110687256 + ], + [ + 10.59433650970459, + 2.1440935134887695, + 4.4040913581848145 + ], + [ + 10.59433650970459, + 1.542710304260254, + 5.201486110687256 + ], + [ + 10.59433650970459, + 1.542710304260254, + 4.4040913581848145 + ], + [ + 10.586962699890137, + 2.1440935134887695, + 5.201486110687256 + ], + [ + 10.586962699890137, + 2.1440935134887695, + 4.4040913581848145 + ], + [ + 10.586962699890137, + 1.542710304260254, + 5.201486110687256 + ], + [ + 10.586962699890137, + 1.542710304260254, + 4.4040913581848145 + ] + ], + "center": { + "x": 10.590649604797363, + "y": 1.8434019088745117, + "z": 4.802788734436035 + }, + "size": { + "x": 0.007373809814453125, + "y": 0.6013832092285156, + "z": 0.7973947525024414 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|6|7", + "object_info": { + "name": "door|6|7", + "position": { + "x": 8.643109321594238, + "y": -0.0005974769592285156, + "z": 6.367167949676514 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1843817234039307, + "objectType": "Doorway", + "objectId": "door|6|7", + "assetId": "Doorway_4", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.684856414794922, + 2.1035876274108887, + 7.285187721252441 + ], + [ + 9.684856414794922, + 2.1035876274108887, + 6.296596527099609 + ], + [ + 9.684856414794922, + 4.76837158203125e-07, + 7.285187721252441 + ], + [ + 9.684856414794922, + 4.76837158203125e-07, + 6.296596527099609 + ], + [ + 8.603919982910156, + 2.1035876274108887, + 7.285187721252441 + ], + [ + 8.603919982910156, + 2.1035876274108887, + 6.296596527099609 + ], + [ + 8.603919982910156, + 4.76837158203125e-07, + 7.285187721252441 + ], + [ + 8.603919982910156, + 4.76837158203125e-07, + 6.296596527099609 + ] + ], + "center": { + "x": 9.144388198852539, + "y": 1.0517940521240234, + "z": 6.790892124176025 + }, + "size": { + "x": 1.0809364318847656, + "y": 2.1035871505737305, + "z": 0.988591194152832 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 8.100000381469727, + "y": 0.9009997844696045, + "z": 8.0 + }, + "agent_rotation": { + "x": -0.0, + "y": 180.0, + "z": 0.0 + }, + "agent_cameraHorizon": 30.000003814697266, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 8.100000381469727, + "y": 1.5759997367858887, + "z": 8.0 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Stool|6|4", + "Fridge|6|1" + ], + "different_object": [ + "DiningTable|7|1", + "Painting|7|4", + "Box|surface|7|55", + "door|6|7" + ] +} \ No newline at end of file diff --git a/train/train1843/2/0_depth_npy.npy b/train/train1843/2/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..353354a196ae167a21e835f2b9ddda8f2200e5d0 --- /dev/null +++ b/train/train1843/2/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e1816c73a414b5d89105606e8b506d47c565a19db3062114ae1a5b4132fbebd9 +size 3145856 diff --git a/train/train1843/2/0_semantic_sensor_npy.npy b/train/train1843/2/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..50025b7adf7f378c45d06e13f1f5681b17392aea --- /dev/null +++ b/train/train1843/2/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b29b91c871249fa1ebbc7abc6646cbac2f3e410e8521104380c31608fbacd908 +size 2359424 diff --git a/train/train1843/2/1.json b/train/train1843/2/1.json new file mode 100644 index 0000000000000000000000000000000000000000..9be147d13840057996eb37a4fa6cc5bb1ce6c0e8 --- /dev/null +++ b/train/train1843/2/1.json @@ -0,0 +1,1093 @@ +{ + "object": [ + { + "objectId": "Fridge|6|1", + "object_info": { + "name": "Fridge|6|1", + "position": { + "x": 6.976770877838135, + "y": 0.008309364318847656, + "z": 6.714920520782471 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Potato|surface|6|25", + "Egg|surface|6|23", + "Tomato|surface|6|41" + ], + "distance": 2.049478769302368, + "objectType": "Fridge", + "objectId": "Fridge|6|1", + "assetId": "Fridge_7", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.557404518127441, + 2.0204920768737793, + 7.186298370361328 + ], + [ + 7.557404518127441, + 2.0204920768737793, + 6.392000198364258 + ], + [ + 7.557404518127441, + 4.76837158203125e-07, + 7.186298370361328 + ], + [ + 7.557404518127441, + 4.76837158203125e-07, + 6.392000198364258 + ], + [ + 6.392000198364258, + 2.0204920768737793, + 7.186298370361328 + ], + [ + 6.392000198364258, + 2.0204920768737793, + 6.392000198364258 + ], + [ + 6.392000198364258, + 4.76837158203125e-07, + 7.186298370361328 + ], + [ + 6.392000198364258, + 4.76837158203125e-07, + 6.392000198364258 + ] + ], + "center": { + "x": 6.97470235824585, + "y": 1.0102462768554688, + "z": 6.789149284362793 + }, + "size": { + "x": 1.1654043197631836, + "y": 2.020491600036621, + "z": 0.7942981719970703 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Chair|6|2|1", + "object_info": { + "name": "Chair|6|2|1", + "position": { + "x": 6.648900508880615, + "y": -0.0016570687294006348, + "z": 9.698123931884766 + }, + "rotation": { + "x": -0.0, + "y": 84.76823425292969, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 2.1765389442443848, + "objectType": "Chair", + "objectId": "Chair|6|2|1", + "assetId": "Chair_227_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.89082145690918, + 0.7736937999725342, + 9.908531188964844 + ], + [ + 6.89082145690918, + 0.7736937999725342, + 9.487716674804688 + ], + [ + 6.89082145690918, + -2.9206275939941406e-06, + 9.908531188964844 + ], + [ + 6.89082145690918, + -2.9206275939941406e-06, + 9.487716674804688 + ], + [ + 6.393077850341797, + 0.7736937999725342, + 9.908531188964844 + ], + [ + 6.393077850341797, + 0.7736937999725342, + 9.487716674804688 + ], + [ + 6.393077850341797, + -2.9206275939941406e-06, + 9.908531188964844 + ], + [ + 6.393077850341797, + -2.9206275939941406e-06, + 9.487716674804688 + ] + ], + "center": { + "x": 6.641949653625488, + "y": 0.3868454396724701, + "z": 9.698123931884766 + }, + "size": { + "x": 0.4977436065673828, + "y": 0.7736967206001282, + "z": 0.42081451416015625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.89082145690918, + -2.86102294921875e-06, + 9.528837203979492 + ], + [ + 6.856054306030273, + -2.86102294921875e-06, + 9.908531188964844 + ], + [ + 6.391991138458252, + -2.86102294921875e-06, + 9.86603832244873 + ], + [ + 6.426758289337158, + -2.86102294921875e-06, + 9.486344337463379 + ], + [ + 6.89082145690918, + 0.7736939191818237, + 9.528837203979492 + ], + [ + 6.856054306030273, + 0.7736939191818237, + 9.908531188964844 + ], + [ + 6.391991138458252, + 0.7736939191818237, + 9.86603832244873 + ], + [ + 6.426758289337158, + 0.7736939191818237, + 9.486344337463379 + ] + ] + } + } + }, + { + "objectId": "Stool|6|4", + "object_info": { + "name": "Stool|6|4", + "position": { + "x": 8.243863105773926, + "y": 0.000591576099395752, + "z": 6.585229873657227 + }, + "rotation": { + "x": 1.18705153465271, + "y": 359.9930725097656, + "z": 359.8995666503906 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.180000066757202, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 1.9083143472671509, + "objectType": "Stool", + "objectId": "Stool|6|4", + "assetId": "Stool_2_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.538818359375, + 0.7562337517738342, + 6.771154403686523 + ], + [ + 8.538818359375, + 0.7562337517738342, + 6.39228630065918 + ], + [ + 8.538818359375, + -2.491474151611328e-05, + 6.771154403686523 + ], + [ + 8.538818359375, + -2.491474151611328e-05, + 6.39228630065918 + ], + [ + 7.9479522705078125, + 0.7562337517738342, + 6.771154403686523 + ], + [ + 7.9479522705078125, + 0.7562337517738342, + 6.39228630065918 + ], + [ + 7.9479522705078125, + -2.491474151611328e-05, + 6.771154403686523 + ], + [ + 7.9479522705078125, + -2.491474151611328e-05, + 6.39228630065918 + ] + ], + "center": { + "x": 8.243385314941406, + "y": 0.37810441851615906, + "z": 6.581720352172852 + }, + "size": { + "x": 0.5908660888671875, + "y": 0.7562586665153503, + "z": 0.37886810302734375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 8.537458419799805, + -0.006932959891855717, + 6.77088737487793 + ], + [ + 7.947929382324219, + -0.005899687297642231, + 6.770837783813477 + ], + [ + 7.947975158691406, + 0.0019497345201671124, + 6.392021656036377 + ], + [ + 8.537504196166992, + 0.0009164621587842703, + 6.39207124710083 + ], + [ + 8.538780212402344, + 0.7481831312179565, + 6.786534309387207 + ], + [ + 7.949251651763916, + 0.7492163777351379, + 6.786484718322754 + ], + [ + 7.9492974281311035, + 0.7570657730102539, + 6.407668590545654 + ], + [ + 8.538825988769531, + 0.7560325264930725, + 6.407718181610107 + ] + ] + } + } + }, + { + "objectId": "DiningTable|6|2|0", + "object_info": { + "name": "DiningTable|6|2|0", + "position": { + "x": 7.235268592834473, + "y": -0.018440067768096924, + "z": 9.697439193725586 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood", + "Glass" + ], + "receptacleObjectIds": [ + "Pot|surface|6|28", + "Plate|surface|6|21", + "Pencil|surface|6|27", + "Toaster|surface|6|31", + "Ladle|surface|6|32", + "CellPhone|surface|6|36" + ], + "distance": 1.8775686025619507, + "objectType": "DiningTable", + "objectId": "DiningTable|6|2|0", + "assetId": "Dining_Table_201_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.729119777679443, + 0.6782166361808777, + 10.586999893188477 + ], + [ + 7.729119777679443, + 0.6782166361808777, + 8.807878494262695 + ], + [ + 7.729119777679443, + 1.5497207641601562e-06, + 10.586999893188477 + ], + [ + 7.729119777679443, + 1.5497207641601562e-06, + 8.807878494262695 + ], + [ + 6.741417407989502, + 0.6782166361808777, + 10.586999893188477 + ], + [ + 6.741417407989502, + 0.6782166361808777, + 8.807878494262695 + ], + [ + 6.741417407989502, + 1.5497207641601562e-06, + 10.586999893188477 + ], + [ + 6.741417407989502, + 1.5497207641601562e-06, + 8.807878494262695 + ] + ], + "center": { + "x": 7.235268592834473, + "y": 0.3391090929508209, + "z": 9.697439193725586 + }, + "size": { + "x": 0.9877023696899414, + "y": 0.6782150864601135, + "z": 1.7791213989257812 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.729119777679443, + 1.6093254089355469e-06, + 8.807878494262695 + ], + [ + 7.729119777679443, + 1.6093254089355469e-06, + 10.586999893188477 + ], + [ + 6.741417407989502, + 1.6093254089355469e-06, + 10.586999893188477 + ], + [ + 6.741417407989502, + 1.6093254089355469e-06, + 8.807878494262695 + ], + [ + 7.729119777679443, + 0.6782165169715881, + 8.807878494262695 + ], + [ + 7.729119777679443, + 0.6782165169715881, + 10.586999893188477 + ], + [ + 6.741417407989502, + 0.6782165169715881, + 10.586999893188477 + ], + [ + 6.741417407989502, + 0.6782165169715881, + 8.807878494262695 + ] + ] + } + } + }, + { + "objectId": "Toaster|surface|6|31", + "object_info": { + "name": "Toaster|surface|6|31", + "position": { + "x": 6.988070011138916, + "y": 0.6782166361808777, + "z": 9.031681060791016 + }, + "rotation": { + "x": -2.608218437671894e-06, + "y": 90.00001525878906, + "z": 3.174660378135741e-05 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 5.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.2979445457458496, + "objectType": "Toaster", + "objectId": "Toaster|surface|6|31", + "assetId": "Toaster_6", + "parentReceptacles": [ + "DiningTable|6|2|0", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.190628528594971, + 0.8852825164794922, + 9.130928039550781 + ], + [ + 7.190628528594971, + 0.8852825164794922, + 8.93243408203125 + ], + [ + 7.190628528594971, + 0.6782165765762329, + 9.130928039550781 + ], + [ + 7.190628528594971, + 0.6782165765762329, + 8.93243408203125 + ], + [ + 6.829248905181885, + 0.8852825164794922, + 9.130928039550781 + ], + [ + 6.829248905181885, + 0.8852825164794922, + 8.93243408203125 + ], + [ + 6.829248905181885, + 0.6782165765762329, + 9.130928039550781 + ], + [ + 6.829248905181885, + 0.6782165765762329, + 8.93243408203125 + ] + ], + "center": { + "x": 7.009938716888428, + "y": 0.7817495465278625, + "z": 9.031681060791016 + }, + "size": { + "x": 0.36137962341308594, + "y": 0.20706593990325928, + "z": 0.19849395751953125 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.190628528594971, + 0.6782164573669434, + 8.93243408203125 + ], + [ + 7.190628528594971, + 0.6782163381576538, + 9.130927085876465 + ], + [ + 6.829248428344727, + 0.6782163381576538, + 9.130928039550781 + ], + [ + 6.829248428344727, + 0.6782164573669434, + 8.932435035705566 + ], + [ + 7.190628528594971, + 0.885282576084137, + 8.93243408203125 + ], + [ + 7.190628528594971, + 0.8852824568748474, + 9.130928039550781 + ], + [ + 6.829248428344727, + 0.8852824568748474, + 9.130928039550781 + ], + [ + 6.829248428344727, + 0.885282576084137, + 8.932435035705566 + ] + ] + } + } + }, + { + "objectId": "Pot|surface|6|28", + "object_info": { + "name": "Pot|surface|6|28", + "position": { + "x": 7.3588690757751465, + "y": 0.6777743101119995, + "z": 9.475521087646484 + }, + "rotation": { + "x": -1.3460327181746834e-06, + "y": 89.99971771240234, + "z": 0.000818484288174659 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5699999928474426, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.4009926319122314, + "objectType": "Pot", + "objectId": "Pot|surface|6|28", + "assetId": "Pot_5", + "parentReceptacles": [ + "DiningTable|6|2|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.493688583374023, + 0.843828558921814, + 9.618644714355469 + ], + [ + 7.493688583374023, + 0.843828558921814, + 9.3330078125 + ], + [ + 7.493688583374023, + 0.6782162189483643, + 9.618644714355469 + ], + [ + 7.493688583374023, + 0.6782162189483643, + 9.3330078125 + ], + [ + 7.224050521850586, + 0.843828558921814, + 9.618644714355469 + ], + [ + 7.224050521850586, + 0.843828558921814, + 9.3330078125 + ], + [ + 7.224050521850586, + 0.6782162189483643, + 9.618644714355469 + ], + [ + 7.224050521850586, + 0.6782162189483643, + 9.3330078125 + ] + ], + "center": { + "x": 7.358869552612305, + "y": 0.7610223889350891, + "z": 9.475826263427734 + }, + "size": { + "x": 0.2696380615234375, + "y": 0.1656123399734497, + "z": 0.28563690185546875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.493689060211182, + 0.678218424320221, + 9.333005905151367 + ], + [ + 7.493687629699707, + 0.6782143115997314, + 9.618644714355469 + ], + [ + 7.2240495681762695, + 0.6782143115997314, + 9.618642807006836 + ], + [ + 7.224050998687744, + 0.678218424320221, + 9.33300495147705 + ], + [ + 7.493689060211182, + 0.8438296318054199, + 9.333008766174316 + ], + [ + 7.493687629699707, + 0.8438255190849304, + 9.618646621704102 + ], + [ + 7.2240495681762695, + 0.8438255190849304, + 9.618645668029785 + ], + [ + 7.224050998687744, + 0.8438296318054199, + 9.3330078125 + ] + ] + } + } + }, + { + "objectId": "GarbageCan|6|3", + "object_info": { + "name": "GarbageCan|6|3", + "position": { + "x": 6.568835258483887, + "y": -0.05039361119270325, + "z": 8.42866039276123 + }, + "rotation": { + "x": 359.9588928222656, + "y": 89.99987030029297, + "z": 359.9815368652344 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.699999988079071, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.7278025150299072, + "objectType": "GarbageCan", + "objectId": "GarbageCan|6|3", + "assetId": "bin_29", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.74216365814209, + 0.6587642431259155, + 8.623628616333008 + ], + [ + 6.74216365814209, + 0.6587642431259155, + 8.232809066772461 + ], + [ + 6.74216365814209, + -0.0021403133869171143, + 8.623628616333008 + ], + [ + 6.74216365814209, + -0.0021403133869171143, + 8.232809066772461 + ], + [ + 6.391571998596191, + 0.6587642431259155, + 8.623628616333008 + ], + [ + 6.391571998596191, + 0.6587642431259155, + 8.232809066772461 + ], + [ + 6.391571998596191, + -0.0021403133869171143, + 8.623628616333008 + ], + [ + 6.391571998596191, + -0.0021403133869171143, + 8.232809066772461 + ] + ], + "center": { + "x": 6.566867828369141, + "y": 0.328311949968338, + "z": 8.428218841552734 + }, + "size": { + "x": 0.35059165954589844, + "y": 0.6609045267105103, + "z": 0.3908195495605469 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.742166519165039, + -0.0020808465778827667, + 8.23300552368164 + ], + [ + 6.742165565490723, + -0.001954924315214157, + 8.623631477355957 + ], + [ + 6.392014503479004, + -0.0022062286734580994, + 8.62363052368164 + ], + [ + 6.39201545715332, + -0.002332150936126709, + 8.23300552368164 + ], + [ + 6.741692066192627, + 0.6588419675827026, + 8.232792854309082 + ], + [ + 6.7416911125183105, + 0.6589678525924683, + 8.623418807983398 + ], + [ + 6.391540050506592, + 0.6587165594100952, + 8.623417854309082 + ], + [ + 6.391541004180908, + 0.6585906744003296, + 8.232791900634766 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 8.100000381469727, + "y": 0.9009997844696045, + "z": 8.100000381469727 + }, + "agent_rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "agent_cameraHorizon": 60.00001525878906, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 8.100000381469727, + "y": 1.5759997367858887, + "z": 8.100000381469727 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Stool|6|4", + "Fridge|6|1" + ], + "different_object": [ + "GarbageCan|6|3", + "Toaster|surface|6|31", + "Pot|surface|6|28", + "Chair|6|2|1", + "DiningTable|6|2|0" + ] +} \ No newline at end of file diff --git a/train/train1843/2/1_depth_npy.npy b/train/train1843/2/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..c8c0092b1248e6480a11e5cacb5dacbeef37b3e3 --- /dev/null +++ b/train/train1843/2/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2bea3495954ffe97f61c629b4f86bfafbc1ec5614c68e8fb750465d92f720093 +size 3145856 diff --git a/train/train1843/2/1_semantic_sensor_npy.npy b/train/train1843/2/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..1e8fe87302f10ce0a8e9a41f5c7683f674fee65b --- /dev/null +++ b/train/train1843/2/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bc3640a2c50a528cb269fd48c8df3d384343f8be3cb8a6c4f662e1c2c24044d9 +size 2359424 diff --git a/train/train1843/2/depth_0.png b/train/train1843/2/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..50fba9fd902c5873c04e171ffbee7c0657d8ad35 Binary files /dev/null and b/train/train1843/2/depth_0.png differ diff --git a/train/train1843/2/depth_1.png b/train/train1843/2/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..d65af16f56199ee151c42099cdc57cd73e0ef015 Binary files /dev/null and b/train/train1843/2/depth_1.png differ diff --git a/train/train1843/2/mask_questions.jsonl b/train/train1843/2/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e218e7e56430b3c42597b838f506ffd2ea8bb839 --- /dev/null +++ b/train/train1843/2/mask_questions.jsonl @@ -0,0 +1,4 @@ +{"id": 11155, "folder_dir": "train1843/2", "pair_name": "0-1:Stool|6|4", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Box\nB. Painting\nC. Stool\nD. Fridge", "answer": "C", "object_name": "Stool", "image_1": "train1843/2/rgb_0.png", "image_2": "train1843/2/rgb_1.png", "mask_image": "train1843/2/rgb_1_mask_Stool|6|4.png", "options": ["Box", "Painting", "Stool", "Fridge"]} +{"id": 11156, "folder_dir": "train1843/2", "pair_name": "0-1:Fridge|6|1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Box\nB. Painting\nC. Stool\nD. Fridge", "answer": "D", "object_name": "Fridge", "image_1": "train1843/2/rgb_0.png", "image_2": "train1843/2/rgb_1.png", "mask_image": "train1843/2/rgb_1_mask_Fridge|6|1.png", "options": ["Box", "Painting", "Stool", "Fridge"]} +{"id": 11157, "folder_dir": "train1843/2", "pair_name": "1-0:Stool|6|4", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. DiningTable\nB. Pot\nC. Fridge\nD. Stool", "answer": "D", "object_name": "Stool", "image_1": "train1843/2/rgb_1.png", "image_2": "train1843/2/rgb_0.png", "mask_image": "train1843/2/rgb_0_mask_Stool|6|4.png", "options": ["DiningTable", "Pot", "Fridge", "Stool"]} +{"id": 11158, "folder_dir": "train1843/2", "pair_name": "1-0:Fridge|6|1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Fridge\nB. Pot\nC. Stool\nD. Chair", "answer": "A", "object_name": "Fridge", "image_1": "train1843/2/rgb_1.png", "image_2": "train1843/2/rgb_0.png", "mask_image": "train1843/2/rgb_0_mask_Fridge|6|1.png", "options": ["Fridge", "Pot", "Stool", "Chair"]} diff --git a/train/train1843/2/questions_distance.jsonl b/train/train1843/2/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a910ee04b6a35cd9d6e8ffd851a88708c63d0cc6 --- /dev/null +++ b/train/train1843/2/questions_distance.jsonl @@ -0,0 +1,2 @@ +{"id": 4540, "folder_dir": "train1843/2", "query": "Which of the following objects is closest to Stool in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. GarbageCan\nB. Doorway\nC. Fridge\nD. Other\n", "answer": "B", "src_object": "Stool", "target_object": "Doorway", "question": "Which of the following objects is closest to Stool in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "GarbageCan", "semantic_id": "GarbageCan|6|3", "distance": 2.4945434139314675, "com": {"x": 6.566867828369141, "y": 0.328311949968338, "z": 8.428218841552734}}, {"text": "Doorway", "semantic_id": "door|6|7", "distance": 1.144297491673308, "com": {"x": 9.144388198852539, "y": 1.0517940521240234, "z": 6.790892124176025}}, {"text": "Fridge", "semantic_id": "Fridge|6|1", "distance": 1.4325454741766193, "com": {"x": 6.97470235824585, "y": 1.0102462768554688, "z": 6.789149284362793}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1843/2/rgb_0.png", "image_2": "train1843/2/rgb_1.png"} +{"id": 4541, "folder_dir": "train1843/2", "query": "Which of the following objects is closest to Fridge in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Stool\nB. GarbageCan\nC. Doorway\nD. Other\n", "answer": "A", "src_object": "Fridge", "target_object": "Stool", "question": "Which of the following objects is closest to Fridge in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Stool", "semantic_id": "Stool|6|4", "distance": 1.4325454741766193, "com": {"x": 8.243385314941406, "y": 0.37810441851615906, "z": 6.581720352172852}}, {"text": "GarbageCan", "semantic_id": "GarbageCan|6|3", "distance": 1.821513777947779, "com": {"x": 6.566867828369141, "y": 0.328311949968338, "z": 8.428218841552734}}, {"text": "Doorway", "semantic_id": "door|6|7", "distance": 2.170084307590269, "com": {"x": 9.144388198852539, "y": 1.0517940521240234, "z": 6.790892124176025}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1843/2/rgb_0.png", "image_2": "train1843/2/rgb_1.png"} diff --git a/train/train1843/2/rgb_0.png b/train/train1843/2/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..693b1ebe3cd9ac597dd768bf83d29b3e0b32ecb3 --- /dev/null +++ b/train/train1843/2/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:15d9720522333ac2329c01c9f89e4865eae9787df8861c4c8ae6ac1ab4ddfe65 +size 793312 diff --git a/train/train1843/2/rgb_0_mask_Fridge|6|1.png b/train/train1843/2/rgb_0_mask_Fridge|6|1.png new file mode 100644 index 0000000000000000000000000000000000000000..1e3ca5450edc79da60d6f1f5fef2a565bead2ed4 --- /dev/null +++ b/train/train1843/2/rgb_0_mask_Fridge|6|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:33943bfbaf521a7ec2911ae515810e3f8d860436eb35f0383d47e6513671b9c4 +size 512329 diff --git a/train/train1843/2/rgb_0_mask_Stool|6|4.png b/train/train1843/2/rgb_0_mask_Stool|6|4.png new file mode 100644 index 0000000000000000000000000000000000000000..0bfbce0266a7e3b78fb9c76014799680fc56d416 --- /dev/null +++ b/train/train1843/2/rgb_0_mask_Stool|6|4.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c33700616e0ec8ea145dbf80952adda8642af1693c60c6c459fa2c8dd5ddd20e +size 678723 diff --git a/train/train1843/2/rgb_1.png b/train/train1843/2/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..7bcb477b59f8b4282676c8f459b0e7728b3a227d --- /dev/null +++ b/train/train1843/2/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a05c863521e8f0fef5afba8eb35ac2fd91c2f9e7946e339a07204aea2779134b +size 888878 diff --git a/train/train1843/2/rgb_1_mask_Fridge|6|1.png b/train/train1843/2/rgb_1_mask_Fridge|6|1.png new file mode 100644 index 0000000000000000000000000000000000000000..6e1f24437783c97139f0c9a55f876945b2277c3c --- /dev/null +++ b/train/train1843/2/rgb_1_mask_Fridge|6|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:79eb611812490a5c591db830b72e55eb0af969161f4de089e78ec38d614af2ba +size 682860 diff --git a/train/train1843/2/rgb_1_mask_Stool|6|4.png b/train/train1843/2/rgb_1_mask_Stool|6|4.png new file mode 100644 index 0000000000000000000000000000000000000000..45c23918a2856ff78ad09c15f9dd9aa2347ae069 --- /dev/null +++ b/train/train1843/2/rgb_1_mask_Stool|6|4.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:216e3607e728d6bd0faa81f21cfac2d53245c4345bb94a6a505ce7df940c538d +size 750491 diff --git a/train/train1843/2/semantic_0.png b/train/train1843/2/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..8f7906a84e4d13196d4365359554cb295d2bc617 Binary files /dev/null and b/train/train1843/2/semantic_0.png differ diff --git a/train/train1843/2/semantic_1.png b/train/train1843/2/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..d137f5b3dedcd52fa5aaeca28de7ae7a4894825b Binary files /dev/null and b/train/train1843/2/semantic_1.png differ diff --git a/train/train1843/3/0.json b/train/train1843/3/0.json new file mode 100644 index 0000000000000000000000000000000000000000..79fd88c141e57c030edcce98bf80935f20f8874c --- /dev/null +++ b/train/train1843/3/0.json @@ -0,0 +1,3066 @@ +{ + "object": [ + { + "objectId": "Pan|surface|6|38", + "object_info": { + "name": "Pan|surface|6|38", + "position": { + "x": 10.128618240356445, + "y": 0.9381221532821655, + "z": 9.451597213745117 + }, + "rotation": { + "x": -0.004974662326276302, + "y": 269.99957275390625, + "z": 0.000776037632022053 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6700000166893005, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 2.4446327686309814, + "objectType": "Pan", + "objectId": "Pan|surface|6|38", + "assetId": "Pan_10", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.420827865600586, + 0.9848895072937012, + 9.59359359741211 + ], + [ + 10.420827865600586, + 0.9848895072937012, + 9.30959701538086 + ], + [ + 10.420827865600586, + 0.9383640289306641, + 9.59359359741211 + ], + [ + 10.420827865600586, + 0.9383640289306641, + 9.30959701538086 + ], + [ + 10.003946304321289, + 0.9848895072937012, + 9.59359359741211 + ], + [ + 10.003946304321289, + 0.9848895072937012, + 9.30959701538086 + ], + [ + 10.003946304321289, + 0.9383640289306641, + 9.59359359741211 + ], + [ + 10.003946304321289, + 0.9383640289306641, + 9.30959701538086 + ] + ], + "center": { + "x": 10.212387084960938, + "y": 0.9616267681121826, + "z": 9.451595306396484 + }, + "size": { + "x": 0.4168815612792969, + "y": 0.04652547836303711, + "z": 0.28399658203125 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 10.00394058227539, + 0.9383872747421265, + 9.593594551086426 + ], + [ + 10.00394344329834, + 0.9383834600448608, + 9.309597969055176 + ], + [ + 10.420825958251953, + 0.9383472204208374, + 9.309600830078125 + ], + [ + 10.42082405090332, + 0.9383510947227478, + 9.593598365783691 + ], + [ + 10.003945350646973, + 0.9848912954330444, + 9.59359359741211 + ], + [ + 10.003947257995605, + 0.984887421131134, + 9.30959701538086 + ], + [ + 10.420830726623535, + 0.9848512411117554, + 9.309600830078125 + ], + [ + 10.420827865600586, + 0.984855055809021, + 9.593597412109375 + ] + ] + } + } + }, + { + "objectId": "SoapBottle|surface|6|20", + "object_info": { + "name": "SoapBottle|surface|6|20", + "position": { + "x": 10.205733299255371, + "y": 0.9393843412399292, + "z": 8.536592483520508 + }, + "rotation": { + "x": -0.002504768781363964, + "y": 269.9995422363281, + "z": -0.0012202810030430555 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4000000059604645, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 2.224605083465576, + "objectType": "SoapBottle", + "objectId": "SoapBottle|surface|6|20", + "assetId": "Soap_Bottle_19", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.23712158203125, + 1.1697990894317627, + 8.582935333251953 + ], + [ + 10.23712158203125, + 1.1697990894317627, + 8.490253448486328 + ], + [ + 10.23712158203125, + 0.9383800029754639, + 8.582935333251953 + ], + [ + 10.23712158203125, + 0.9383800029754639, + 8.490253448486328 + ], + [ + 10.166877746582031, + 1.1697990894317627, + 8.582935333251953 + ], + [ + 10.166877746582031, + 1.1697990894317627, + 8.490253448486328 + ], + [ + 10.166877746582031, + 0.9383800029754639, + 8.582935333251953 + ], + [ + 10.166877746582031, + 0.9383800029754639, + 8.490253448486328 + ] + ], + "center": { + "x": 10.20199966430664, + "y": 1.0540895462036133, + "z": 8.53659439086914 + }, + "size": { + "x": 0.07024383544921875, + "y": 0.23141908645629883, + "z": 0.092681884765625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 10.166869163513184, + 0.938382625579834, + 8.582931518554688 + ], + [ + 10.1668701171875, + 0.9383845925331116, + 8.490252494812012 + ], + [ + 10.237113952636719, + 0.938381552696228, + 8.490253448486328 + ], + [ + 10.237112998962402, + 0.9383795261383057, + 8.582931518554688 + ], + [ + 10.166879653930664, + 1.1697994470596313, + 8.58293628692627 + ], + [ + 10.166879653930664, + 1.1698013544082642, + 8.49025821685791 + ], + [ + 10.2371244430542, + 1.1697982549667358, + 8.49025821685791 + ], + [ + 10.237123489379883, + 1.169796347618103, + 8.582937240600586 + ] + ] + } + } + }, + { + "objectId": "PepperShaker|surface|6|24", + "object_info": { + "name": "PepperShaker|surface|6|24", + "position": { + "x": 10.282848358154297, + "y": 0.9383825659751892, + "z": 9.222845077514648 + }, + "rotation": { + "x": 359.99151611328125, + "y": 269.9981689453125, + "z": 0.00010757963900687173 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.14000000059604645, + "salientMaterials": [ + "Glass", + "Metal" + ], + "receptacleObjectIds": null, + "distance": 2.4817779064178467, + "objectType": "PepperShaker", + "objectId": "PepperShaker|surface|6|24", + "assetId": "RoboTHOR_salt_pepper_shaker_bnyd_pepper_v", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.303147315979004, + 1.0342801809310913, + 9.24296760559082 + ], + [ + 10.303147315979004, + 1.0342801809310913, + 9.202722549438477 + ], + [ + 10.303147315979004, + 0.9383795261383057, + 9.24296760559082 + ], + [ + 10.303147315979004, + 0.9383795261383057, + 9.202722549438477 + ], + [ + 10.26256275177002, + 1.0342801809310913, + 9.24296760559082 + ], + [ + 10.26256275177002, + 1.0342801809310913, + 9.202722549438477 + ], + [ + 10.26256275177002, + 0.9383795261383057, + 9.24296760559082 + ], + [ + 10.26256275177002, + 0.9383795261383057, + 9.202722549438477 + ] + ], + "center": { + "x": 10.282855033874512, + "y": 0.9863298535346985, + "z": 9.222845077514648 + }, + "size": { + "x": 0.040584564208984375, + "y": 0.09590065479278564, + "z": 0.04024505615234375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 10.26256275177002, + 0.9383856058120728, + 9.242966651916504 + ], + [ + 10.262563705444336, + 0.938385546207428, + 9.202722549438477 + ], + [ + 10.303133964538574, + 0.9383795261383057, + 9.202723503112793 + ], + [ + 10.303133010864258, + 0.9383795857429504, + 9.24296760559082 + ], + [ + 10.262577056884766, + 1.0342801809310913, + 9.242965698242188 + ], + [ + 10.262578010559082, + 1.0342801809310913, + 9.202722549438477 + ], + [ + 10.30314826965332, + 1.0342741012573242, + 9.202723503112793 + ], + [ + 10.303146362304688, + 1.0342742204666138, + 9.24296760559082 + ] + ] + } + } + }, + { + "objectId": "window|6|0", + "object_info": { + "name": "window|6|0", + "position": { + "x": 10.61199951171875, + "y": 1.0204873085021973, + "z": 8.055046081542969 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.6219887733459473, + "objectType": "Window", + "objectId": "window|6|0", + "assetId": "Window_Fixed_60x36", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.656427383422852, + 1.9406101703643799, + 8.058733940124512 + ], + [ + 10.656427383422852, + 1.9406101703643799, + 6.52735710144043 + ], + [ + 10.656427383422852, + 1.0170855522155762, + 8.058733940124512 + ], + [ + 10.656427383422852, + 1.0170855522155762, + 6.52735710144043 + ], + [ + 10.567573547363281, + 1.9406101703643799, + 8.058733940124512 + ], + [ + 10.567573547363281, + 1.9406101703643799, + 6.52735710144043 + ], + [ + 10.567573547363281, + 1.0170855522155762, + 8.058733940124512 + ], + [ + 10.567573547363281, + 1.0170855522155762, + 6.52735710144043 + ] + ], + "center": { + "x": 10.612000465393066, + "y": 1.478847861289978, + "z": 7.293045520782471 + }, + "size": { + "x": 0.08885383605957031, + "y": 0.9235246181488037, + "z": 1.531376838684082 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "SaltShaker|surface|6|37", + "object_info": { + "name": "SaltShaker|surface|6|37", + "position": { + "x": 9.826563835144043, + "y": 0.9383825659751892, + "z": 9.520865440368652 + }, + "rotation": { + "x": 359.99139404296875, + "y": 269.9990539550781, + "z": 0.00018419497064314783 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4000000059604645, + "salientMaterials": [ + "Glass", + "Metal" + ], + "receptacleObjectIds": null, + "distance": 2.2254958152770996, + "objectType": "SaltShaker", + "objectId": "SaltShaker|surface|6|37", + "assetId": "RoboTHOR_salt_pepper_shaker_bnyd_salt_v", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.846863746643066, + 1.0342803001403809, + 9.540987968444824 + ], + [ + 9.846863746643066, + 1.0342803001403809, + 9.50074291229248 + ], + [ + 9.846863746643066, + 0.9383794069290161, + 9.540987968444824 + ], + [ + 9.846863746643066, + 0.9383794069290161, + 9.50074291229248 + ], + [ + 9.806279182434082, + 1.0342803001403809, + 9.540987968444824 + ], + [ + 9.806279182434082, + 1.0342803001403809, + 9.50074291229248 + ], + [ + 9.806279182434082, + 0.9383794069290161, + 9.540987968444824 + ], + [ + 9.806279182434082, + 0.9383794069290161, + 9.50074291229248 + ] + ], + "center": { + "x": 9.826571464538574, + "y": 0.9863298535346985, + "z": 9.520865440368652 + }, + "size": { + "x": 0.040584564208984375, + "y": 0.09590089321136475, + "z": 0.04024505615234375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.806278228759766, + 0.9383856654167175, + 9.540987014770508 + ], + [ + 9.806279182434082, + 0.938385546207428, + 9.50074291229248 + ], + [ + 9.84684944152832, + 0.9383794665336609, + 9.500743865966797 + ], + [ + 9.846848487854004, + 0.9383795857429504, + 9.540987968444824 + ], + [ + 9.806293487548828, + 1.0342803001403809, + 9.540987014770508 + ], + [ + 9.806293487548828, + 1.0342801809310913, + 9.50074291229248 + ], + [ + 9.846863746643066, + 1.0342741012573242, + 9.500743865966797 + ], + [ + 9.84686279296875, + 1.0342742204666138, + 9.540987014770508 + ] + ] + } + } + }, + { + "objectId": "Spatula|surface|6|34", + "object_info": { + "name": "Spatula|surface|6|34", + "position": { + "x": 9.596115112304688, + "y": 0.9457909464836121, + "z": 9.598554611206055 + }, + "rotation": { + "x": 0.19118916988372803, + "y": -0.00189886218868196, + "z": 358.8526916503906 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.06499999761581421, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.0900213718414307, + "objectType": "Spatula", + "objectId": "Spatula|surface|6|34", + "assetId": "Spatula_1", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.628328323364258, + 0.9554284811019897, + 9.81928825378418 + ], + [ + 9.628328323364258, + 0.9554284811019897, + 9.521757125854492 + ], + [ + 9.628328323364258, + 0.9371154308319092, + 9.81928825378418 + ], + [ + 9.628328323364258, + 0.9371154308319092, + 9.521757125854492 + ], + [ + 9.563932418823242, + 0.9554284811019897, + 9.81928825378418 + ], + [ + 9.563932418823242, + 0.9554284811019897, + 9.521757125854492 + ], + [ + 9.563932418823242, + 0.9371154308319092, + 9.81928825378418 + ], + [ + 9.563932418823242, + 0.9371154308319092, + 9.521757125854492 + ] + ], + "center": { + "x": 9.59613037109375, + "y": 0.9462719559669495, + "z": 9.670522689819336 + }, + "size": { + "x": 0.06439590454101562, + "y": 0.018313050270080566, + "z": 0.2975311279296875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.62798023223877, + 0.9368060827255249, + 9.819238662719727 + ], + [ + 9.56393051147461, + 0.9380887746810913, + 9.81924057006836 + ], + [ + 9.563940048217773, + 0.9390815496444702, + 9.521730422973633 + ], + [ + 9.62799072265625, + 0.9377988576889038, + 9.521728515625 + ], + [ + 9.628327369689941, + 0.9541439414024353, + 9.819295883178711 + ], + [ + 9.564277648925781, + 0.9554266333580017, + 9.81929874420166 + ], + [ + 9.564287185668945, + 0.9564194083213806, + 9.521788597106934 + ], + [ + 9.628337860107422, + 0.9551366567611694, + 9.521785736083984 + ] + ] + } + } + }, + { + "objectId": "door|1|6", + "object_info": { + "name": "door|1|6", + "position": { + "x": 8.809093475341797, + "y": -0.0005959272384643555, + "z": 10.612021446228027 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.654553174972534, + "objectType": "Doorway", + "objectId": "door|1|6", + "assetId": "Doorway_9", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.80488395690918, + 2.0743770599365234, + 10.722686767578125 + ], + [ + 9.80488395690918, + 2.0743770599365234, + 10.501314163208008 + ], + [ + 9.80488395690918, + 0.0, + 10.722686767578125 + ], + [ + 9.80488395690918, + 0.0, + 10.501314163208008 + ], + [ + 8.806859970092773, + 2.0743770599365234, + 10.722686767578125 + ], + [ + 8.806859970092773, + 2.0743770599365234, + 10.501314163208008 + ], + [ + 8.806859970092773, + 0.0, + 10.722686767578125 + ], + [ + 8.806859970092773, + 0.0, + 10.501314163208008 + ] + ], + "center": { + "x": 9.305871963500977, + "y": 1.0371885299682617, + "z": 10.612000465393066 + }, + "size": { + "x": 0.9980239868164062, + "y": 2.0743770599365234, + "z": 0.2213726043701172 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|6|6", + "object_info": { + "name": "Painting|6|6", + "position": { + "x": 10.60716724395752, + "y": 2.0579257011413574, + "z": 8.847562789916992 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.914254665374756, + "objectType": "Painting", + "objectId": "Painting|6|6", + "assetId": "Wall_Decor_Painting_7", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.607000350952148, + 2.3945813179016113, + 9.299308776855469 + ], + [ + 10.607000350952148, + 2.3945813179016113, + 8.395524978637695 + ], + [ + 10.607000350952148, + 1.7215461730957031, + 9.299308776855469 + ], + [ + 10.607000350952148, + 1.7215461730957031, + 8.395524978637695 + ], + [ + 10.582780838012695, + 2.3945813179016113, + 9.299308776855469 + ], + [ + 10.582780838012695, + 2.3945813179016113, + 8.395524978637695 + ], + [ + 10.582780838012695, + 1.7215461730957031, + 9.299308776855469 + ], + [ + 10.582780838012695, + 1.7215461730957031, + 8.395524978637695 + ] + ], + "center": { + "x": 10.594890594482422, + "y": 2.0580637454986572, + "z": 8.847416877746582 + }, + "size": { + "x": 0.024219512939453125, + "y": 0.6730351448059082, + "z": 0.9037837982177734 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DiningTable|7|1", + "object_info": { + "name": "DiningTable|7|1", + "position": { + "x": 9.697437286376953, + "y": -0.018440067768096924, + "z": 4.763852596282959 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood", + "Glass" + ], + "receptacleObjectIds": [ + "Statue|surface|7|50", + "Bowl|surface|7|43", + "Book|surface|7|48", + "Box|surface|7|55", + "Pen|surface|7|45", + "CreditCard|surface|7|51", + "Statue|surface|7|49" + ], + "distance": 3.984957456588745, + "objectType": "DiningTable", + "objectId": "DiningTable|7|1", + "assetId": "Dining_Table_201_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.586997985839844, + 0.6782165169715881, + 5.25770378112793 + ], + [ + 10.586997985839844, + 0.6782165169715881, + 4.270001411437988 + ], + [ + 10.586997985839844, + 1.5497207641601562e-06, + 5.25770378112793 + ], + [ + 10.586997985839844, + 1.5497207641601562e-06, + 4.270001411437988 + ], + [ + 8.807876586914062, + 0.6782165169715881, + 5.25770378112793 + ], + [ + 8.807876586914062, + 0.6782165169715881, + 4.270001411437988 + ], + [ + 8.807876586914062, + 1.5497207641601562e-06, + 5.25770378112793 + ], + [ + 8.807876586914062, + 1.5497207641601562e-06, + 4.270001411437988 + ] + ], + "center": { + "x": 9.697437286376953, + "y": 0.33910903334617615, + "z": 4.763852596282959 + }, + "size": { + "x": 1.7791213989257812, + "y": 0.678214967250824, + "z": 0.9877023696899414 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 10.586997985839844, + 1.6093254089355469e-06, + 5.25770378112793 + ], + [ + 8.807876586914062, + 1.6093254089355469e-06, + 5.25770378112793 + ], + [ + 8.807876586914062, + 1.6093254089355469e-06, + 4.270001411437988 + ], + [ + 10.586997985839844, + 1.6093254089355469e-06, + 4.270001411437988 + ], + [ + 10.586997985839844, + 0.6782165169715881, + 5.25770378112793 + ], + [ + 8.807876586914062, + 0.6782165169715881, + 5.25770378112793 + ], + [ + 8.807876586914062, + 0.6782165169715881, + 4.270001411437988 + ], + [ + 10.586997985839844, + 0.6782165169715881, + 4.270001411437988 + ] + ] + } + } + }, + { + "objectId": "Box|surface|7|55", + "object_info": { + "name": "Box|surface|7|55", + "position": { + "x": 10.363200187683105, + "y": 0.9251344799995422, + "z": 5.134660720825195 + }, + "rotation": { + "x": 0.0001798956363927573, + "y": 0.0002077342214761302, + "z": 0.00026511040050536394 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.30000001192092896, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": [], + "distance": 3.9103243350982666, + "objectType": "Box", + "objectId": "Box|surface|7|55", + "assetId": "Box_9", + "parentReceptacles": [ + "DiningTable|7|1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.575349807739258, + 0.9903056621551514, + 5.250185012817383 + ], + [ + 10.575349807739258, + 0.9903056621551514, + 4.81419563293457 + ], + [ + 10.575349807739258, + 0.6782164573669434, + 5.250185012817383 + ], + [ + 10.575349807739258, + 0.6782164573669434, + 4.81419563293457 + ], + [ + 10.156194686889648, + 0.9903056621551514, + 5.250185012817383 + ], + [ + 10.156194686889648, + 0.9903056621551514, + 4.81419563293457 + ], + [ + 10.156194686889648, + 0.6782164573669434, + 5.250185012817383 + ], + [ + 10.156194686889648, + 0.6782164573669434, + 4.81419563293457 + ] + ], + "center": { + "x": 10.365772247314453, + "y": 0.8342610597610474, + "z": 5.032190322875977 + }, + "size": { + "x": 0.4191551208496094, + "y": 0.312089204788208, + "z": 0.4359893798828125 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 10.575352668762207, + 0.6782156229019165, + 5.250184059143066 + ], + [ + 10.156195640563965, + 0.6782136559486389, + 5.250185489654541 + ], + [ + 10.156193733215332, + 0.6782150268554688, + 4.814191818237305 + ], + [ + 10.575350761413574, + 0.6782169938087463, + 4.81419038772583 + ], + [ + 10.575350761413574, + 0.9903079271316528, + 5.250185012817383 + ], + [ + 10.156193733215332, + 0.9903059601783752, + 5.250186443328857 + ], + [ + 10.1561918258667, + 0.9903073310852051, + 4.814192771911621 + ], + [ + 10.575348854064941, + 0.9903092980384827, + 4.8141913414001465 + ] + ] + } + } + }, + { + "objectId": "Painting|7|4", + "object_info": { + "name": "Painting|7|4", + "position": { + "x": 10.610312461853027, + "y": 1.843272089958191, + "z": 4.801291465759277 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.4266462326049805, + "objectType": "Painting", + "objectId": "Painting|7|4", + "assetId": "Wall_Decor_Painting_6", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.59433650970459, + 2.1440935134887695, + 5.201486110687256 + ], + [ + 10.59433650970459, + 2.1440935134887695, + 4.4040913581848145 + ], + [ + 10.59433650970459, + 1.542710304260254, + 5.201486110687256 + ], + [ + 10.59433650970459, + 1.542710304260254, + 4.4040913581848145 + ], + [ + 10.586962699890137, + 2.1440935134887695, + 5.201486110687256 + ], + [ + 10.586962699890137, + 2.1440935134887695, + 4.4040913581848145 + ], + [ + 10.586962699890137, + 1.542710304260254, + 5.201486110687256 + ], + [ + 10.586962699890137, + 1.542710304260254, + 4.4040913581848145 + ] + ], + "center": { + "x": 10.590649604797363, + "y": 1.8434019088745117, + "z": 4.802788734436035 + }, + "size": { + "x": 0.007373809814453125, + "y": 0.6013832092285156, + "z": 0.7973947525024414 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DishSponge|surface|6|40", + "object_info": { + "name": "DishSponge|surface|6|40", + "position": { + "x": 9.826562881469727, + "y": 0.9404739737510681, + "z": 9.753806114196777 + }, + "rotation": { + "x": 6.674708129139617e-05, + "y": 270.00006103515625, + "z": -0.0003779351245611906 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.029999997466802597, + "salientMaterials": [ + "Sponge" + ], + "receptacleObjectIds": null, + "distance": 2.366288900375366, + "objectType": "DishSponge", + "objectId": "DishSponge|surface|6|40", + "assetId": "Dish_Sponge_1", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.896036148071289, + 0.9644221067428589, + 9.7905855178833 + ], + [ + 9.896036148071289, + 0.9644221067428589, + 9.717026710510254 + ], + [ + 9.896036148071289, + 0.9383825063705444, + 9.7905855178833 + ], + [ + 9.896036148071289, + 0.9383825063705444, + 9.717026710510254 + ], + [ + 9.757089614868164, + 0.9644221067428589, + 9.7905855178833 + ], + [ + 9.757089614868164, + 0.9644221067428589, + 9.717026710510254 + ], + [ + 9.757089614868164, + 0.9383825063705444, + 9.7905855178833 + ], + [ + 9.757089614868164, + 0.9383825063705444, + 9.717026710510254 + ] + ], + "center": { + "x": 9.826562881469727, + "y": 0.9514023065567017, + "z": 9.753806114196777 + }, + "size": { + "x": 0.138946533203125, + "y": 0.026039600372314453, + "z": 0.07355880737304688 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.757089614868164, + 0.9383825063705444, + 9.7905855178833 + ], + [ + 9.757089614868164, + 0.9383829832077026, + 9.717026710510254 + ], + [ + 9.896036148071289, + 0.9383831024169922, + 9.717026710510254 + ], + [ + 9.896036148071289, + 0.938382625579834, + 9.7905855178833 + ], + [ + 9.757089614868164, + 0.9644215106964111, + 9.7905855178833 + ], + [ + 9.757089614868164, + 0.9644219875335693, + 9.717026710510254 + ], + [ + 9.896036148071289, + 0.9644221067428589, + 9.717026710510254 + ], + [ + 9.896036148071289, + 0.9644216299057007, + 9.7905855178833 + ] + ] + } + } + }, + { + "objectId": "Egg|surface|6|26", + "object_info": { + "name": "Egg|surface|6|26", + "position": { + "x": 9.442055702209473, + "y": 0.9781785607337952, + "z": 9.598512649536133 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": true, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.054999999701976776, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 1.9758460521697998, + "objectType": "Egg", + "objectId": "Egg|surface|6|26", + "assetId": "Egg_19", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.468320846557617, + 1.0179742574691772, + 9.624578475952148 + ], + [ + 9.468320846557617, + 1.0179742574691772, + 9.572744369506836 + ], + [ + 9.468320846557617, + 0.9383828639984131, + 9.624578475952148 + ], + [ + 9.468320846557617, + 0.9383828639984131, + 9.572744369506836 + ], + [ + 9.415594100952148, + 1.0179742574691772, + 9.624578475952148 + ], + [ + 9.415594100952148, + 1.0179742574691772, + 9.572744369506836 + ], + [ + 9.415594100952148, + 0.9383828639984131, + 9.624578475952148 + ], + [ + 9.415594100952148, + 0.9383828639984131, + 9.572744369506836 + ] + ], + "center": { + "x": 9.441957473754883, + "y": 0.9781785607337952, + "z": 9.598661422729492 + }, + "size": { + "x": 0.052725791931152344, + "y": 0.07959139347076416, + "z": 0.0518341064453125 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.415594100952148, + 0.9383828639984131, + 9.624578475952148 + ], + [ + 9.415594100952148, + 0.9383828639984131, + 9.572744369506836 + ], + [ + 9.4683198928833, + 0.9383828639984131, + 9.572744369506836 + ], + [ + 9.4683198928833, + 0.9383828639984131, + 9.624578475952148 + ], + [ + 9.415594100952148, + 1.0179742574691772, + 9.624578475952148 + ], + [ + 9.415594100952148, + 1.0179742574691772, + 9.572744369506836 + ], + [ + 9.4683198928833, + 1.0179742574691772, + 9.572744369506836 + ], + [ + 9.4683198928833, + 1.0179742574691772, + 9.624578475952148 + ] + ] + } + } + }, + { + "objectId": "CounterTop|6|0", + "object_info": { + "name": "CounterTop|6|0", + "position": { + "x": 10.586999893188477, + "y": 0.0012565553188323975, + "z": 9.906636238098145 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Pan|surface|6|38", + "PepperShaker|surface|6|24", + "Statue|surface|6|35", + "Mug|surface|6|33", + "Cup|surface|6|22", + "SoapBottle|surface|6|20", + "Spoon|surface|6|29", + "Egg|surface|6|26", + "DishSponge|surface|6|40", + "Spatula|surface|6|34", + "SprayBottle|surface|6|39", + "Spoon|surface|6|30", + "SaltShaker|surface|6|37" + ], + "distance": 3.2010233402252197, + "objectType": "CounterTop", + "objectId": "CounterTop|6|0", + "assetId": "Countertop_L_6x4", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.586999893188477, + 0.9383828639984131, + 9.906635284423828 + ], + [ + 10.586999893188477, + 0.9383828639984131, + 8.077831268310547 + ], + [ + 10.586999893188477, + 2.086162567138672e-07, + 9.906635284423828 + ], + [ + 10.586999893188477, + 2.086162567138672e-07, + 8.077831268310547 + ], + [ + 9.3677978515625, + 0.9383828639984131, + 9.906635284423828 + ], + [ + 9.3677978515625, + 0.9383828639984131, + 8.077831268310547 + ], + [ + 9.3677978515625, + 2.086162567138672e-07, + 9.906635284423828 + ], + [ + 9.3677978515625, + 2.086162567138672e-07, + 8.077831268310547 + ] + ], + "center": { + "x": 9.977398872375488, + "y": 0.4691915214061737, + "z": 8.992233276367188 + }, + "size": { + "x": 1.2192020416259766, + "y": 0.938382625579834, + "z": 1.8288049697875977 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Statue|surface|6|35", + "object_info": { + "name": "Statue|surface|6|35", + "position": { + "x": 10.205731391906738, + "y": 0.9371708035469055, + "z": 8.307840347290039 + }, + "rotation": { + "x": -0.00015413443907164037, + "y": 270.00042724609375, + "z": -1.5659292330383323e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Stone" + ], + "receptacleObjectIds": null, + "distance": 2.2067861557006836, + "objectType": "Statue", + "objectId": "Statue|surface|6|35", + "assetId": "Waving_Statue_2", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.303627967834473, + 1.2966692447662354, + 8.416659355163574 + ], + [ + 10.303627967834473, + 1.2966692447662354, + 8.208640098571777 + ], + [ + 10.303627967834473, + 0.938382625579834, + 8.416659355163574 + ], + [ + 10.303627967834473, + 0.938382625579834, + 8.208640098571777 + ], + [ + 10.107834815979004, + 1.2966692447662354, + 8.416659355163574 + ], + [ + 10.107834815979004, + 1.2966692447662354, + 8.208640098571777 + ], + [ + 10.107834815979004, + 0.938382625579834, + 8.416659355163574 + ], + [ + 10.107834815979004, + 0.938382625579834, + 8.208640098571777 + ] + ], + "center": { + "x": 10.205731391906738, + "y": 1.1175259351730347, + "z": 8.312649726867676 + }, + "size": { + "x": 0.19579315185546875, + "y": 0.35828661918640137, + "z": 0.20801925659179688 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 10.107834815979004, + 0.9383825063705444, + 8.416661262512207 + ], + [ + 10.107832908630371, + 0.9383825659751892, + 8.20864200592041 + ], + [ + 10.303627967834473, + 0.938382089138031, + 8.208640098571777 + ], + [ + 10.303628921508789, + 0.9383820295333862, + 8.41666030883789 + ], + [ + 10.10783576965332, + 1.2966703176498413, + 8.416661262512207 + ], + [ + 10.107833862304688, + 1.2966704368591309, + 8.20864200592041 + ], + [ + 10.303628921508789, + 1.296669840812683, + 8.208640098571777 + ], + [ + 10.303629875183105, + 1.296669840812683, + 8.41666030883789 + ] + ] + } + } + }, + { + "objectId": "Mug|surface|6|33", + "object_info": { + "name": "Mug|surface|6|33", + "position": { + "x": 10.128620147705078, + "y": 0.9383828639984131, + "z": 8.994096755981445 + }, + "rotation": { + "x": 0.0004471870488487184, + "y": 270.00018310546875, + "z": -5.4247047955868766e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 2.2552385330200195, + "objectType": "Mug", + "objectId": "Mug|surface|6|33", + "assetId": "Mug_3", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.174261093139648, + 1.042018175125122, + 9.034597396850586 + ], + [ + 10.174261093139648, + 1.042018175125122, + 8.92509651184082 + ], + [ + 10.174261093139648, + 0.9383825063705444, + 9.034597396850586 + ], + [ + 10.174261093139648, + 0.9383825063705444, + 8.92509651184082 + ], + [ + 10.08327865600586, + 1.042018175125122, + 9.034597396850586 + ], + [ + 10.08327865600586, + 1.042018175125122, + 8.92509651184082 + ], + [ + 10.08327865600586, + 0.9383825063705444, + 9.034597396850586 + ], + [ + 10.08327865600586, + 0.9383825063705444, + 8.92509651184082 + ] + ], + "center": { + "x": 10.128769874572754, + "y": 0.9902003407478333, + "z": 8.979846954345703 + }, + "size": { + "x": 0.09098243713378906, + "y": 0.10363566875457764, + "z": 0.10950088500976562 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 10.083279609680176, + 0.9383822083473206, + 9.034597396850586 + ], + [ + 10.083279609680176, + 0.9383822679519653, + 8.925097465515137 + ], + [ + 10.174260139465332, + 0.9383829832077026, + 8.92509651184082 + ], + [ + 10.174261093139648, + 0.9383829236030579, + 9.034597396850586 + ], + [ + 10.08327865600586, + 1.0420178174972534, + 9.034597396850586 + ], + [ + 10.08327865600586, + 1.042017936706543, + 8.925097465515137 + ], + [ + 10.174259185791016, + 1.0420186519622803, + 8.92509651184082 + ], + [ + 10.174260139465332, + 1.0420185327529907, + 9.034597396850586 + ] + ] + } + } + }, + { + "objectId": "door|6|7", + "object_info": { + "name": "door|6|7", + "position": { + "x": 8.643109321594238, + "y": -0.0005974769592285156, + "z": 6.367167949676514 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1843817234039307, + "objectType": "Doorway", + "objectId": "door|6|7", + "assetId": "Doorway_4", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.684856414794922, + 2.1035876274108887, + 7.285187721252441 + ], + [ + 9.684856414794922, + 2.1035876274108887, + 6.296596527099609 + ], + [ + 9.684856414794922, + 4.76837158203125e-07, + 7.285187721252441 + ], + [ + 9.684856414794922, + 4.76837158203125e-07, + 6.296596527099609 + ], + [ + 8.603919982910156, + 2.1035876274108887, + 7.285187721252441 + ], + [ + 8.603919982910156, + 2.1035876274108887, + 6.296596527099609 + ], + [ + 8.603919982910156, + 4.76837158203125e-07, + 7.285187721252441 + ], + [ + 8.603919982910156, + 4.76837158203125e-07, + 6.296596527099609 + ] + ], + "center": { + "x": 9.144388198852539, + "y": 1.0517940521240234, + "z": 6.790892124176025 + }, + "size": { + "x": 1.0809364318847656, + "y": 2.1035871505737305, + "z": 0.988591194152832 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Spoon|surface|6|30", + "object_info": { + "name": "Spoon|surface|6|30", + "position": { + "x": 9.59584903717041, + "y": 0.9386671781539917, + "z": 9.36561393737793 + }, + "rotation": { + "x": 0.10866478830575943, + "y": 270.000732421875, + "z": 359.6162109375 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.03999999910593033, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 1.9474977254867554, + "objectType": "Spoon", + "objectId": "Spoon|surface|6|30", + "assetId": "Spoon_1", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.713079452514648, + 0.9572588801383972, + 9.385297775268555 + ], + [ + 9.713079452514648, + 0.9572588801383972, + 9.343864440917969 + ], + [ + 9.713079452514648, + 0.9382080435752869, + 9.385297775268555 + ], + [ + 9.713079452514648, + 0.9382080435752869, + 9.343864440917969 + ], + [ + 9.505643844604492, + 0.9572588801383972, + 9.385297775268555 + ], + [ + 9.505643844604492, + 0.9572588801383972, + 9.343864440917969 + ], + [ + 9.505643844604492, + 0.9382080435752869, + 9.385297775268555 + ], + [ + 9.505643844604492, + 0.9382080435752869, + 9.343864440917969 + ] + ], + "center": { + "x": 9.60936164855957, + "y": 0.947733461856842, + "z": 9.364581108093262 + }, + "size": { + "x": 0.20743560791015625, + "y": 0.01905083656311035, + "z": 0.04143333435058594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.505664825439453, + 0.9379144906997681, + 9.385235786437988 + ], + [ + 9.505663871765137, + 0.9381917715072632, + 9.343844413757324 + ], + [ + 9.713088035583496, + 0.9385851621627808, + 9.343842506408691 + ], + [ + 9.713089942932129, + 0.9383079409599304, + 9.385232925415039 + ], + [ + 9.50562858581543, + 0.9569703936576843, + 9.38536262512207 + ], + [ + 9.505627632141113, + 0.9572476744651794, + 9.343972206115723 + ], + [ + 9.713052749633789, + 0.957641065120697, + 9.34397029876709 + ], + [ + 9.713053703308105, + 0.9573637843132019, + 9.385360717773438 + ] + ] + } + } + }, + { + "objectId": "SprayBottle|surface|6|39", + "object_info": { + "name": "SprayBottle|surface|6|39", + "position": { + "x": 9.44205379486084, + "y": 0.9378632307052612, + "z": 9.753796577453613 + }, + "rotation": { + "x": 0.014907661825418472, + "y": 269.9989013671875, + "z": 0.040948666632175446 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.10999999940395355, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.0838143825531006, + "objectType": "SprayBottle", + "objectId": "SprayBottle|surface|6|39", + "assetId": "Spray_Bottle_6", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.49439811706543, + 1.1838736534118652, + 9.770223617553711 + ], + [ + 9.49439811706543, + 1.1838736534118652, + 9.737226486206055 + ], + [ + 9.49439811706543, + 0.9383547306060791, + 9.770223617553711 + ], + [ + 9.49439811706543, + 0.9383547306060791, + 9.737226486206055 + ], + [ + 9.381900787353516, + 1.1838736534118652, + 9.770223617553711 + ], + [ + 9.381900787353516, + 1.1838736534118652, + 9.737226486206055 + ], + [ + 9.381900787353516, + 0.9383547306060791, + 9.770223617553711 + ], + [ + 9.381900787353516, + 0.9383547306060791, + 9.737226486206055 + ] + ], + "center": { + "x": 9.438149452209473, + "y": 1.0611141920089722, + "z": 9.753725051879883 + }, + "size": { + "x": 0.11249732971191406, + "y": 0.24551892280578613, + "z": 0.03299713134765625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.38193130493164, + 0.938378095626831, + 9.770222663879395 + ], + [ + 9.381932258605957, + 0.9383546113967896, + 9.737367630004883 + ], + [ + 9.49439811706543, + 0.9383838772773743, + 9.737369537353516 + ], + [ + 9.49439811706543, + 0.9384073615074158, + 9.770224571228027 + ], + [ + 9.381867408752441, + 1.183876395225525, + 9.770047187805176 + ], + [ + 9.381868362426758, + 1.1838529109954834, + 9.737192153930664 + ], + [ + 9.49433422088623, + 1.183882236480713, + 9.737194061279297 + ], + [ + 9.49433422088623, + 1.1839057207107544, + 9.770049095153809 + ] + ] + } + } + }, + { + "objectId": "Cup|surface|6|22", + "object_info": { + "name": "Cup|surface|6|22", + "position": { + "x": 10.51418685913086, + "y": 0.9383785724639893, + "z": 8.307844161987305 + }, + "rotation": { + "x": -0.004398599732667208, + "y": 269.9985046386719, + "z": 359.98583984375 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4000000059604645, + "salientMaterials": [ + "Glass" + ], + "receptacleObjectIds": [], + "distance": 2.515130043029785, + "objectType": "Cup", + "objectId": "Cup|surface|6|22", + "assetId": "RoboTHOR_cup_ai2_v", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.563854217529297, + 1.0942165851593018, + 8.35159683227539 + ], + [ + 10.563854217529297, + 1.0942165851593018, + 8.265567779541016 + ], + [ + 10.563854217529297, + 0.938368558883667, + 8.35159683227539 + ], + [ + 10.563854217529297, + 0.938368558883667, + 8.265567779541016 + ], + [ + 10.464542388916016, + 1.0942165851593018, + 8.35159683227539 + ], + [ + 10.464542388916016, + 1.0942165851593018, + 8.265567779541016 + ], + [ + 10.464542388916016, + 0.938368558883667, + 8.35159683227539 + ], + [ + 10.464542388916016, + 0.938368558883667, + 8.265567779541016 + ] + ], + "center": { + "x": 10.514198303222656, + "y": 1.0162925720214844, + "z": 8.308582305908203 + }, + "size": { + "x": 0.09931182861328125, + "y": 0.15584802627563477, + "z": 0.086029052734375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 10.464529037475586, + 0.938371479511261, + 8.351556777954102 + ], + [ + 10.464530944824219, + 0.9383927583694458, + 8.265528678894043 + ], + [ + 10.563844680786133, + 0.9383851289749146, + 8.265531539916992 + ], + [ + 10.5638427734375, + 0.9383638501167297, + 8.35155963897705 + ], + [ + 10.464540481567383, + 1.09419846534729, + 8.351595878601074 + ], + [ + 10.464543342590332, + 1.09421968460083, + 8.2655668258667 + ], + [ + 10.563857078552246, + 1.0942120552062988, + 8.265569686889648 + ], + [ + 10.563854217529297, + 1.0941908359527588, + 8.351598739624023 + ] + ] + } + } + }, + { + "objectId": "Spoon|surface|6|29", + "object_info": { + "name": "Spoon|surface|6|29", + "position": { + "x": 9.518946647644043, + "y": 0.9386671781539917, + "z": 9.443269729614258 + }, + "rotation": { + "x": 0.1097664088010788, + "y": 270.00140380859375, + "z": 359.5987243652344 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.03999999910593033, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 1.9319705963134766, + "objectType": "Spoon", + "objectId": "Spoon|surface|6|29", + "assetId": "Spoon_1", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.636177062988281, + 0.957260012626648, + 9.462956428527832 + ], + [ + 9.636177062988281, + 0.957260012626648, + 9.421521186828613 + ], + [ + 9.636177062988281, + 0.9382011890411377, + 9.462956428527832 + ], + [ + 9.636177062988281, + 0.9382011890411377, + 9.421521186828613 + ], + [ + 9.428741455078125, + 0.957260012626648, + 9.462956428527832 + ], + [ + 9.428741455078125, + 0.957260012626648, + 9.421521186828613 + ], + [ + 9.428741455078125, + 0.9382011890411377, + 9.462956428527832 + ], + [ + 9.428741455078125, + 0.9382011890411377, + 9.421521186828613 + ] + ], + "center": { + "x": 9.532459259033203, + "y": 0.9477306008338928, + "z": 9.442238807678223 + }, + "size": { + "x": 0.20743560791015625, + "y": 0.019058823585510254, + "z": 0.04143524169921875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.428762435913086, + 0.937906801700592, + 9.462892532348633 + ], + [ + 9.428760528564453, + 0.9381966590881348, + 9.421502113342285 + ], + [ + 9.636185646057129, + 0.9385940432548523, + 9.421496391296387 + ], + [ + 9.636187553405762, + 0.9383041858673096, + 9.462886810302734 + ], + [ + 9.428726196289062, + 0.9569626450538635, + 9.463025093078613 + ], + [ + 9.42872428894043, + 0.957252562046051, + 9.421634674072266 + ], + [ + 9.636149406433105, + 0.9576499462127686, + 9.421629905700684 + ], + [ + 9.636150360107422, + 0.957360029220581, + 9.463020324707031 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 8.0, + "y": 0.9009997844696045, + "z": 8.300000190734863 + }, + "agent_rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "agent_cameraHorizon": 1.530945155536756e-06, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 8.0, + "y": 1.5759997367858887, + "z": 8.300000190734863 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "DishSponge|surface|6|40", + "Spoon|surface|6|29", + "Egg|surface|6|26", + "Spatula|surface|6|34", + "door|1|6", + "CounterTop|6|0", + "SprayBottle|surface|6|39", + "Spoon|surface|6|30" + ], + "different_object": [ + "SaltShaker|surface|6|37", + "PepperShaker|surface|6|24", + "Painting|7|4", + "Mug|surface|6|33", + "window|6|0", + "Statue|surface|6|35", + "DiningTable|7|1", + "SoapBottle|surface|6|20", + "Box|surface|7|55", + "Cup|surface|6|22", + "door|6|7", + "Painting|6|6", + "Pan|surface|6|38" + ] +} \ No newline at end of file diff --git a/train/train1843/3/0_depth_npy.npy b/train/train1843/3/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..fabca60df2027b44bae064a35edfda3c730562ea --- /dev/null +++ b/train/train1843/3/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6e71c695606a8851f78cf387c713b91e05b47272d92d2d9ce5ac31ae5fbc8333 +size 3145856 diff --git a/train/train1843/3/0_semantic_sensor_npy.npy b/train/train1843/3/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..e2c8dc7e6e0a103ac273f1bc6805ce1df9a0ba76 --- /dev/null +++ b/train/train1843/3/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6cba803955eda3b0b1a6e7c4fbf31134b7d204d43183209213d260a669c5de14 +size 2359424 diff --git a/train/train1843/3/1.json b/train/train1843/3/1.json new file mode 100644 index 0000000000000000000000000000000000000000..689402316b4c1d4792ce4622a6223cccb5d8ab28 --- /dev/null +++ b/train/train1843/3/1.json @@ -0,0 +1,2469 @@ +{ + "object": [ + { + "objectId": "Plate|surface|6|21", + "object_info": { + "name": "Plate|surface|6|21", + "position": { + "x": 7.606054306030273, + "y": 0.6799222230911255, + "z": 9.919393539428711 + }, + "rotation": { + "x": 359.9570007324219, + "y": 89.99894714355469, + "z": 0.11190862208604813 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 1.7294343709945679, + "objectType": "Plate", + "objectId": "Plate|surface|6|21", + "assetId": "Plate_22", + "parentReceptacles": [ + "DiningTable|6|2|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.699070930480957, + 0.6977603435516357, + 10.017152786254883 + ], + [ + 7.699070930480957, + 0.6977603435516357, + 9.824880599975586 + ], + [ + 7.699070930480957, + 0.6780743598937988, + 10.017152786254883 + ], + [ + 7.699070930480957, + 0.6780743598937988, + 9.824880599975586 + ], + [ + 7.50679874420166, + 0.6977603435516357, + 10.017152786254883 + ], + [ + 7.50679874420166, + 0.6977603435516357, + 9.824880599975586 + ], + [ + 7.50679874420166, + 0.6780743598937988, + 10.017152786254883 + ], + [ + 7.50679874420166, + 0.6780743598937988, + 9.824880599975586 + ] + ], + "center": { + "x": 7.602934837341309, + "y": 0.6879173517227173, + "z": 9.921016693115234 + }, + "size": { + "x": 0.19227218627929688, + "y": 0.019685983657836914, + "z": 0.19227218627929688 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.699081897735596, + 0.6784887313842773, + 9.824854850769043 + ], + [ + 7.699078559875488, + 0.6781132221221924, + 10.01712703704834 + ], + [ + 7.506808280944824, + 0.6779688596725464, + 10.017123222351074 + ], + [ + 7.506811618804932, + 0.6783444285392761, + 9.824851036071777 + ], + [ + 7.699067115783691, + 0.6981801986694336, + 9.8248929977417 + ], + [ + 7.699063777923584, + 0.6978046894073486, + 10.017165184020996 + ], + [ + 7.50679349899292, + 0.6976603865623474, + 10.017162322998047 + ], + [ + 7.506796836853027, + 0.6980358958244324, + 9.82489013671875 + ] + ] + } + } + }, + { + "objectId": "Chair|6|2|1", + "object_info": { + "name": "Chair|6|2|1", + "position": { + "x": 6.648900508880615, + "y": -0.0016570687294006348, + "z": 9.698123931884766 + }, + "rotation": { + "x": -0.0, + "y": 84.76823425292969, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 2.1765389442443848, + "objectType": "Chair", + "objectId": "Chair|6|2|1", + "assetId": "Chair_227_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.89082145690918, + 0.7736937999725342, + 9.908531188964844 + ], + [ + 6.89082145690918, + 0.7736937999725342, + 9.487716674804688 + ], + [ + 6.89082145690918, + -2.9206275939941406e-06, + 9.908531188964844 + ], + [ + 6.89082145690918, + -2.9206275939941406e-06, + 9.487716674804688 + ], + [ + 6.393077850341797, + 0.7736937999725342, + 9.908531188964844 + ], + [ + 6.393077850341797, + 0.7736937999725342, + 9.487716674804688 + ], + [ + 6.393077850341797, + -2.9206275939941406e-06, + 9.908531188964844 + ], + [ + 6.393077850341797, + -2.9206275939941406e-06, + 9.487716674804688 + ] + ], + "center": { + "x": 6.641949653625488, + "y": 0.3868454396724701, + "z": 9.698123931884766 + }, + "size": { + "x": 0.4977436065673828, + "y": 0.7736967206001282, + "z": 0.42081451416015625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.89082145690918, + -2.86102294921875e-06, + 9.528837203979492 + ], + [ + 6.856054306030273, + -2.86102294921875e-06, + 9.908531188964844 + ], + [ + 6.391991138458252, + -2.86102294921875e-06, + 9.86603832244873 + ], + [ + 6.426758289337158, + -2.86102294921875e-06, + 9.486344337463379 + ], + [ + 6.89082145690918, + 0.7736939191818237, + 9.528837203979492 + ], + [ + 6.856054306030273, + 0.7736939191818237, + 9.908531188964844 + ], + [ + 6.391991138458252, + 0.7736939191818237, + 9.86603832244873 + ], + [ + 6.426758289337158, + 0.7736939191818237, + 9.486344337463379 + ] + ] + } + } + }, + { + "objectId": "Pencil|surface|6|27", + "object_info": { + "name": "Pencil|surface|6|27", + "position": { + "x": 6.988069534301758, + "y": 0.6829441785812378, + "z": 9.919360160827637 + }, + "rotation": { + "x": 0.00016481903730891645, + "y": 90.0, + "z": -7.080207433318719e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": null, + "distance": 1.964259386062622, + "objectType": "Pencil", + "objectId": "Pencil|surface|6|27", + "assetId": "Pencil_5", + "parentReceptacles": [ + "DiningTable|6|2|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.061227321624756, + 0.6876717805862427, + 9.924087524414062 + ], + [ + 7.061227321624756, + 0.6876717805862427, + 9.914632797241211 + ], + [ + 7.061227321624756, + 0.6782165765762329, + 9.924087524414062 + ], + [ + 7.061227321624756, + 0.6782165765762329, + 9.914632797241211 + ], + [ + 6.921295642852783, + 0.6876717805862427, + 9.924087524414062 + ], + [ + 6.921295642852783, + 0.6876717805862427, + 9.914632797241211 + ], + [ + 6.921295642852783, + 0.6782165765762329, + 9.924087524414062 + ], + [ + 6.921295642852783, + 0.6782165765762329, + 9.914632797241211 + ] + ], + "center": { + "x": 6.9912614822387695, + "y": 0.6829441785812378, + "z": 9.919360160827637 + }, + "size": { + "x": 0.13993167877197266, + "y": 0.009455204010009766, + "z": 0.009454727172851562 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.061227321624756, + 0.6782162189483643, + 9.914632797241211 + ], + [ + 7.061227321624756, + 0.6782162189483643, + 9.924087524414062 + ], + [ + 6.921295642852783, + 0.6782166361808777, + 9.924087524414062 + ], + [ + 6.921295642852783, + 0.6782165765762329, + 9.914632797241211 + ], + [ + 7.061227321624756, + 0.6876717209815979, + 9.914632797241211 + ], + [ + 7.061227321624756, + 0.6876717209815979, + 9.924087524414062 + ], + [ + 6.921295642852783, + 0.6876721382141113, + 9.924087524414062 + ], + [ + 6.921295642852783, + 0.6876721382141113, + 9.914632797241211 + ] + ] + } + } + }, + { + "objectId": "Spatula|surface|6|34", + "object_info": { + "name": "Spatula|surface|6|34", + "position": { + "x": 9.596115112304688, + "y": 0.9457909464836121, + "z": 9.598554611206055 + }, + "rotation": { + "x": 0.19118916988372803, + "y": -0.00189886218868196, + "z": 358.8526916503906 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.06499999761581421, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.0900213718414307, + "objectType": "Spatula", + "objectId": "Spatula|surface|6|34", + "assetId": "Spatula_1", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.628328323364258, + 0.9554284811019897, + 9.81928825378418 + ], + [ + 9.628328323364258, + 0.9554284811019897, + 9.521757125854492 + ], + [ + 9.628328323364258, + 0.9371154308319092, + 9.81928825378418 + ], + [ + 9.628328323364258, + 0.9371154308319092, + 9.521757125854492 + ], + [ + 9.563932418823242, + 0.9554284811019897, + 9.81928825378418 + ], + [ + 9.563932418823242, + 0.9554284811019897, + 9.521757125854492 + ], + [ + 9.563932418823242, + 0.9371154308319092, + 9.81928825378418 + ], + [ + 9.563932418823242, + 0.9371154308319092, + 9.521757125854492 + ] + ], + "center": { + "x": 9.59613037109375, + "y": 0.9462719559669495, + "z": 9.670522689819336 + }, + "size": { + "x": 0.06439590454101562, + "y": 0.018313050270080566, + "z": 0.2975311279296875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.62798023223877, + 0.9368060827255249, + 9.819238662719727 + ], + [ + 9.56393051147461, + 0.9380887746810913, + 9.81924057006836 + ], + [ + 9.563940048217773, + 0.9390815496444702, + 9.521730422973633 + ], + [ + 9.62799072265625, + 0.9377988576889038, + 9.521728515625 + ], + [ + 9.628327369689941, + 0.9541439414024353, + 9.819295883178711 + ], + [ + 9.564277648925781, + 0.9554266333580017, + 9.81929874420166 + ], + [ + 9.564287185668945, + 0.9564194083213806, + 9.521788597106934 + ], + [ + 9.628337860107422, + 0.9551366567611694, + 9.521785736083984 + ] + ] + } + } + }, + { + "objectId": "door|1|6", + "object_info": { + "name": "door|1|6", + "position": { + "x": 8.809093475341797, + "y": -0.0005959272384643555, + "z": 10.612021446228027 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.654553174972534, + "objectType": "Doorway", + "objectId": "door|1|6", + "assetId": "Doorway_9", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.80488395690918, + 2.0743770599365234, + 10.722686767578125 + ], + [ + 9.80488395690918, + 2.0743770599365234, + 10.501314163208008 + ], + [ + 9.80488395690918, + 0.0, + 10.722686767578125 + ], + [ + 9.80488395690918, + 0.0, + 10.501314163208008 + ], + [ + 8.806859970092773, + 2.0743770599365234, + 10.722686767578125 + ], + [ + 8.806859970092773, + 2.0743770599365234, + 10.501314163208008 + ], + [ + 8.806859970092773, + 0.0, + 10.722686767578125 + ], + [ + 8.806859970092773, + 0.0, + 10.501314163208008 + ] + ], + "center": { + "x": 9.305871963500977, + "y": 1.0371885299682617, + "z": 10.612000465393066 + }, + "size": { + "x": 0.9980239868164062, + "y": 2.0743770599365234, + "z": 0.2213726043701172 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DiningTable|6|2|0", + "object_info": { + "name": "DiningTable|6|2|0", + "position": { + "x": 7.235268592834473, + "y": -0.018440067768096924, + "z": 9.697439193725586 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood", + "Glass" + ], + "receptacleObjectIds": [ + "Pot|surface|6|28", + "Plate|surface|6|21", + "Pencil|surface|6|27", + "Toaster|surface|6|31", + "Ladle|surface|6|32", + "CellPhone|surface|6|36" + ], + "distance": 1.8775686025619507, + "objectType": "DiningTable", + "objectId": "DiningTable|6|2|0", + "assetId": "Dining_Table_201_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.729119777679443, + 0.6782166361808777, + 10.586999893188477 + ], + [ + 7.729119777679443, + 0.6782166361808777, + 8.807878494262695 + ], + [ + 7.729119777679443, + 1.5497207641601562e-06, + 10.586999893188477 + ], + [ + 7.729119777679443, + 1.5497207641601562e-06, + 8.807878494262695 + ], + [ + 6.741417407989502, + 0.6782166361808777, + 10.586999893188477 + ], + [ + 6.741417407989502, + 0.6782166361808777, + 8.807878494262695 + ], + [ + 6.741417407989502, + 1.5497207641601562e-06, + 10.586999893188477 + ], + [ + 6.741417407989502, + 1.5497207641601562e-06, + 8.807878494262695 + ] + ], + "center": { + "x": 7.235268592834473, + "y": 0.3391090929508209, + "z": 9.697439193725586 + }, + "size": { + "x": 0.9877023696899414, + "y": 0.6782150864601135, + "z": 1.7791213989257812 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.729119777679443, + 1.6093254089355469e-06, + 8.807878494262695 + ], + [ + 7.729119777679443, + 1.6093254089355469e-06, + 10.586999893188477 + ], + [ + 6.741417407989502, + 1.6093254089355469e-06, + 10.586999893188477 + ], + [ + 6.741417407989502, + 1.6093254089355469e-06, + 8.807878494262695 + ], + [ + 7.729119777679443, + 0.6782165169715881, + 8.807878494262695 + ], + [ + 7.729119777679443, + 0.6782165169715881, + 10.586999893188477 + ], + [ + 6.741417407989502, + 0.6782165169715881, + 10.586999893188477 + ], + [ + 6.741417407989502, + 0.6782165169715881, + 8.807878494262695 + ] + ] + } + } + }, + { + "objectId": "Toaster|surface|6|31", + "object_info": { + "name": "Toaster|surface|6|31", + "position": { + "x": 6.988070011138916, + "y": 0.6782166361808777, + "z": 9.031681060791016 + }, + "rotation": { + "x": -2.608218437671894e-06, + "y": 90.00001525878906, + "z": 3.174660378135741e-05 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 5.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.2979445457458496, + "objectType": "Toaster", + "objectId": "Toaster|surface|6|31", + "assetId": "Toaster_6", + "parentReceptacles": [ + "DiningTable|6|2|0", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.190628528594971, + 0.8852825164794922, + 9.130928039550781 + ], + [ + 7.190628528594971, + 0.8852825164794922, + 8.93243408203125 + ], + [ + 7.190628528594971, + 0.6782165765762329, + 9.130928039550781 + ], + [ + 7.190628528594971, + 0.6782165765762329, + 8.93243408203125 + ], + [ + 6.829248905181885, + 0.8852825164794922, + 9.130928039550781 + ], + [ + 6.829248905181885, + 0.8852825164794922, + 8.93243408203125 + ], + [ + 6.829248905181885, + 0.6782165765762329, + 9.130928039550781 + ], + [ + 6.829248905181885, + 0.6782165765762329, + 8.93243408203125 + ] + ], + "center": { + "x": 7.009938716888428, + "y": 0.7817495465278625, + "z": 9.031681060791016 + }, + "size": { + "x": 0.36137962341308594, + "y": 0.20706593990325928, + "z": 0.19849395751953125 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.190628528594971, + 0.6782164573669434, + 8.93243408203125 + ], + [ + 7.190628528594971, + 0.6782163381576538, + 9.130927085876465 + ], + [ + 6.829248428344727, + 0.6782163381576538, + 9.130928039550781 + ], + [ + 6.829248428344727, + 0.6782164573669434, + 8.932435035705566 + ], + [ + 7.190628528594971, + 0.885282576084137, + 8.93243408203125 + ], + [ + 7.190628528594971, + 0.8852824568748474, + 9.130928039550781 + ], + [ + 6.829248428344727, + 0.8852824568748474, + 9.130928039550781 + ], + [ + 6.829248428344727, + 0.885282576084137, + 8.932435035705566 + ] + ] + } + } + }, + { + "objectId": "DishSponge|surface|6|40", + "object_info": { + "name": "DishSponge|surface|6|40", + "position": { + "x": 9.826562881469727, + "y": 0.9404739737510681, + "z": 9.753806114196777 + }, + "rotation": { + "x": 6.674708129139617e-05, + "y": 270.00006103515625, + "z": -0.0003779351245611906 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.029999997466802597, + "salientMaterials": [ + "Sponge" + ], + "receptacleObjectIds": null, + "distance": 2.366288900375366, + "objectType": "DishSponge", + "objectId": "DishSponge|surface|6|40", + "assetId": "Dish_Sponge_1", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.896036148071289, + 0.9644221067428589, + 9.7905855178833 + ], + [ + 9.896036148071289, + 0.9644221067428589, + 9.717026710510254 + ], + [ + 9.896036148071289, + 0.9383825063705444, + 9.7905855178833 + ], + [ + 9.896036148071289, + 0.9383825063705444, + 9.717026710510254 + ], + [ + 9.757089614868164, + 0.9644221067428589, + 9.7905855178833 + ], + [ + 9.757089614868164, + 0.9644221067428589, + 9.717026710510254 + ], + [ + 9.757089614868164, + 0.9383825063705444, + 9.7905855178833 + ], + [ + 9.757089614868164, + 0.9383825063705444, + 9.717026710510254 + ] + ], + "center": { + "x": 9.826562881469727, + "y": 0.9514023065567017, + "z": 9.753806114196777 + }, + "size": { + "x": 0.138946533203125, + "y": 0.026039600372314453, + "z": 0.07355880737304688 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.757089614868164, + 0.9383825063705444, + 9.7905855178833 + ], + [ + 9.757089614868164, + 0.9383829832077026, + 9.717026710510254 + ], + [ + 9.896036148071289, + 0.9383831024169922, + 9.717026710510254 + ], + [ + 9.896036148071289, + 0.938382625579834, + 9.7905855178833 + ], + [ + 9.757089614868164, + 0.9644215106964111, + 9.7905855178833 + ], + [ + 9.757089614868164, + 0.9644219875335693, + 9.717026710510254 + ], + [ + 9.896036148071289, + 0.9644221067428589, + 9.717026710510254 + ], + [ + 9.896036148071289, + 0.9644216299057007, + 9.7905855178833 + ] + ] + } + } + }, + { + "objectId": "Egg|surface|6|26", + "object_info": { + "name": "Egg|surface|6|26", + "position": { + "x": 9.442055702209473, + "y": 0.9781785607337952, + "z": 9.598512649536133 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": true, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.054999999701976776, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 1.9758460521697998, + "objectType": "Egg", + "objectId": "Egg|surface|6|26", + "assetId": "Egg_19", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.468320846557617, + 1.0179742574691772, + 9.624578475952148 + ], + [ + 9.468320846557617, + 1.0179742574691772, + 9.572744369506836 + ], + [ + 9.468320846557617, + 0.9383828639984131, + 9.624578475952148 + ], + [ + 9.468320846557617, + 0.9383828639984131, + 9.572744369506836 + ], + [ + 9.415594100952148, + 1.0179742574691772, + 9.624578475952148 + ], + [ + 9.415594100952148, + 1.0179742574691772, + 9.572744369506836 + ], + [ + 9.415594100952148, + 0.9383828639984131, + 9.624578475952148 + ], + [ + 9.415594100952148, + 0.9383828639984131, + 9.572744369506836 + ] + ], + "center": { + "x": 9.441957473754883, + "y": 0.9781785607337952, + "z": 9.598661422729492 + }, + "size": { + "x": 0.052725791931152344, + "y": 0.07959139347076416, + "z": 0.0518341064453125 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.415594100952148, + 0.9383828639984131, + 9.624578475952148 + ], + [ + 9.415594100952148, + 0.9383828639984131, + 9.572744369506836 + ], + [ + 9.4683198928833, + 0.9383828639984131, + 9.572744369506836 + ], + [ + 9.4683198928833, + 0.9383828639984131, + 9.624578475952148 + ], + [ + 9.415594100952148, + 1.0179742574691772, + 9.624578475952148 + ], + [ + 9.415594100952148, + 1.0179742574691772, + 9.572744369506836 + ], + [ + 9.4683198928833, + 1.0179742574691772, + 9.572744369506836 + ], + [ + 9.4683198928833, + 1.0179742574691772, + 9.624578475952148 + ] + ] + } + } + }, + { + "objectId": "CounterTop|6|0", + "object_info": { + "name": "CounterTop|6|0", + "position": { + "x": 10.586999893188477, + "y": 0.0012565553188323975, + "z": 9.906636238098145 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Pan|surface|6|38", + "PepperShaker|surface|6|24", + "Statue|surface|6|35", + "Mug|surface|6|33", + "Cup|surface|6|22", + "SoapBottle|surface|6|20", + "Spoon|surface|6|29", + "Egg|surface|6|26", + "DishSponge|surface|6|40", + "Spatula|surface|6|34", + "SprayBottle|surface|6|39", + "Spoon|surface|6|30", + "SaltShaker|surface|6|37" + ], + "distance": 3.2010233402252197, + "objectType": "CounterTop", + "objectId": "CounterTop|6|0", + "assetId": "Countertop_L_6x4", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.586999893188477, + 0.9383828639984131, + 9.906635284423828 + ], + [ + 10.586999893188477, + 0.9383828639984131, + 8.077831268310547 + ], + [ + 10.586999893188477, + 2.086162567138672e-07, + 9.906635284423828 + ], + [ + 10.586999893188477, + 2.086162567138672e-07, + 8.077831268310547 + ], + [ + 9.3677978515625, + 0.9383828639984131, + 9.906635284423828 + ], + [ + 9.3677978515625, + 0.9383828639984131, + 8.077831268310547 + ], + [ + 9.3677978515625, + 2.086162567138672e-07, + 9.906635284423828 + ], + [ + 9.3677978515625, + 2.086162567138672e-07, + 8.077831268310547 + ] + ], + "center": { + "x": 9.977398872375488, + "y": 0.4691915214061737, + "z": 8.992233276367188 + }, + "size": { + "x": 1.2192020416259766, + "y": 0.938382625579834, + "z": 1.8288049697875977 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Spoon|surface|6|30", + "object_info": { + "name": "Spoon|surface|6|30", + "position": { + "x": 9.59584903717041, + "y": 0.9386671781539917, + "z": 9.36561393737793 + }, + "rotation": { + "x": 0.10866478830575943, + "y": 270.000732421875, + "z": 359.6162109375 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.03999999910593033, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 1.9474977254867554, + "objectType": "Spoon", + "objectId": "Spoon|surface|6|30", + "assetId": "Spoon_1", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.713079452514648, + 0.9572588801383972, + 9.385297775268555 + ], + [ + 9.713079452514648, + 0.9572588801383972, + 9.343864440917969 + ], + [ + 9.713079452514648, + 0.9382080435752869, + 9.385297775268555 + ], + [ + 9.713079452514648, + 0.9382080435752869, + 9.343864440917969 + ], + [ + 9.505643844604492, + 0.9572588801383972, + 9.385297775268555 + ], + [ + 9.505643844604492, + 0.9572588801383972, + 9.343864440917969 + ], + [ + 9.505643844604492, + 0.9382080435752869, + 9.385297775268555 + ], + [ + 9.505643844604492, + 0.9382080435752869, + 9.343864440917969 + ] + ], + "center": { + "x": 9.60936164855957, + "y": 0.947733461856842, + "z": 9.364581108093262 + }, + "size": { + "x": 0.20743560791015625, + "y": 0.01905083656311035, + "z": 0.04143333435058594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.505664825439453, + 0.9379144906997681, + 9.385235786437988 + ], + [ + 9.505663871765137, + 0.9381917715072632, + 9.343844413757324 + ], + [ + 9.713088035583496, + 0.9385851621627808, + 9.343842506408691 + ], + [ + 9.713089942932129, + 0.9383079409599304, + 9.385232925415039 + ], + [ + 9.50562858581543, + 0.9569703936576843, + 9.38536262512207 + ], + [ + 9.505627632141113, + 0.9572476744651794, + 9.343972206115723 + ], + [ + 9.713052749633789, + 0.957641065120697, + 9.34397029876709 + ], + [ + 9.713053703308105, + 0.9573637843132019, + 9.385360717773438 + ] + ] + } + } + }, + { + "objectId": "Pot|surface|6|28", + "object_info": { + "name": "Pot|surface|6|28", + "position": { + "x": 7.3588690757751465, + "y": 0.6777743101119995, + "z": 9.475521087646484 + }, + "rotation": { + "x": -1.3460327181746834e-06, + "y": 89.99971771240234, + "z": 0.000818484288174659 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5699999928474426, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.4009926319122314, + "objectType": "Pot", + "objectId": "Pot|surface|6|28", + "assetId": "Pot_5", + "parentReceptacles": [ + "DiningTable|6|2|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.493688583374023, + 0.843828558921814, + 9.618644714355469 + ], + [ + 7.493688583374023, + 0.843828558921814, + 9.3330078125 + ], + [ + 7.493688583374023, + 0.6782162189483643, + 9.618644714355469 + ], + [ + 7.493688583374023, + 0.6782162189483643, + 9.3330078125 + ], + [ + 7.224050521850586, + 0.843828558921814, + 9.618644714355469 + ], + [ + 7.224050521850586, + 0.843828558921814, + 9.3330078125 + ], + [ + 7.224050521850586, + 0.6782162189483643, + 9.618644714355469 + ], + [ + 7.224050521850586, + 0.6782162189483643, + 9.3330078125 + ] + ], + "center": { + "x": 7.358869552612305, + "y": 0.7610223889350891, + "z": 9.475826263427734 + }, + "size": { + "x": 0.2696380615234375, + "y": 0.1656123399734497, + "z": 0.28563690185546875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.493689060211182, + 0.678218424320221, + 9.333005905151367 + ], + [ + 7.493687629699707, + 0.6782143115997314, + 9.618644714355469 + ], + [ + 7.2240495681762695, + 0.6782143115997314, + 9.618642807006836 + ], + [ + 7.224050998687744, + 0.678218424320221, + 9.33300495147705 + ], + [ + 7.493689060211182, + 0.8438296318054199, + 9.333008766174316 + ], + [ + 7.493687629699707, + 0.8438255190849304, + 9.618646621704102 + ], + [ + 7.2240495681762695, + 0.8438255190849304, + 9.618645668029785 + ], + [ + 7.224050998687744, + 0.8438296318054199, + 9.3330078125 + ] + ] + } + } + }, + { + "objectId": "CellPhone|surface|6|36", + "object_info": { + "name": "CellPhone|surface|6|36", + "position": { + "x": 7.35886812210083, + "y": 0.6782166361808777, + "z": 10.363202095031738 + }, + "rotation": { + "x": 7.488393021048978e-05, + "y": 90.0003890991211, + "z": -0.0012406454188749194 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1599999964237213, + "salientMaterials": [ + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 2.2195281982421875, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|6|36", + "assetId": "RoboTHOR_cellphone_blackberry_v", + "parentReceptacles": [ + "DiningTable|6|2|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.4151201248168945, + 0.6924915313720703, + 10.39450454711914 + ], + [ + 7.4151201248168945, + 0.6924915313720703, + 10.331899642944336 + ], + [ + 7.4151201248168945, + 0.6782158613204956, + 10.39450454711914 + ], + [ + 7.4151201248168945, + 0.6782158613204956, + 10.331899642944336 + ], + [ + 7.302616119384766, + 0.6924915313720703, + 10.39450454711914 + ], + [ + 7.302616119384766, + 0.6924915313720703, + 10.331899642944336 + ], + [ + 7.302616119384766, + 0.6782158613204956, + 10.39450454711914 + ], + [ + 7.302616119384766, + 0.6782158613204956, + 10.331899642944336 + ] + ], + "center": { + "x": 7.35886812210083, + "y": 0.685353696346283, + "z": 10.363202095031738 + }, + "size": { + "x": 0.1125040054321289, + "y": 0.014275670051574707, + "z": 0.06260490417480469 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.415119647979736, + 0.6782158613204956, + 10.331899642944336 + ], + [ + 7.4151201248168945, + 0.6782172322273254, + 10.394503593444824 + ], + [ + 7.302616596221924, + 0.6782174110412598, + 10.39450454711914 + ], + [ + 7.302616119384766, + 0.6782160401344299, + 10.331900596618652 + ], + [ + 7.415119647979736, + 0.6924900412559509, + 10.331899642944336 + ], + [ + 7.4151201248168945, + 0.6924914121627808, + 10.394502639770508 + ], + [ + 7.302616596221924, + 0.6924915313720703, + 10.394503593444824 + ], + [ + 7.302616596221924, + 0.6924902200698853, + 10.331900596618652 + ] + ] + } + } + }, + { + "objectId": "SprayBottle|surface|6|39", + "object_info": { + "name": "SprayBottle|surface|6|39", + "position": { + "x": 9.44205379486084, + "y": 0.9378632307052612, + "z": 9.753796577453613 + }, + "rotation": { + "x": 0.014907661825418472, + "y": 269.9989013671875, + "z": 0.040948666632175446 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.10999999940395355, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.0838143825531006, + "objectType": "SprayBottle", + "objectId": "SprayBottle|surface|6|39", + "assetId": "Spray_Bottle_6", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.49439811706543, + 1.1838736534118652, + 9.770223617553711 + ], + [ + 9.49439811706543, + 1.1838736534118652, + 9.737226486206055 + ], + [ + 9.49439811706543, + 0.9383547306060791, + 9.770223617553711 + ], + [ + 9.49439811706543, + 0.9383547306060791, + 9.737226486206055 + ], + [ + 9.381900787353516, + 1.1838736534118652, + 9.770223617553711 + ], + [ + 9.381900787353516, + 1.1838736534118652, + 9.737226486206055 + ], + [ + 9.381900787353516, + 0.9383547306060791, + 9.770223617553711 + ], + [ + 9.381900787353516, + 0.9383547306060791, + 9.737226486206055 + ] + ], + "center": { + "x": 9.438149452209473, + "y": 1.0611141920089722, + "z": 9.753725051879883 + }, + "size": { + "x": 0.11249732971191406, + "y": 0.24551892280578613, + "z": 0.03299713134765625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.38193130493164, + 0.938378095626831, + 9.770222663879395 + ], + [ + 9.381932258605957, + 0.9383546113967896, + 9.737367630004883 + ], + [ + 9.49439811706543, + 0.9383838772773743, + 9.737369537353516 + ], + [ + 9.49439811706543, + 0.9384073615074158, + 9.770224571228027 + ], + [ + 9.381867408752441, + 1.183876395225525, + 9.770047187805176 + ], + [ + 9.381868362426758, + 1.1838529109954834, + 9.737192153930664 + ], + [ + 9.49433422088623, + 1.183882236480713, + 9.737194061279297 + ], + [ + 9.49433422088623, + 1.1839057207107544, + 9.770049095153809 + ] + ] + } + } + }, + { + "objectId": "Spoon|surface|6|29", + "object_info": { + "name": "Spoon|surface|6|29", + "position": { + "x": 9.518946647644043, + "y": 0.9386671781539917, + "z": 9.443269729614258 + }, + "rotation": { + "x": 0.1097664088010788, + "y": 270.00140380859375, + "z": 359.5987243652344 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.03999999910593033, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 1.9319705963134766, + "objectType": "Spoon", + "objectId": "Spoon|surface|6|29", + "assetId": "Spoon_1", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.636177062988281, + 0.957260012626648, + 9.462956428527832 + ], + [ + 9.636177062988281, + 0.957260012626648, + 9.421521186828613 + ], + [ + 9.636177062988281, + 0.9382011890411377, + 9.462956428527832 + ], + [ + 9.636177062988281, + 0.9382011890411377, + 9.421521186828613 + ], + [ + 9.428741455078125, + 0.957260012626648, + 9.462956428527832 + ], + [ + 9.428741455078125, + 0.957260012626648, + 9.421521186828613 + ], + [ + 9.428741455078125, + 0.9382011890411377, + 9.462956428527832 + ], + [ + 9.428741455078125, + 0.9382011890411377, + 9.421521186828613 + ] + ], + "center": { + "x": 9.532459259033203, + "y": 0.9477306008338928, + "z": 9.442238807678223 + }, + "size": { + "x": 0.20743560791015625, + "y": 0.019058823585510254, + "z": 0.04143524169921875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.428762435913086, + 0.937906801700592, + 9.462892532348633 + ], + [ + 9.428760528564453, + 0.9381966590881348, + 9.421502113342285 + ], + [ + 9.636185646057129, + 0.9385940432548523, + 9.421496391296387 + ], + [ + 9.636187553405762, + 0.9383041858673096, + 9.462886810302734 + ], + [ + 9.428726196289062, + 0.9569626450538635, + 9.463025093078613 + ], + [ + 9.42872428894043, + 0.957252562046051, + 9.421634674072266 + ], + [ + 9.636149406433105, + 0.9576499462127686, + 9.421629905700684 + ], + [ + 9.636150360107422, + 0.957360029220581, + 9.463020324707031 + ] + ] + } + } + }, + { + "objectId": "Ladle|surface|6|32", + "object_info": { + "name": "Ladle|surface|6|32", + "position": { + "x": 7.229639530181885, + "y": 0.7005589604377747, + "z": 10.15164566040039 + }, + "rotation": { + "x": 351.2943420410156, + "y": 85.39877319335938, + "z": 27.456687927246094 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07999999821186066, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.061525583267212, + "objectType": "Ladle", + "objectId": "Ladle|surface|6|32", + "assetId": "Ladle_1", + "parentReceptacles": [ + "DiningTable|6|2|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.384504318237305, + 0.7279442548751831, + 10.188520431518555 + ], + [ + 7.384504318237305, + 0.7279442548751831, + 10.125310897827148 + ], + [ + 7.384504318237305, + 0.677679181098938, + 10.188520431518555 + ], + [ + 7.384504318237305, + 0.677679181098938, + 10.125310897827148 + ], + [ + 7.100492477416992, + 0.7279442548751831, + 10.188520431518555 + ], + [ + 7.100492477416992, + 0.7279442548751831, + 10.125310897827148 + ], + [ + 7.100492477416992, + 0.677679181098938, + 10.188520431518555 + ], + [ + 7.100492477416992, + 0.677679181098938, + 10.125310897827148 + ] + ], + "center": { + "x": 7.242498397827148, + "y": 0.7028117179870605, + "z": 10.156915664672852 + }, + "size": { + "x": 0.2840118408203125, + "y": 0.05026507377624512, + "z": 0.06320953369140625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.389695167541504, + 0.7053394317626953, + 10.1202392578125 + ], + [ + 7.389592170715332, + 0.6763448715209961, + 10.176865577697754 + ], + [ + 7.108338832855225, + 0.633139431476593, + 10.154230117797852 + ], + [ + 7.1084418296813965, + 0.6621339321136475, + 10.097604751586914 + ], + [ + 7.3814697265625, + 0.747565507888794, + 10.141845703125 + ], + [ + 7.381366729736328, + 0.7185710072517395, + 10.198472023010254 + ], + [ + 7.100113391876221, + 0.6753655076026917, + 10.175836563110352 + ], + [ + 7.100216388702393, + 0.7043600082397461, + 10.119211196899414 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 8.0, + "y": 0.9009997844696045, + "z": 8.399999618530273 + }, + "agent_rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "agent_cameraHorizon": 30.000003814697266, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 8.0, + "y": 1.5759997367858887, + "z": 8.399999618530273 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "DishSponge|surface|6|40", + "Spoon|surface|6|29", + "Egg|surface|6|26", + "Spatula|surface|6|34", + "door|1|6", + "CounterTop|6|0", + "SprayBottle|surface|6|39", + "Spoon|surface|6|30" + ], + "different_object": [ + "Pencil|surface|6|27", + "Toaster|surface|6|31", + "Pot|surface|6|28", + "Plate|surface|6|21", + "Chair|6|2|1", + "DiningTable|6|2|0", + "CellPhone|surface|6|36", + "Ladle|surface|6|32" + ] +} \ No newline at end of file diff --git a/train/train1843/3/1_depth_npy.npy b/train/train1843/3/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..f2e3c191b57a164a7a04a769ca562fb70828223c --- /dev/null +++ b/train/train1843/3/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:16d4b2ff3b2ce9fb419d782439b0479193f1a49a712f8e4ae12137a8ece5dc75 +size 3145856 diff --git a/train/train1843/3/1_semantic_sensor_npy.npy b/train/train1843/3/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..edc672f90bae085ce44e0ad913b226f783beb3a3 --- /dev/null +++ b/train/train1843/3/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:791d9a613a7b54298eac9984c98adf1a815fe75da1e43a8472e343677ae4f1ab +size 2359424 diff --git a/train/train1843/3/depth_0.png b/train/train1843/3/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..3af9da7694d63fefcbf45c138cb13ebe7eb8c541 Binary files /dev/null and b/train/train1843/3/depth_0.png differ diff --git a/train/train1843/3/depth_1.png b/train/train1843/3/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..45bcbdc635a4176c816669b609a94459e0195023 Binary files /dev/null and b/train/train1843/3/depth_1.png differ diff --git a/train/train1843/3/mask_questions.jsonl b/train/train1843/3/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cfdabe64697803211b523935c311f9d04b6d6566 --- /dev/null +++ b/train/train1843/3/mask_questions.jsonl @@ -0,0 +1 @@ +{"id": 11138, "folder_dir": "train1843/3", "pair_name": "1-0:door|1|6", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. CellPhone\nB. DishSponge\nC. Pencil\nD. Doorway", "answer": "D", "object_name": "Doorway", "image_1": "train1843/3/rgb_1.png", "image_2": "train1843/3/rgb_0.png", "mask_image": "train1843/3/rgb_0_mask_door|1|6.png", "options": ["CellPhone", "DishSponge", "Pencil", "Doorway"]} diff --git a/train/train1843/3/questions_direction.jsonl b/train/train1843/3/questions_direction.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ceccc013fc8fe2439cc21b643c012dff6b2622e6 --- /dev/null +++ b/train/train1843/3/questions_direction.jsonl @@ -0,0 +1,65 @@ +{"id": 17931, "folder_dir": "train1843/3", "pair_name": "Pan-Chair", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Pan. Where is the centroid position of Chair in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Pan", "tgt_object": "Chair", "src_com": {"x": 10.212387084960938, "y": 0.9616267681121826, "z": 9.451595306396484}, "tgt_com": {"x": 6.641949653625488, "y": 0.3868454396724701, "z": 9.698123931884766}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.300000190734863}, "image_1": "train1843/3/rgb_0.png", "image_2": "train1843/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17932, "folder_dir": "train1843/3", "pair_name": "Pan-Toaster", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Pan. Where is the centroid position of Toaster in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Pan", "tgt_object": "Toaster", "src_com": {"x": 10.212387084960938, "y": 0.9616267681121826, "z": 9.451595306396484}, "tgt_com": {"x": 7.009938716888428, "y": 0.7817495465278625, "z": 9.031681060791016}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.300000190734863}, "image_1": "train1843/3/rgb_0.png", "image_2": "train1843/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17933, "folder_dir": "train1843/3", "pair_name": "SoapBottle-Chair", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of SoapBottle. Where is the centroid position of Chair in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "SoapBottle", "tgt_object": "Chair", "src_com": {"x": 10.20199966430664, "y": 1.0540895462036133, "z": 8.53659439086914}, "tgt_com": {"x": 6.641949653625488, "y": 0.3868454396724701, "z": 9.698123931884766}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.300000190734863}, "image_1": "train1843/3/rgb_0.png", "image_2": "train1843/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17934, "folder_dir": "train1843/3", "pair_name": "SoapBottle-Toaster", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of SoapBottle. Where is the centroid position of Toaster in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "SoapBottle", "tgt_object": "Toaster", "src_com": {"x": 10.20199966430664, "y": 1.0540895462036133, "z": 8.53659439086914}, "tgt_com": {"x": 7.009938716888428, "y": 0.7817495465278625, "z": 9.031681060791016}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.300000190734863}, "image_1": "train1843/3/rgb_0.png", "image_2": "train1843/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17935, "folder_dir": "train1843/3", "pair_name": "SoapBottle-Pot", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of SoapBottle. Where is the centroid position of Pot 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": "SoapBottle", "tgt_object": "Pot", "src_com": {"x": 10.20199966430664, "y": 1.0540895462036133, "z": 8.53659439086914}, "tgt_com": {"x": 7.358869552612305, "y": 0.7610223889350891, "z": 9.475826263427734}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.300000190734863}, "image_1": "train1843/3/rgb_0.png", "image_2": "train1843/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17936, "folder_dir": "train1843/3", "pair_name": "SoapBottle-Ladle", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of SoapBottle. Where is the centroid position of Ladle 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": "SoapBottle", "tgt_object": "Ladle", "src_com": {"x": 10.20199966430664, "y": 1.0540895462036133, "z": 8.53659439086914}, "tgt_com": {"x": 7.242498397827148, "y": 0.7028117179870605, "z": 10.156915664672852}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.300000190734863}, "image_1": "train1843/3/rgb_0.png", "image_2": "train1843/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17937, "folder_dir": "train1843/3", "pair_name": "PepperShaker-Chair", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of PepperShaker. Where is the centroid position of Chair in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "PepperShaker", "tgt_object": "Chair", "src_com": {"x": 10.282855033874512, "y": 0.9863298535346985, "z": 9.222845077514648}, "tgt_com": {"x": 6.641949653625488, "y": 0.3868454396724701, "z": 9.698123931884766}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.300000190734863}, "image_1": "train1843/3/rgb_0.png", "image_2": "train1843/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17938, "folder_dir": "train1843/3", "pair_name": "PepperShaker-Toaster", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of PepperShaker. Where is the centroid position of Toaster in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "PepperShaker", "tgt_object": "Toaster", "src_com": {"x": 10.282855033874512, "y": 0.9863298535346985, "z": 9.222845077514648}, "tgt_com": {"x": 7.009938716888428, "y": 0.7817495465278625, "z": 9.031681060791016}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.300000190734863}, "image_1": "train1843/3/rgb_0.png", "image_2": "train1843/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17939, "folder_dir": "train1843/3", "pair_name": "Window-Plate", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Window. Where is the centroid position of Plate in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Window", "tgt_object": "Plate", "src_com": {"x": 10.612000465393066, "y": 1.478847861289978, "z": 7.293045520782471}, "tgt_com": {"x": 7.602934837341309, "y": 0.6879173517227173, "z": 9.921016693115234}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.300000190734863}, "image_1": "train1843/3/rgb_0.png", "image_2": "train1843/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17940, "folder_dir": "train1843/3", "pair_name": "Window-Chair", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Window. Where is the centroid position of Chair in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Window", "tgt_object": "Chair", "src_com": {"x": 10.612000465393066, "y": 1.478847861289978, "z": 7.293045520782471}, "tgt_com": {"x": 6.641949653625488, "y": 0.3868454396724701, "z": 9.698123931884766}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.300000190734863}, "image_1": "train1843/3/rgb_0.png", "image_2": "train1843/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17941, "folder_dir": "train1843/3", "pair_name": "Window-Toaster", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Window. Where is the centroid position of Toaster in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Window", "tgt_object": "Toaster", "src_com": {"x": 10.612000465393066, "y": 1.478847861289978, "z": 7.293045520782471}, "tgt_com": {"x": 7.009938716888428, "y": 0.7817495465278625, "z": 9.031681060791016}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.300000190734863}, "image_1": "train1843/3/rgb_0.png", "image_2": "train1843/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17942, "folder_dir": "train1843/3", "pair_name": "Window-Pot", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Window. Where is the centroid position of Pot 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": "Window", "tgt_object": "Pot", "src_com": {"x": 10.612000465393066, "y": 1.478847861289978, "z": 7.293045520782471}, "tgt_com": {"x": 7.358869552612305, "y": 0.7610223889350891, "z": 9.475826263427734}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.300000190734863}, "image_1": "train1843/3/rgb_0.png", "image_2": "train1843/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17943, "folder_dir": "train1843/3", "pair_name": "Window-CellPhone", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Window. Where is the centroid position of CellPhone 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": "Window", "tgt_object": "CellPhone", "src_com": {"x": 10.612000465393066, "y": 1.478847861289978, "z": 7.293045520782471}, "tgt_com": {"x": 7.35886812210083, "y": 0.685353696346283, "z": 10.363202095031738}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.300000190734863}, "image_1": "train1843/3/rgb_0.png", "image_2": "train1843/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17944, "folder_dir": "train1843/3", "pair_name": "Window-Ladle", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Window. Where is the centroid position of Ladle 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": "Window", "tgt_object": "Ladle", "src_com": {"x": 10.612000465393066, "y": 1.478847861289978, "z": 7.293045520782471}, "tgt_com": {"x": 7.242498397827148, "y": 0.7028117179870605, "z": 10.156915664672852}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.300000190734863}, "image_1": "train1843/3/rgb_0.png", "image_2": "train1843/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17945, "folder_dir": "train1843/3", "pair_name": "SaltShaker-Plate", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of SaltShaker. Where is the centroid position of Plate in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "A", "src_object": "SaltShaker", "tgt_object": "Plate", "src_com": {"x": 9.826571464538574, "y": 0.9863298535346985, "z": 9.520865440368652}, "tgt_com": {"x": 7.602934837341309, "y": 0.6879173517227173, "z": 9.921016693115234}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.300000190734863}, "image_1": "train1843/3/rgb_0.png", "image_2": "train1843/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17946, "folder_dir": "train1843/3", "pair_name": "SaltShaker-Toaster", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of SaltShaker. Where is the centroid position of Toaster in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "SaltShaker", "tgt_object": "Toaster", "src_com": {"x": 9.826571464538574, "y": 0.9863298535346985, "z": 9.520865440368652}, "tgt_com": {"x": 7.009938716888428, "y": 0.7817495465278625, "z": 9.031681060791016}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.300000190734863}, "image_1": "train1843/3/rgb_0.png", "image_2": "train1843/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17947, "folder_dir": "train1843/3", "pair_name": "SaltShaker-CellPhone", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of SaltShaker. Where is the centroid position of CellPhone in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "A", "src_object": "SaltShaker", "tgt_object": "CellPhone", "src_com": {"x": 9.826571464538574, "y": 0.9863298535346985, "z": 9.520865440368652}, "tgt_com": {"x": 7.35886812210083, "y": 0.685353696346283, "z": 10.363202095031738}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.300000190734863}, "image_1": "train1843/3/rgb_0.png", "image_2": "train1843/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17948, "folder_dir": "train1843/3", "pair_name": "Box-Plate", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Box. Where is the centroid position of Plate in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Box", "tgt_object": "Plate", "src_com": {"x": 10.365772247314453, "y": 0.8342610597610474, "z": 5.032190322875977}, "tgt_com": {"x": 7.602934837341309, "y": 0.6879173517227173, "z": 9.921016693115234}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.300000190734863}, "image_1": "train1843/3/rgb_0.png", "image_2": "train1843/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17949, "folder_dir": "train1843/3", "pair_name": "Box-Toaster", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Box. Where is the centroid position of Toaster in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Box", "tgt_object": "Toaster", "src_com": {"x": 10.365772247314453, "y": 0.8342610597610474, "z": 5.032190322875977}, "tgt_com": {"x": 7.009938716888428, "y": 0.7817495465278625, "z": 9.031681060791016}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.300000190734863}, "image_1": "train1843/3/rgb_0.png", "image_2": "train1843/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17950, "folder_dir": "train1843/3", "pair_name": "Box-CellPhone", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Box. Where is the centroid position of CellPhone 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": "Box", "tgt_object": "CellPhone", "src_com": {"x": 10.365772247314453, "y": 0.8342610597610474, "z": 5.032190322875977}, "tgt_com": {"x": 7.35886812210083, "y": 0.685353696346283, "z": 10.363202095031738}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.300000190734863}, "image_1": "train1843/3/rgb_0.png", "image_2": "train1843/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17951, "folder_dir": "train1843/3", "pair_name": "Statue-Chair", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Statue. Where is the centroid position of Chair in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Statue", "tgt_object": "Chair", "src_com": {"x": 10.205731391906738, "y": 1.1175259351730347, "z": 8.312649726867676}, "tgt_com": {"x": 6.641949653625488, "y": 0.3868454396724701, "z": 9.698123931884766}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.300000190734863}, "image_1": "train1843/3/rgb_0.png", "image_2": "train1843/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17952, "folder_dir": "train1843/3", "pair_name": "Statue-Toaster", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Statue. Where is the centroid position of Toaster in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Statue", "tgt_object": "Toaster", "src_com": {"x": 10.205731391906738, "y": 1.1175259351730347, "z": 8.312649726867676}, "tgt_com": {"x": 7.009938716888428, "y": 0.7817495465278625, "z": 9.031681060791016}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.300000190734863}, "image_1": "train1843/3/rgb_0.png", "image_2": "train1843/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17953, "folder_dir": "train1843/3", "pair_name": "Statue-Pot", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Statue. Where is the centroid position of Pot in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Statue", "tgt_object": "Pot", "src_com": {"x": 10.205731391906738, "y": 1.1175259351730347, "z": 8.312649726867676}, "tgt_com": {"x": 7.358869552612305, "y": 0.7610223889350891, "z": 9.475826263427734}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.300000190734863}, "image_1": "train1843/3/rgb_0.png", "image_2": "train1843/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17954, "folder_dir": "train1843/3", "pair_name": "Statue-CellPhone", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Statue. Where is the centroid position of CellPhone in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Statue", "tgt_object": "CellPhone", "src_com": {"x": 10.205731391906738, "y": 1.1175259351730347, "z": 8.312649726867676}, "tgt_com": {"x": 7.35886812210083, "y": 0.685353696346283, "z": 10.363202095031738}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.300000190734863}, "image_1": "train1843/3/rgb_0.png", "image_2": "train1843/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17955, "folder_dir": "train1843/3", "pair_name": "Statue-Ladle", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Statue. Where is the centroid position of Ladle in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Statue", "tgt_object": "Ladle", "src_com": {"x": 10.205731391906738, "y": 1.1175259351730347, "z": 8.312649726867676}, "tgt_com": {"x": 7.242498397827148, "y": 0.7028117179870605, "z": 10.156915664672852}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.300000190734863}, "image_1": "train1843/3/rgb_0.png", "image_2": "train1843/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17956, "folder_dir": "train1843/3", "pair_name": "Mug-Chair", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Mug. Where is the centroid position of Chair in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Mug", "tgt_object": "Chair", "src_com": {"x": 10.128769874572754, "y": 0.9902003407478333, "z": 8.979846954345703}, "tgt_com": {"x": 6.641949653625488, "y": 0.3868454396724701, "z": 9.698123931884766}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.300000190734863}, "image_1": "train1843/3/rgb_0.png", "image_2": "train1843/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17957, "folder_dir": "train1843/3", "pair_name": "Mug-Toaster", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Mug. Where is the centroid position of Toaster in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Mug", "tgt_object": "Toaster", "src_com": {"x": 10.128769874572754, "y": 0.9902003407478333, "z": 8.979846954345703}, "tgt_com": {"x": 7.009938716888428, "y": 0.7817495465278625, "z": 9.031681060791016}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.300000190734863}, "image_1": "train1843/3/rgb_0.png", "image_2": "train1843/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17958, "folder_dir": "train1843/3", "pair_name": "Cup-Chair", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Cup. Where is the centroid position of Chair in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Cup", "tgt_object": "Chair", "src_com": {"x": 10.514198303222656, "y": 1.0162925720214844, "z": 8.308582305908203}, "tgt_com": {"x": 6.641949653625488, "y": 0.3868454396724701, "z": 9.698123931884766}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.300000190734863}, "image_1": "train1843/3/rgb_0.png", "image_2": "train1843/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17959, "folder_dir": "train1843/3", "pair_name": "Cup-Toaster", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Cup. Where is the centroid position of Toaster in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Cup", "tgt_object": "Toaster", "src_com": {"x": 10.514198303222656, "y": 1.0162925720214844, "z": 8.308582305908203}, "tgt_com": {"x": 7.009938716888428, "y": 0.7817495465278625, "z": 9.031681060791016}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.300000190734863}, "image_1": "train1843/3/rgb_0.png", "image_2": "train1843/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17960, "folder_dir": "train1843/3", "pair_name": "Cup-Pot", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Cup. Where is the centroid position of Pot 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": "Cup", "tgt_object": "Pot", "src_com": {"x": 10.514198303222656, "y": 1.0162925720214844, "z": 8.308582305908203}, "tgt_com": {"x": 7.358869552612305, "y": 0.7610223889350891, "z": 9.475826263427734}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.300000190734863}, "image_1": "train1843/3/rgb_0.png", "image_2": "train1843/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17961, "folder_dir": "train1843/3", "pair_name": "Cup-CellPhone", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Cup. Where is the centroid position of CellPhone 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": "Cup", "tgt_object": "CellPhone", "src_com": {"x": 10.514198303222656, "y": 1.0162925720214844, "z": 8.308582305908203}, "tgt_com": {"x": 7.35886812210083, "y": 0.685353696346283, "z": 10.363202095031738}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.300000190734863}, "image_1": "train1843/3/rgb_0.png", "image_2": "train1843/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17962, "folder_dir": "train1843/3", "pair_name": "Cup-Ladle", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Cup. Where is the centroid position of Ladle 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": "Cup", "tgt_object": "Ladle", "src_com": {"x": 10.514198303222656, "y": 1.0162925720214844, "z": 8.308582305908203}, "tgt_com": {"x": 7.242498397827148, "y": 0.7028117179870605, "z": 10.156915664672852}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.300000190734863}, "image_1": "train1843/3/rgb_0.png", "image_2": "train1843/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17963, "folder_dir": "train1843/3", "pair_name": "Plate-Window", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Plate. Where is the centroid position of Window in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Plate", "tgt_object": "Window", "src_com": {"x": 7.602934837341309, "y": 0.6879173517227173, "z": 9.921016693115234}, "tgt_com": {"x": 10.612000465393066, "y": 1.478847861289978, "z": 7.293045520782471}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.399999618530273}, "image_1": "train1843/3/rgb_1.png", "image_2": "train1843/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17964, "folder_dir": "train1843/3", "pair_name": "Plate-SaltShaker", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Plate. Where is the centroid position of SaltShaker in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "C", "src_object": "Plate", "tgt_object": "SaltShaker", "src_com": {"x": 7.602934837341309, "y": 0.6879173517227173, "z": 9.921016693115234}, "tgt_com": {"x": 9.826571464538574, "y": 0.9863298535346985, "z": 9.520865440368652}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.399999618530273}, "image_1": "train1843/3/rgb_1.png", "image_2": "train1843/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17965, "folder_dir": "train1843/3", "pair_name": "Plate-Box", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Plate. Where is the centroid position of Box in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Plate", "tgt_object": "Box", "src_com": {"x": 7.602934837341309, "y": 0.6879173517227173, "z": 9.921016693115234}, "tgt_com": {"x": 10.365772247314453, "y": 0.8342610597610474, "z": 5.032190322875977}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.399999618530273}, "image_1": "train1843/3/rgb_1.png", "image_2": "train1843/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17966, "folder_dir": "train1843/3", "pair_name": "Plate-Statue", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Plate. Where is the centroid position of Statue in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Plate", "tgt_object": "Statue", "src_com": {"x": 7.602934837341309, "y": 0.6879173517227173, "z": 9.921016693115234}, "tgt_com": {"x": 10.205731391906738, "y": 1.1175259351730347, "z": 8.312649726867676}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.399999618530273}, "image_1": "train1843/3/rgb_1.png", "image_2": "train1843/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17967, "folder_dir": "train1843/3", "pair_name": "Plate-Cup", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Plate. Where is the centroid position of Cup in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Plate", "tgt_object": "Cup", "src_com": {"x": 7.602934837341309, "y": 0.6879173517227173, "z": 9.921016693115234}, "tgt_com": {"x": 10.514198303222656, "y": 1.0162925720214844, "z": 8.308582305908203}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.399999618530273}, "image_1": "train1843/3/rgb_1.png", "image_2": "train1843/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17968, "folder_dir": "train1843/3", "pair_name": "Chair-Pan", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Chair. Where is the centroid position of Pan in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Chair", "tgt_object": "Pan", "src_com": {"x": 6.641949653625488, "y": 0.3868454396724701, "z": 9.698123931884766}, "tgt_com": {"x": 10.212387084960938, "y": 0.9616267681121826, "z": 9.451595306396484}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.399999618530273}, "image_1": "train1843/3/rgb_1.png", "image_2": "train1843/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17969, "folder_dir": "train1843/3", "pair_name": "Chair-SoapBottle", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Chair. Where is the centroid position of SoapBottle in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Chair", "tgt_object": "SoapBottle", "src_com": {"x": 6.641949653625488, "y": 0.3868454396724701, "z": 9.698123931884766}, "tgt_com": {"x": 10.20199966430664, "y": 1.0540895462036133, "z": 8.53659439086914}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.399999618530273}, "image_1": "train1843/3/rgb_1.png", "image_2": "train1843/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17970, "folder_dir": "train1843/3", "pair_name": "Chair-PepperShaker", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Chair. Where is the centroid position of PepperShaker in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Chair", "tgt_object": "PepperShaker", "src_com": {"x": 6.641949653625488, "y": 0.3868454396724701, "z": 9.698123931884766}, "tgt_com": {"x": 10.282855033874512, "y": 0.9863298535346985, "z": 9.222845077514648}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.399999618530273}, "image_1": "train1843/3/rgb_1.png", "image_2": "train1843/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17971, "folder_dir": "train1843/3", "pair_name": "Chair-Window", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Chair. Where is the centroid position of Window in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Chair", "tgt_object": "Window", "src_com": {"x": 6.641949653625488, "y": 0.3868454396724701, "z": 9.698123931884766}, "tgt_com": {"x": 10.612000465393066, "y": 1.478847861289978, "z": 7.293045520782471}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.399999618530273}, "image_1": "train1843/3/rgb_1.png", "image_2": "train1843/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17972, "folder_dir": "train1843/3", "pair_name": "Chair-Statue", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Chair. Where is the centroid position of Statue in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Chair", "tgt_object": "Statue", "src_com": {"x": 6.641949653625488, "y": 0.3868454396724701, "z": 9.698123931884766}, "tgt_com": {"x": 10.205731391906738, "y": 1.1175259351730347, "z": 8.312649726867676}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.399999618530273}, "image_1": "train1843/3/rgb_1.png", "image_2": "train1843/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17973, "folder_dir": "train1843/3", "pair_name": "Chair-Mug", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Chair. Where is the centroid position of Mug in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Chair", "tgt_object": "Mug", "src_com": {"x": 6.641949653625488, "y": 0.3868454396724701, "z": 9.698123931884766}, "tgt_com": {"x": 10.128769874572754, "y": 0.9902003407478333, "z": 8.979846954345703}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.399999618530273}, "image_1": "train1843/3/rgb_1.png", "image_2": "train1843/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17974, "folder_dir": "train1843/3", "pair_name": "Chair-Cup", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Chair. Where is the centroid position of Cup in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Chair", "tgt_object": "Cup", "src_com": {"x": 6.641949653625488, "y": 0.3868454396724701, "z": 9.698123931884766}, "tgt_com": {"x": 10.514198303222656, "y": 1.0162925720214844, "z": 8.308582305908203}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.399999618530273}, "image_1": "train1843/3/rgb_1.png", "image_2": "train1843/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17975, "folder_dir": "train1843/3", "pair_name": "Toaster-Pan", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Toaster. Where is the centroid position of Pan in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Toaster", "tgt_object": "Pan", "src_com": {"x": 7.009938716888428, "y": 0.7817495465278625, "z": 9.031681060791016}, "tgt_com": {"x": 10.212387084960938, "y": 0.9616267681121826, "z": 9.451595306396484}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.399999618530273}, "image_1": "train1843/3/rgb_1.png", "image_2": "train1843/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17976, "folder_dir": "train1843/3", "pair_name": "Toaster-SoapBottle", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Toaster. Where is the centroid position of SoapBottle in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Toaster", "tgt_object": "SoapBottle", "src_com": {"x": 7.009938716888428, "y": 0.7817495465278625, "z": 9.031681060791016}, "tgt_com": {"x": 10.20199966430664, "y": 1.0540895462036133, "z": 8.53659439086914}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.399999618530273}, "image_1": "train1843/3/rgb_1.png", "image_2": "train1843/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17977, "folder_dir": "train1843/3", "pair_name": "Toaster-PepperShaker", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Toaster. Where is the centroid position of PepperShaker in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Toaster", "tgt_object": "PepperShaker", "src_com": {"x": 7.009938716888428, "y": 0.7817495465278625, "z": 9.031681060791016}, "tgt_com": {"x": 10.282855033874512, "y": 0.9863298535346985, "z": 9.222845077514648}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.399999618530273}, "image_1": "train1843/3/rgb_1.png", "image_2": "train1843/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17978, "folder_dir": "train1843/3", "pair_name": "Toaster-SaltShaker", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Toaster. Where is the centroid position of SaltShaker in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Toaster", "tgt_object": "SaltShaker", "src_com": {"x": 7.009938716888428, "y": 0.7817495465278625, "z": 9.031681060791016}, "tgt_com": {"x": 9.826571464538574, "y": 0.9863298535346985, "z": 9.520865440368652}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.399999618530273}, "image_1": "train1843/3/rgb_1.png", "image_2": "train1843/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17979, "folder_dir": "train1843/3", "pair_name": "Toaster-Box", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Toaster. Where is the centroid position of Box 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": "Toaster", "tgt_object": "Box", "src_com": {"x": 7.009938716888428, "y": 0.7817495465278625, "z": 9.031681060791016}, "tgt_com": {"x": 10.365772247314453, "y": 0.8342610597610474, "z": 5.032190322875977}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.399999618530273}, "image_1": "train1843/3/rgb_1.png", "image_2": "train1843/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17980, "folder_dir": "train1843/3", "pair_name": "Toaster-Statue", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Toaster. Where is the centroid position of Statue in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Toaster", "tgt_object": "Statue", "src_com": {"x": 7.009938716888428, "y": 0.7817495465278625, "z": 9.031681060791016}, "tgt_com": {"x": 10.205731391906738, "y": 1.1175259351730347, "z": 8.312649726867676}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.399999618530273}, "image_1": "train1843/3/rgb_1.png", "image_2": "train1843/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17981, "folder_dir": "train1843/3", "pair_name": "Toaster-Mug", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Toaster. Where is the centroid position of Mug in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Toaster", "tgt_object": "Mug", "src_com": {"x": 7.009938716888428, "y": 0.7817495465278625, "z": 9.031681060791016}, "tgt_com": {"x": 10.128769874572754, "y": 0.9902003407478333, "z": 8.979846954345703}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.399999618530273}, "image_1": "train1843/3/rgb_1.png", "image_2": "train1843/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17982, "folder_dir": "train1843/3", "pair_name": "Toaster-Cup", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Toaster. Where is the centroid position of Cup in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Toaster", "tgt_object": "Cup", "src_com": {"x": 7.009938716888428, "y": 0.7817495465278625, "z": 9.031681060791016}, "tgt_com": {"x": 10.514198303222656, "y": 1.0162925720214844, "z": 8.308582305908203}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.399999618530273}, "image_1": "train1843/3/rgb_1.png", "image_2": "train1843/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17983, "folder_dir": "train1843/3", "pair_name": "Pot-SoapBottle", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Pot. Where is the centroid position of SoapBottle in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Pot", "tgt_object": "SoapBottle", "src_com": {"x": 7.358869552612305, "y": 0.7610223889350891, "z": 9.475826263427734}, "tgt_com": {"x": 10.20199966430664, "y": 1.0540895462036133, "z": 8.53659439086914}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.399999618530273}, "image_1": "train1843/3/rgb_1.png", "image_2": "train1843/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17984, "folder_dir": "train1843/3", "pair_name": "Pot-Window", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Pot. Where is the centroid position of Window 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": "Pot", "tgt_object": "Window", "src_com": {"x": 7.358869552612305, "y": 0.7610223889350891, "z": 9.475826263427734}, "tgt_com": {"x": 10.612000465393066, "y": 1.478847861289978, "z": 7.293045520782471}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.399999618530273}, "image_1": "train1843/3/rgb_1.png", "image_2": "train1843/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17985, "folder_dir": "train1843/3", "pair_name": "Pot-Statue", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Pot. Where is the centroid position of Statue in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Pot", "tgt_object": "Statue", "src_com": {"x": 7.358869552612305, "y": 0.7610223889350891, "z": 9.475826263427734}, "tgt_com": {"x": 10.205731391906738, "y": 1.1175259351730347, "z": 8.312649726867676}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.399999618530273}, "image_1": "train1843/3/rgb_1.png", "image_2": "train1843/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17986, "folder_dir": "train1843/3", "pair_name": "Pot-Mug", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Pot. Where is the centroid position of Mug 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": "Pot", "tgt_object": "Mug", "src_com": {"x": 7.358869552612305, "y": 0.7610223889350891, "z": 9.475826263427734}, "tgt_com": {"x": 10.128769874572754, "y": 0.9902003407478333, "z": 8.979846954345703}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.399999618530273}, "image_1": "train1843/3/rgb_1.png", "image_2": "train1843/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17987, "folder_dir": "train1843/3", "pair_name": "Pot-Cup", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Pot. Where is the centroid position of Cup 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": "Pot", "tgt_object": "Cup", "src_com": {"x": 7.358869552612305, "y": 0.7610223889350891, "z": 9.475826263427734}, "tgt_com": {"x": 10.514198303222656, "y": 1.0162925720214844, "z": 8.308582305908203}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.399999618530273}, "image_1": "train1843/3/rgb_1.png", "image_2": "train1843/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17988, "folder_dir": "train1843/3", "pair_name": "CellPhone-Window", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of CellPhone. Where is the centroid position of Window 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": "CellPhone", "tgt_object": "Window", "src_com": {"x": 7.35886812210083, "y": 0.685353696346283, "z": 10.363202095031738}, "tgt_com": {"x": 10.612000465393066, "y": 1.478847861289978, "z": 7.293045520782471}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.399999618530273}, "image_1": "train1843/3/rgb_1.png", "image_2": "train1843/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17989, "folder_dir": "train1843/3", "pair_name": "CellPhone-Box", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of CellPhone. Where is the centroid position of Box 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": "CellPhone", "tgt_object": "Box", "src_com": {"x": 7.35886812210083, "y": 0.685353696346283, "z": 10.363202095031738}, "tgt_com": {"x": 10.365772247314453, "y": 0.8342610597610474, "z": 5.032190322875977}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.399999618530273}, "image_1": "train1843/3/rgb_1.png", "image_2": "train1843/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17990, "folder_dir": "train1843/3", "pair_name": "CellPhone-Statue", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of CellPhone. Where is the centroid position of Statue in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "CellPhone", "tgt_object": "Statue", "src_com": {"x": 7.35886812210083, "y": 0.685353696346283, "z": 10.363202095031738}, "tgt_com": {"x": 10.205731391906738, "y": 1.1175259351730347, "z": 8.312649726867676}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.399999618530273}, "image_1": "train1843/3/rgb_1.png", "image_2": "train1843/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17991, "folder_dir": "train1843/3", "pair_name": "CellPhone-Cup", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of CellPhone. Where is the centroid position of Cup 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": "CellPhone", "tgt_object": "Cup", "src_com": {"x": 7.35886812210083, "y": 0.685353696346283, "z": 10.363202095031738}, "tgt_com": {"x": 10.514198303222656, "y": 1.0162925720214844, "z": 8.308582305908203}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.399999618530273}, "image_1": "train1843/3/rgb_1.png", "image_2": "train1843/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17992, "folder_dir": "train1843/3", "pair_name": "Ladle-SoapBottle", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Ladle. Where is the centroid position of SoapBottle in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Ladle", "tgt_object": "SoapBottle", "src_com": {"x": 7.242498397827148, "y": 0.7028117179870605, "z": 10.156915664672852}, "tgt_com": {"x": 10.20199966430664, "y": 1.0540895462036133, "z": 8.53659439086914}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.399999618530273}, "image_1": "train1843/3/rgb_1.png", "image_2": "train1843/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17993, "folder_dir": "train1843/3", "pair_name": "Ladle-Window", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Ladle. Where is the centroid position of Window 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": "Ladle", "tgt_object": "Window", "src_com": {"x": 7.242498397827148, "y": 0.7028117179870605, "z": 10.156915664672852}, "tgt_com": {"x": 10.612000465393066, "y": 1.478847861289978, "z": 7.293045520782471}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.399999618530273}, "image_1": "train1843/3/rgb_1.png", "image_2": "train1843/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17994, "folder_dir": "train1843/3", "pair_name": "Ladle-Statue", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Ladle. Where is the centroid position of Statue in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Ladle", "tgt_object": "Statue", "src_com": {"x": 7.242498397827148, "y": 0.7028117179870605, "z": 10.156915664672852}, "tgt_com": {"x": 10.205731391906738, "y": 1.1175259351730347, "z": 8.312649726867676}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.399999618530273}, "image_1": "train1843/3/rgb_1.png", "image_2": "train1843/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17995, "folder_dir": "train1843/3", "pair_name": "Ladle-Cup", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Ladle. Where is the centroid position of Cup 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": "Ladle", "tgt_object": "Cup", "src_com": {"x": 7.242498397827148, "y": 0.7028117179870605, "z": 10.156915664672852}, "tgt_com": {"x": 10.514198303222656, "y": 1.0162925720214844, "z": 8.308582305908203}, "agent_pos": {"x": 8.0, "y": 1.5759997367858887, "z": 8.399999618530273}, "image_1": "train1843/3/rgb_1.png", "image_2": "train1843/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} diff --git a/train/train1843/3/questions_distance.jsonl b/train/train1843/3/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..49e104c1a3d1d5966fadf455b30533a5dafd8b3c --- /dev/null +++ b/train/train1843/3/questions_distance.jsonl @@ -0,0 +1 @@ +{"id": 4530, "folder_dir": "train1843/3", "query": "Which of the following objects is closest to CounterTop in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Pan\nB. Mug\nC. PepperShaker\nD. Other\n", "answer": "B", "src_object": "CounterTop", "target_object": "Mug", "question": "Which of the following objects is closest to CounterTop in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Pan", "semantic_id": "Pan|surface|6|38", "distance": 0.7132498909114173, "com": {"x": 10.212387084960938, "y": 0.9616267681121826, "z": 9.451595306396484}}, {"text": "Mug", "semantic_id": "Mug|surface|6|33", "distance": 0.5426940124151127, "com": {"x": 10.128769874572754, "y": 0.9902003407478333, "z": 8.979846954345703}}, {"text": "PepperShaker", "semantic_id": "PepperShaker|surface|6|24", "distance": 0.6433640679917288, "com": {"x": 10.282855033874512, "y": 0.9863298535346985, "z": 9.222845077514648}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1843/3/rgb_0.png", "image_2": "train1843/3/rgb_1.png"} diff --git a/train/train1843/3/rgb_0.png b/train/train1843/3/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..fb93776ae8f416459fa699d72bef21b864fd5102 --- /dev/null +++ b/train/train1843/3/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:982b3fa903da8bb74adb4406430f2377740caaaa1366c5cafd2f057413e8b045 +size 677190 diff --git a/train/train1843/3/rgb_0_mask_door|1|6.png b/train/train1843/3/rgb_0_mask_door|1|6.png new file mode 100644 index 0000000000000000000000000000000000000000..69c3bce23a7320b071c703077272113c5ff3748e --- /dev/null +++ b/train/train1843/3/rgb_0_mask_door|1|6.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3c5bfa03df11a57954c2c7bbec2bc8a49208b0e8dcd6d8d4eb983531232d6434 +size 588026 diff --git a/train/train1843/3/rgb_1.png b/train/train1843/3/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..f85274c8eadb2054bec82d5d0535dfae83db8c67 --- /dev/null +++ b/train/train1843/3/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:181dee3d8f8b426d3ae1d2931ce8dd9edd4f0c828e7304cf0d5cfa5a4f031a79 +size 755625 diff --git a/train/train1843/3/semantic_0.png b/train/train1843/3/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..fae696cf127a949bb96336bbd9b01e666065fe5d Binary files /dev/null and b/train/train1843/3/semantic_0.png differ diff --git a/train/train1843/3/semantic_1.png b/train/train1843/3/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..fb0cbbb21e6d36df4601703e39d40df209b241d9 Binary files /dev/null and b/train/train1843/3/semantic_1.png differ diff --git a/train/train1843/4/0.json b/train/train1843/4/0.json new file mode 100644 index 0000000000000000000000000000000000000000..55a9dcb335c514e23c9254dc293bbaacb34d2d87 --- /dev/null +++ b/train/train1843/4/0.json @@ -0,0 +1,2567 @@ +{ + "object": [ + { + "objectId": "Pan|surface|6|38", + "object_info": { + "name": "Pan|surface|6|38", + "position": { + "x": 10.128618240356445, + "y": 0.9381221532821655, + "z": 9.451597213745117 + }, + "rotation": { + "x": -0.004974662326276302, + "y": 269.99957275390625, + "z": 0.000776037632022053 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6700000166893005, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 2.4446327686309814, + "objectType": "Pan", + "objectId": "Pan|surface|6|38", + "assetId": "Pan_10", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.420827865600586, + 0.9848895072937012, + 9.59359359741211 + ], + [ + 10.420827865600586, + 0.9848895072937012, + 9.30959701538086 + ], + [ + 10.420827865600586, + 0.9383640289306641, + 9.59359359741211 + ], + [ + 10.420827865600586, + 0.9383640289306641, + 9.30959701538086 + ], + [ + 10.003946304321289, + 0.9848895072937012, + 9.59359359741211 + ], + [ + 10.003946304321289, + 0.9848895072937012, + 9.30959701538086 + ], + [ + 10.003946304321289, + 0.9383640289306641, + 9.59359359741211 + ], + [ + 10.003946304321289, + 0.9383640289306641, + 9.30959701538086 + ] + ], + "center": { + "x": 10.212387084960938, + "y": 0.9616267681121826, + "z": 9.451595306396484 + }, + "size": { + "x": 0.4168815612792969, + "y": 0.04652547836303711, + "z": 0.28399658203125 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 10.00394058227539, + 0.9383872747421265, + 9.593594551086426 + ], + [ + 10.00394344329834, + 0.9383834600448608, + 9.309597969055176 + ], + [ + 10.420825958251953, + 0.9383472204208374, + 9.309600830078125 + ], + [ + 10.42082405090332, + 0.9383510947227478, + 9.593598365783691 + ], + [ + 10.003945350646973, + 0.9848912954330444, + 9.59359359741211 + ], + [ + 10.003947257995605, + 0.984887421131134, + 9.30959701538086 + ], + [ + 10.420830726623535, + 0.9848512411117554, + 9.309600830078125 + ], + [ + 10.420827865600586, + 0.984855055809021, + 9.593597412109375 + ] + ] + } + } + }, + { + "objectId": "SoapBottle|surface|6|20", + "object_info": { + "name": "SoapBottle|surface|6|20", + "position": { + "x": 10.205733299255371, + "y": 0.9393843412399292, + "z": 8.536592483520508 + }, + "rotation": { + "x": -0.002504768781363964, + "y": 269.9995422363281, + "z": -0.0012202810030430555 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4000000059604645, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 2.224605083465576, + "objectType": "SoapBottle", + "objectId": "SoapBottle|surface|6|20", + "assetId": "Soap_Bottle_19", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.23712158203125, + 1.1697990894317627, + 8.582935333251953 + ], + [ + 10.23712158203125, + 1.1697990894317627, + 8.490253448486328 + ], + [ + 10.23712158203125, + 0.9383800029754639, + 8.582935333251953 + ], + [ + 10.23712158203125, + 0.9383800029754639, + 8.490253448486328 + ], + [ + 10.166877746582031, + 1.1697990894317627, + 8.582935333251953 + ], + [ + 10.166877746582031, + 1.1697990894317627, + 8.490253448486328 + ], + [ + 10.166877746582031, + 0.9383800029754639, + 8.582935333251953 + ], + [ + 10.166877746582031, + 0.9383800029754639, + 8.490253448486328 + ] + ], + "center": { + "x": 10.20199966430664, + "y": 1.0540895462036133, + "z": 8.53659439086914 + }, + "size": { + "x": 0.07024383544921875, + "y": 0.23141908645629883, + "z": 0.092681884765625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 10.166869163513184, + 0.938382625579834, + 8.582931518554688 + ], + [ + 10.1668701171875, + 0.9383845925331116, + 8.490252494812012 + ], + [ + 10.237113952636719, + 0.938381552696228, + 8.490253448486328 + ], + [ + 10.237112998962402, + 0.9383795261383057, + 8.582931518554688 + ], + [ + 10.166879653930664, + 1.1697994470596313, + 8.58293628692627 + ], + [ + 10.166879653930664, + 1.1698013544082642, + 8.49025821685791 + ], + [ + 10.2371244430542, + 1.1697982549667358, + 8.49025821685791 + ], + [ + 10.237123489379883, + 1.169796347618103, + 8.582937240600586 + ] + ] + } + } + }, + { + "objectId": "PepperShaker|surface|6|24", + "object_info": { + "name": "PepperShaker|surface|6|24", + "position": { + "x": 10.282848358154297, + "y": 0.9383825659751892, + "z": 9.222845077514648 + }, + "rotation": { + "x": 359.99151611328125, + "y": 269.9981689453125, + "z": 0.00010757963900687173 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.14000000059604645, + "salientMaterials": [ + "Glass", + "Metal" + ], + "receptacleObjectIds": null, + "distance": 2.4817779064178467, + "objectType": "PepperShaker", + "objectId": "PepperShaker|surface|6|24", + "assetId": "RoboTHOR_salt_pepper_shaker_bnyd_pepper_v", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.303147315979004, + 1.0342801809310913, + 9.24296760559082 + ], + [ + 10.303147315979004, + 1.0342801809310913, + 9.202722549438477 + ], + [ + 10.303147315979004, + 0.9383795261383057, + 9.24296760559082 + ], + [ + 10.303147315979004, + 0.9383795261383057, + 9.202722549438477 + ], + [ + 10.26256275177002, + 1.0342801809310913, + 9.24296760559082 + ], + [ + 10.26256275177002, + 1.0342801809310913, + 9.202722549438477 + ], + [ + 10.26256275177002, + 0.9383795261383057, + 9.24296760559082 + ], + [ + 10.26256275177002, + 0.9383795261383057, + 9.202722549438477 + ] + ], + "center": { + "x": 10.282855033874512, + "y": 0.9863298535346985, + "z": 9.222845077514648 + }, + "size": { + "x": 0.040584564208984375, + "y": 0.09590065479278564, + "z": 0.04024505615234375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 10.26256275177002, + 0.9383856058120728, + 9.242966651916504 + ], + [ + 10.262563705444336, + 0.938385546207428, + 9.202722549438477 + ], + [ + 10.303133964538574, + 0.9383795261383057, + 9.202723503112793 + ], + [ + 10.303133010864258, + 0.9383795857429504, + 9.24296760559082 + ], + [ + 10.262577056884766, + 1.0342801809310913, + 9.242965698242188 + ], + [ + 10.262578010559082, + 1.0342801809310913, + 9.202722549438477 + ], + [ + 10.30314826965332, + 1.0342741012573242, + 9.202723503112793 + ], + [ + 10.303146362304688, + 1.0342742204666138, + 9.24296760559082 + ] + ] + } + } + }, + { + "objectId": "SaltShaker|surface|6|37", + "object_info": { + "name": "SaltShaker|surface|6|37", + "position": { + "x": 9.826563835144043, + "y": 0.9383825659751892, + "z": 9.520865440368652 + }, + "rotation": { + "x": 359.99139404296875, + "y": 269.9990539550781, + "z": 0.00018419497064314783 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4000000059604645, + "salientMaterials": [ + "Glass", + "Metal" + ], + "receptacleObjectIds": null, + "distance": 2.2254958152770996, + "objectType": "SaltShaker", + "objectId": "SaltShaker|surface|6|37", + "assetId": "RoboTHOR_salt_pepper_shaker_bnyd_salt_v", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.846863746643066, + 1.0342803001403809, + 9.540987968444824 + ], + [ + 9.846863746643066, + 1.0342803001403809, + 9.50074291229248 + ], + [ + 9.846863746643066, + 0.9383794069290161, + 9.540987968444824 + ], + [ + 9.846863746643066, + 0.9383794069290161, + 9.50074291229248 + ], + [ + 9.806279182434082, + 1.0342803001403809, + 9.540987968444824 + ], + [ + 9.806279182434082, + 1.0342803001403809, + 9.50074291229248 + ], + [ + 9.806279182434082, + 0.9383794069290161, + 9.540987968444824 + ], + [ + 9.806279182434082, + 0.9383794069290161, + 9.50074291229248 + ] + ], + "center": { + "x": 9.826571464538574, + "y": 0.9863298535346985, + "z": 9.520865440368652 + }, + "size": { + "x": 0.040584564208984375, + "y": 0.09590089321136475, + "z": 0.04024505615234375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.806278228759766, + 0.9383856654167175, + 9.540987014770508 + ], + [ + 9.806279182434082, + 0.938385546207428, + 9.50074291229248 + ], + [ + 9.84684944152832, + 0.9383794665336609, + 9.500743865966797 + ], + [ + 9.846848487854004, + 0.9383795857429504, + 9.540987968444824 + ], + [ + 9.806293487548828, + 1.0342803001403809, + 9.540987014770508 + ], + [ + 9.806293487548828, + 1.0342801809310913, + 9.50074291229248 + ], + [ + 9.846863746643066, + 1.0342741012573242, + 9.500743865966797 + ], + [ + 9.84686279296875, + 1.0342742204666138, + 9.540987014770508 + ] + ] + } + } + }, + { + "objectId": "Spatula|surface|6|34", + "object_info": { + "name": "Spatula|surface|6|34", + "position": { + "x": 9.596115112304688, + "y": 0.9457909464836121, + "z": 9.598554611206055 + }, + "rotation": { + "x": 0.19118916988372803, + "y": -0.00189886218868196, + "z": 358.8526916503906 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.06499999761581421, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.0900213718414307, + "objectType": "Spatula", + "objectId": "Spatula|surface|6|34", + "assetId": "Spatula_1", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.628328323364258, + 0.9554284811019897, + 9.81928825378418 + ], + [ + 9.628328323364258, + 0.9554284811019897, + 9.521757125854492 + ], + [ + 9.628328323364258, + 0.9371154308319092, + 9.81928825378418 + ], + [ + 9.628328323364258, + 0.9371154308319092, + 9.521757125854492 + ], + [ + 9.563932418823242, + 0.9554284811019897, + 9.81928825378418 + ], + [ + 9.563932418823242, + 0.9554284811019897, + 9.521757125854492 + ], + [ + 9.563932418823242, + 0.9371154308319092, + 9.81928825378418 + ], + [ + 9.563932418823242, + 0.9371154308319092, + 9.521757125854492 + ] + ], + "center": { + "x": 9.59613037109375, + "y": 0.9462719559669495, + "z": 9.670522689819336 + }, + "size": { + "x": 0.06439590454101562, + "y": 0.018313050270080566, + "z": 0.2975311279296875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.62798023223877, + 0.9368060827255249, + 9.819238662719727 + ], + [ + 9.56393051147461, + 0.9380887746810913, + 9.81924057006836 + ], + [ + 9.563940048217773, + 0.9390815496444702, + 9.521730422973633 + ], + [ + 9.62799072265625, + 0.9377988576889038, + 9.521728515625 + ], + [ + 9.628327369689941, + 0.9541439414024353, + 9.819295883178711 + ], + [ + 9.564277648925781, + 0.9554266333580017, + 9.81929874420166 + ], + [ + 9.564287185668945, + 0.9564194083213806, + 9.521788597106934 + ], + [ + 9.628337860107422, + 0.9551366567611694, + 9.521785736083984 + ] + ] + } + } + }, + { + "objectId": "Stool|6|4", + "object_info": { + "name": "Stool|6|4", + "position": { + "x": 8.243863105773926, + "y": 0.000591576099395752, + "z": 6.585229873657227 + }, + "rotation": { + "x": 1.18705153465271, + "y": 359.9930725097656, + "z": 359.8995666503906 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.180000066757202, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 1.9083143472671509, + "objectType": "Stool", + "objectId": "Stool|6|4", + "assetId": "Stool_2_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.538818359375, + 0.7562337517738342, + 6.771154403686523 + ], + [ + 8.538818359375, + 0.7562337517738342, + 6.39228630065918 + ], + [ + 8.538818359375, + -2.491474151611328e-05, + 6.771154403686523 + ], + [ + 8.538818359375, + -2.491474151611328e-05, + 6.39228630065918 + ], + [ + 7.9479522705078125, + 0.7562337517738342, + 6.771154403686523 + ], + [ + 7.9479522705078125, + 0.7562337517738342, + 6.39228630065918 + ], + [ + 7.9479522705078125, + -2.491474151611328e-05, + 6.771154403686523 + ], + [ + 7.9479522705078125, + -2.491474151611328e-05, + 6.39228630065918 + ] + ], + "center": { + "x": 8.243385314941406, + "y": 0.37810441851615906, + "z": 6.581720352172852 + }, + "size": { + "x": 0.5908660888671875, + "y": 0.7562586665153503, + "z": 0.37886810302734375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 8.537458419799805, + -0.006932959891855717, + 6.77088737487793 + ], + [ + 7.947929382324219, + -0.005899687297642231, + 6.770837783813477 + ], + [ + 7.947975158691406, + 0.0019497345201671124, + 6.392021656036377 + ], + [ + 8.537504196166992, + 0.0009164621587842703, + 6.39207124710083 + ], + [ + 8.538780212402344, + 0.7481831312179565, + 6.786534309387207 + ], + [ + 7.949251651763916, + 0.7492163777351379, + 6.786484718322754 + ], + [ + 7.9492974281311035, + 0.7570657730102539, + 6.407668590545654 + ], + [ + 8.538825988769531, + 0.7560325264930725, + 6.407718181610107 + ] + ] + } + } + }, + { + "objectId": "door|1|6", + "object_info": { + "name": "door|1|6", + "position": { + "x": 8.809093475341797, + "y": -0.0005959272384643555, + "z": 10.612021446228027 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.654553174972534, + "objectType": "Doorway", + "objectId": "door|1|6", + "assetId": "Doorway_9", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.80488395690918, + 2.0743770599365234, + 10.722686767578125 + ], + [ + 9.80488395690918, + 2.0743770599365234, + 10.501314163208008 + ], + [ + 9.80488395690918, + 0.0, + 10.722686767578125 + ], + [ + 9.80488395690918, + 0.0, + 10.501314163208008 + ], + [ + 8.806859970092773, + 2.0743770599365234, + 10.722686767578125 + ], + [ + 8.806859970092773, + 2.0743770599365234, + 10.501314163208008 + ], + [ + 8.806859970092773, + 0.0, + 10.722686767578125 + ], + [ + 8.806859970092773, + 0.0, + 10.501314163208008 + ] + ], + "center": { + "x": 9.305871963500977, + "y": 1.0371885299682617, + "z": 10.612000465393066 + }, + "size": { + "x": 0.9980239868164062, + "y": 2.0743770599365234, + "z": 0.2213726043701172 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DishSponge|surface|6|40", + "object_info": { + "name": "DishSponge|surface|6|40", + "position": { + "x": 9.826562881469727, + "y": 0.9404739737510681, + "z": 9.753806114196777 + }, + "rotation": { + "x": 6.674708129139617e-05, + "y": 270.00006103515625, + "z": -0.0003779351245611906 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.029999997466802597, + "salientMaterials": [ + "Sponge" + ], + "receptacleObjectIds": null, + "distance": 2.366288900375366, + "objectType": "DishSponge", + "objectId": "DishSponge|surface|6|40", + "assetId": "Dish_Sponge_1", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.896036148071289, + 0.9644221067428589, + 9.7905855178833 + ], + [ + 9.896036148071289, + 0.9644221067428589, + 9.717026710510254 + ], + [ + 9.896036148071289, + 0.9383825063705444, + 9.7905855178833 + ], + [ + 9.896036148071289, + 0.9383825063705444, + 9.717026710510254 + ], + [ + 9.757089614868164, + 0.9644221067428589, + 9.7905855178833 + ], + [ + 9.757089614868164, + 0.9644221067428589, + 9.717026710510254 + ], + [ + 9.757089614868164, + 0.9383825063705444, + 9.7905855178833 + ], + [ + 9.757089614868164, + 0.9383825063705444, + 9.717026710510254 + ] + ], + "center": { + "x": 9.826562881469727, + "y": 0.9514023065567017, + "z": 9.753806114196777 + }, + "size": { + "x": 0.138946533203125, + "y": 0.026039600372314453, + "z": 0.07355880737304688 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.757089614868164, + 0.9383825063705444, + 9.7905855178833 + ], + [ + 9.757089614868164, + 0.9383829832077026, + 9.717026710510254 + ], + [ + 9.896036148071289, + 0.9383831024169922, + 9.717026710510254 + ], + [ + 9.896036148071289, + 0.938382625579834, + 9.7905855178833 + ], + [ + 9.757089614868164, + 0.9644215106964111, + 9.7905855178833 + ], + [ + 9.757089614868164, + 0.9644219875335693, + 9.717026710510254 + ], + [ + 9.896036148071289, + 0.9644221067428589, + 9.717026710510254 + ], + [ + 9.896036148071289, + 0.9644216299057007, + 9.7905855178833 + ] + ] + } + } + }, + { + "objectId": "Egg|surface|6|26", + "object_info": { + "name": "Egg|surface|6|26", + "position": { + "x": 9.442055702209473, + "y": 0.9781785607337952, + "z": 9.598512649536133 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": true, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.054999999701976776, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 1.9758460521697998, + "objectType": "Egg", + "objectId": "Egg|surface|6|26", + "assetId": "Egg_19", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.468320846557617, + 1.0179742574691772, + 9.624578475952148 + ], + [ + 9.468320846557617, + 1.0179742574691772, + 9.572744369506836 + ], + [ + 9.468320846557617, + 0.9383828639984131, + 9.624578475952148 + ], + [ + 9.468320846557617, + 0.9383828639984131, + 9.572744369506836 + ], + [ + 9.415594100952148, + 1.0179742574691772, + 9.624578475952148 + ], + [ + 9.415594100952148, + 1.0179742574691772, + 9.572744369506836 + ], + [ + 9.415594100952148, + 0.9383828639984131, + 9.624578475952148 + ], + [ + 9.415594100952148, + 0.9383828639984131, + 9.572744369506836 + ] + ], + "center": { + "x": 9.441957473754883, + "y": 0.9781785607337952, + "z": 9.598661422729492 + }, + "size": { + "x": 0.052725791931152344, + "y": 0.07959139347076416, + "z": 0.0518341064453125 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.415594100952148, + 0.9383828639984131, + 9.624578475952148 + ], + [ + 9.415594100952148, + 0.9383828639984131, + 9.572744369506836 + ], + [ + 9.4683198928833, + 0.9383828639984131, + 9.572744369506836 + ], + [ + 9.4683198928833, + 0.9383828639984131, + 9.624578475952148 + ], + [ + 9.415594100952148, + 1.0179742574691772, + 9.624578475952148 + ], + [ + 9.415594100952148, + 1.0179742574691772, + 9.572744369506836 + ], + [ + 9.4683198928833, + 1.0179742574691772, + 9.572744369506836 + ], + [ + 9.4683198928833, + 1.0179742574691772, + 9.624578475952148 + ] + ] + } + } + }, + { + "objectId": "CounterTop|6|0", + "object_info": { + "name": "CounterTop|6|0", + "position": { + "x": 10.586999893188477, + "y": 0.0012565553188323975, + "z": 9.906636238098145 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Pan|surface|6|38", + "PepperShaker|surface|6|24", + "Statue|surface|6|35", + "Mug|surface|6|33", + "Cup|surface|6|22", + "SoapBottle|surface|6|20", + "Spoon|surface|6|29", + "Egg|surface|6|26", + "DishSponge|surface|6|40", + "Spatula|surface|6|34", + "SprayBottle|surface|6|39", + "Spoon|surface|6|30", + "SaltShaker|surface|6|37" + ], + "distance": 3.2010233402252197, + "objectType": "CounterTop", + "objectId": "CounterTop|6|0", + "assetId": "Countertop_L_6x4", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.586999893188477, + 0.9383828639984131, + 9.906635284423828 + ], + [ + 10.586999893188477, + 0.9383828639984131, + 8.077831268310547 + ], + [ + 10.586999893188477, + 2.086162567138672e-07, + 9.906635284423828 + ], + [ + 10.586999893188477, + 2.086162567138672e-07, + 8.077831268310547 + ], + [ + 9.3677978515625, + 0.9383828639984131, + 9.906635284423828 + ], + [ + 9.3677978515625, + 0.9383828639984131, + 8.077831268310547 + ], + [ + 9.3677978515625, + 2.086162567138672e-07, + 9.906635284423828 + ], + [ + 9.3677978515625, + 2.086162567138672e-07, + 8.077831268310547 + ] + ], + "center": { + "x": 9.977398872375488, + "y": 0.4691915214061737, + "z": 8.992233276367188 + }, + "size": { + "x": 1.2192020416259766, + "y": 0.938382625579834, + "z": 1.8288049697875977 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Statue|surface|6|35", + "object_info": { + "name": "Statue|surface|6|35", + "position": { + "x": 10.205731391906738, + "y": 0.9371708035469055, + "z": 8.307840347290039 + }, + "rotation": { + "x": -0.00015413443907164037, + "y": 270.00042724609375, + "z": -1.5659292330383323e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Stone" + ], + "receptacleObjectIds": null, + "distance": 2.2067861557006836, + "objectType": "Statue", + "objectId": "Statue|surface|6|35", + "assetId": "Waving_Statue_2", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.303627967834473, + 1.2966692447662354, + 8.416659355163574 + ], + [ + 10.303627967834473, + 1.2966692447662354, + 8.208640098571777 + ], + [ + 10.303627967834473, + 0.938382625579834, + 8.416659355163574 + ], + [ + 10.303627967834473, + 0.938382625579834, + 8.208640098571777 + ], + [ + 10.107834815979004, + 1.2966692447662354, + 8.416659355163574 + ], + [ + 10.107834815979004, + 1.2966692447662354, + 8.208640098571777 + ], + [ + 10.107834815979004, + 0.938382625579834, + 8.416659355163574 + ], + [ + 10.107834815979004, + 0.938382625579834, + 8.208640098571777 + ] + ], + "center": { + "x": 10.205731391906738, + "y": 1.1175259351730347, + "z": 8.312649726867676 + }, + "size": { + "x": 0.19579315185546875, + "y": 0.35828661918640137, + "z": 0.20801925659179688 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 10.107834815979004, + 0.9383825063705444, + 8.416661262512207 + ], + [ + 10.107832908630371, + 0.9383825659751892, + 8.20864200592041 + ], + [ + 10.303627967834473, + 0.938382089138031, + 8.208640098571777 + ], + [ + 10.303628921508789, + 0.9383820295333862, + 8.41666030883789 + ], + [ + 10.10783576965332, + 1.2966703176498413, + 8.416661262512207 + ], + [ + 10.107833862304688, + 1.2966704368591309, + 8.20864200592041 + ], + [ + 10.303628921508789, + 1.296669840812683, + 8.208640098571777 + ], + [ + 10.303629875183105, + 1.296669840812683, + 8.41666030883789 + ] + ] + } + } + }, + { + "objectId": "Mug|surface|6|33", + "object_info": { + "name": "Mug|surface|6|33", + "position": { + "x": 10.128620147705078, + "y": 0.9383828639984131, + "z": 8.994096755981445 + }, + "rotation": { + "x": 0.0004471870488487184, + "y": 270.00018310546875, + "z": -5.4247047955868766e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 2.2552385330200195, + "objectType": "Mug", + "objectId": "Mug|surface|6|33", + "assetId": "Mug_3", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.174261093139648, + 1.042018175125122, + 9.034597396850586 + ], + [ + 10.174261093139648, + 1.042018175125122, + 8.92509651184082 + ], + [ + 10.174261093139648, + 0.9383825063705444, + 9.034597396850586 + ], + [ + 10.174261093139648, + 0.9383825063705444, + 8.92509651184082 + ], + [ + 10.08327865600586, + 1.042018175125122, + 9.034597396850586 + ], + [ + 10.08327865600586, + 1.042018175125122, + 8.92509651184082 + ], + [ + 10.08327865600586, + 0.9383825063705444, + 9.034597396850586 + ], + [ + 10.08327865600586, + 0.9383825063705444, + 8.92509651184082 + ] + ], + "center": { + "x": 10.128769874572754, + "y": 0.9902003407478333, + "z": 8.979846954345703 + }, + "size": { + "x": 0.09098243713378906, + "y": 0.10363566875457764, + "z": 0.10950088500976562 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 10.083279609680176, + 0.9383822083473206, + 9.034597396850586 + ], + [ + 10.083279609680176, + 0.9383822679519653, + 8.925097465515137 + ], + [ + 10.174260139465332, + 0.9383829832077026, + 8.92509651184082 + ], + [ + 10.174261093139648, + 0.9383829236030579, + 9.034597396850586 + ], + [ + 10.08327865600586, + 1.0420178174972534, + 9.034597396850586 + ], + [ + 10.08327865600586, + 1.042017936706543, + 8.925097465515137 + ], + [ + 10.174259185791016, + 1.0420186519622803, + 8.92509651184082 + ], + [ + 10.174260139465332, + 1.0420185327529907, + 9.034597396850586 + ] + ] + } + } + }, + { + "objectId": "door|6|7", + "object_info": { + "name": "door|6|7", + "position": { + "x": 8.643109321594238, + "y": -0.0005974769592285156, + "z": 6.367167949676514 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1843817234039307, + "objectType": "Doorway", + "objectId": "door|6|7", + "assetId": "Doorway_4", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.684856414794922, + 2.1035876274108887, + 7.285187721252441 + ], + [ + 9.684856414794922, + 2.1035876274108887, + 6.296596527099609 + ], + [ + 9.684856414794922, + 4.76837158203125e-07, + 7.285187721252441 + ], + [ + 9.684856414794922, + 4.76837158203125e-07, + 6.296596527099609 + ], + [ + 8.603919982910156, + 2.1035876274108887, + 7.285187721252441 + ], + [ + 8.603919982910156, + 2.1035876274108887, + 6.296596527099609 + ], + [ + 8.603919982910156, + 4.76837158203125e-07, + 7.285187721252441 + ], + [ + 8.603919982910156, + 4.76837158203125e-07, + 6.296596527099609 + ] + ], + "center": { + "x": 9.144388198852539, + "y": 1.0517940521240234, + "z": 6.790892124176025 + }, + "size": { + "x": 1.0809364318847656, + "y": 2.1035871505737305, + "z": 0.988591194152832 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Spoon|surface|6|30", + "object_info": { + "name": "Spoon|surface|6|30", + "position": { + "x": 9.59584903717041, + "y": 0.9386671781539917, + "z": 9.36561393737793 + }, + "rotation": { + "x": 0.10866478830575943, + "y": 270.000732421875, + "z": 359.6162109375 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.03999999910593033, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 1.9474977254867554, + "objectType": "Spoon", + "objectId": "Spoon|surface|6|30", + "assetId": "Spoon_1", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.713079452514648, + 0.9572588801383972, + 9.385297775268555 + ], + [ + 9.713079452514648, + 0.9572588801383972, + 9.343864440917969 + ], + [ + 9.713079452514648, + 0.9382080435752869, + 9.385297775268555 + ], + [ + 9.713079452514648, + 0.9382080435752869, + 9.343864440917969 + ], + [ + 9.505643844604492, + 0.9572588801383972, + 9.385297775268555 + ], + [ + 9.505643844604492, + 0.9572588801383972, + 9.343864440917969 + ], + [ + 9.505643844604492, + 0.9382080435752869, + 9.385297775268555 + ], + [ + 9.505643844604492, + 0.9382080435752869, + 9.343864440917969 + ] + ], + "center": { + "x": 9.60936164855957, + "y": 0.947733461856842, + "z": 9.364581108093262 + }, + "size": { + "x": 0.20743560791015625, + "y": 0.01905083656311035, + "z": 0.04143333435058594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.505664825439453, + 0.9379144906997681, + 9.385235786437988 + ], + [ + 9.505663871765137, + 0.9381917715072632, + 9.343844413757324 + ], + [ + 9.713088035583496, + 0.9385851621627808, + 9.343842506408691 + ], + [ + 9.713089942932129, + 0.9383079409599304, + 9.385232925415039 + ], + [ + 9.50562858581543, + 0.9569703936576843, + 9.38536262512207 + ], + [ + 9.505627632141113, + 0.9572476744651794, + 9.343972206115723 + ], + [ + 9.713052749633789, + 0.957641065120697, + 9.34397029876709 + ], + [ + 9.713053703308105, + 0.9573637843132019, + 9.385360717773438 + ] + ] + } + } + }, + { + "objectId": "SprayBottle|surface|6|39", + "object_info": { + "name": "SprayBottle|surface|6|39", + "position": { + "x": 9.44205379486084, + "y": 0.9378632307052612, + "z": 9.753796577453613 + }, + "rotation": { + "x": 0.014907661825418472, + "y": 269.9989013671875, + "z": 0.040948666632175446 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.10999999940395355, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.0838143825531006, + "objectType": "SprayBottle", + "objectId": "SprayBottle|surface|6|39", + "assetId": "Spray_Bottle_6", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.49439811706543, + 1.1838736534118652, + 9.770223617553711 + ], + [ + 9.49439811706543, + 1.1838736534118652, + 9.737226486206055 + ], + [ + 9.49439811706543, + 0.9383547306060791, + 9.770223617553711 + ], + [ + 9.49439811706543, + 0.9383547306060791, + 9.737226486206055 + ], + [ + 9.381900787353516, + 1.1838736534118652, + 9.770223617553711 + ], + [ + 9.381900787353516, + 1.1838736534118652, + 9.737226486206055 + ], + [ + 9.381900787353516, + 0.9383547306060791, + 9.770223617553711 + ], + [ + 9.381900787353516, + 0.9383547306060791, + 9.737226486206055 + ] + ], + "center": { + "x": 9.438149452209473, + "y": 1.0611141920089722, + "z": 9.753725051879883 + }, + "size": { + "x": 0.11249732971191406, + "y": 0.24551892280578613, + "z": 0.03299713134765625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.38193130493164, + 0.938378095626831, + 9.770222663879395 + ], + [ + 9.381932258605957, + 0.9383546113967896, + 9.737367630004883 + ], + [ + 9.49439811706543, + 0.9383838772773743, + 9.737369537353516 + ], + [ + 9.49439811706543, + 0.9384073615074158, + 9.770224571228027 + ], + [ + 9.381867408752441, + 1.183876395225525, + 9.770047187805176 + ], + [ + 9.381868362426758, + 1.1838529109954834, + 9.737192153930664 + ], + [ + 9.49433422088623, + 1.183882236480713, + 9.737194061279297 + ], + [ + 9.49433422088623, + 1.1839057207107544, + 9.770049095153809 + ] + ] + } + } + }, + { + "objectId": "Cup|surface|6|22", + "object_info": { + "name": "Cup|surface|6|22", + "position": { + "x": 10.51418685913086, + "y": 0.9383785724639893, + "z": 8.307844161987305 + }, + "rotation": { + "x": -0.004398599732667208, + "y": 269.9985046386719, + "z": 359.98583984375 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4000000059604645, + "salientMaterials": [ + "Glass" + ], + "receptacleObjectIds": [], + "distance": 2.515130043029785, + "objectType": "Cup", + "objectId": "Cup|surface|6|22", + "assetId": "RoboTHOR_cup_ai2_v", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.563854217529297, + 1.0942165851593018, + 8.35159683227539 + ], + [ + 10.563854217529297, + 1.0942165851593018, + 8.265567779541016 + ], + [ + 10.563854217529297, + 0.938368558883667, + 8.35159683227539 + ], + [ + 10.563854217529297, + 0.938368558883667, + 8.265567779541016 + ], + [ + 10.464542388916016, + 1.0942165851593018, + 8.35159683227539 + ], + [ + 10.464542388916016, + 1.0942165851593018, + 8.265567779541016 + ], + [ + 10.464542388916016, + 0.938368558883667, + 8.35159683227539 + ], + [ + 10.464542388916016, + 0.938368558883667, + 8.265567779541016 + ] + ], + "center": { + "x": 10.514198303222656, + "y": 1.0162925720214844, + "z": 8.308582305908203 + }, + "size": { + "x": 0.09931182861328125, + "y": 0.15584802627563477, + "z": 0.086029052734375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 10.464529037475586, + 0.938371479511261, + 8.351556777954102 + ], + [ + 10.464530944824219, + 0.9383927583694458, + 8.265528678894043 + ], + [ + 10.563844680786133, + 0.9383851289749146, + 8.265531539916992 + ], + [ + 10.5638427734375, + 0.9383638501167297, + 8.35155963897705 + ], + [ + 10.464540481567383, + 1.09419846534729, + 8.351595878601074 + ], + [ + 10.464543342590332, + 1.09421968460083, + 8.2655668258667 + ], + [ + 10.563857078552246, + 1.0942120552062988, + 8.265569686889648 + ], + [ + 10.563854217529297, + 1.0941908359527588, + 8.351598739624023 + ] + ] + } + } + }, + { + "objectId": "Spoon|surface|6|29", + "object_info": { + "name": "Spoon|surface|6|29", + "position": { + "x": 9.518946647644043, + "y": 0.9386671781539917, + "z": 9.443269729614258 + }, + "rotation": { + "x": 0.1097664088010788, + "y": 270.00140380859375, + "z": 359.5987243652344 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.03999999910593033, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 1.9319705963134766, + "objectType": "Spoon", + "objectId": "Spoon|surface|6|29", + "assetId": "Spoon_1", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.636177062988281, + 0.957260012626648, + 9.462956428527832 + ], + [ + 9.636177062988281, + 0.957260012626648, + 9.421521186828613 + ], + [ + 9.636177062988281, + 0.9382011890411377, + 9.462956428527832 + ], + [ + 9.636177062988281, + 0.9382011890411377, + 9.421521186828613 + ], + [ + 9.428741455078125, + 0.957260012626648, + 9.462956428527832 + ], + [ + 9.428741455078125, + 0.957260012626648, + 9.421521186828613 + ], + [ + 9.428741455078125, + 0.9382011890411377, + 9.462956428527832 + ], + [ + 9.428741455078125, + 0.9382011890411377, + 9.421521186828613 + ] + ], + "center": { + "x": 9.532459259033203, + "y": 0.9477306008338928, + "z": 9.442238807678223 + }, + "size": { + "x": 0.20743560791015625, + "y": 0.019058823585510254, + "z": 0.04143524169921875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.428762435913086, + 0.937906801700592, + 9.462892532348633 + ], + [ + 9.428760528564453, + 0.9381966590881348, + 9.421502113342285 + ], + [ + 9.636185646057129, + 0.9385940432548523, + 9.421496391296387 + ], + [ + 9.636187553405762, + 0.9383041858673096, + 9.462886810302734 + ], + [ + 9.428726196289062, + 0.9569626450538635, + 9.463025093078613 + ], + [ + 9.42872428894043, + 0.957252562046051, + 9.421634674072266 + ], + [ + 9.636149406433105, + 0.9576499462127686, + 9.421629905700684 + ], + [ + 9.636150360107422, + 0.957360029220581, + 9.463020324707031 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 8.199999809265137, + "y": 0.9009997844696045, + "z": 8.399999618530273 + }, + "agent_rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "agent_cameraHorizon": 60.00001525878906, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 8.199999809265137, + "y": 1.5759997367858887, + "z": 8.399999618530273 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "door|6|7", + "Stool|6|4" + ], + "different_object": [ + "DishSponge|surface|6|40", + "SaltShaker|surface|6|37", + "PepperShaker|surface|6|24", + "Mug|surface|6|33", + "Spoon|surface|6|29", + "Statue|surface|6|35", + "Egg|surface|6|26", + "Spatula|surface|6|34", + "door|1|6", + "SoapBottle|surface|6|20", + "CounterTop|6|0", + "Cup|surface|6|22", + "SprayBottle|surface|6|39", + "Spoon|surface|6|30", + "Pan|surface|6|38" + ] +} \ No newline at end of file diff --git a/train/train1843/4/0_depth_npy.npy b/train/train1843/4/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..3af067176526ac0fb974bf05594f70d866e7f13a --- /dev/null +++ b/train/train1843/4/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c45e50cddb223bf883c5e71867ca5b7857f20292e0ee151cc6787886069ff685 +size 3145856 diff --git a/train/train1843/4/0_semantic_sensor_npy.npy b/train/train1843/4/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..625bb13527840e39dc365424f7bce703956c5b3b --- /dev/null +++ b/train/train1843/4/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:81f51881fe513789d6bbd3cd83445077c6f66235acc4527174afe41b51952f69 +size 2359424 diff --git a/train/train1843/4/1.json b/train/train1843/4/1.json new file mode 100644 index 0000000000000000000000000000000000000000..2503a380ba44bb9197e7ea86b4a8b24cb5e8395d --- /dev/null +++ b/train/train1843/4/1.json @@ -0,0 +1,1676 @@ +{ + "object": [ + { + "objectId": "Plate|surface|6|21", + "object_info": { + "name": "Plate|surface|6|21", + "position": { + "x": 7.606054306030273, + "y": 0.6799222230911255, + "z": 9.919393539428711 + }, + "rotation": { + "x": 359.9570007324219, + "y": 89.99894714355469, + "z": 0.11190862208604813 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 1.7294343709945679, + "objectType": "Plate", + "objectId": "Plate|surface|6|21", + "assetId": "Plate_22", + "parentReceptacles": [ + "DiningTable|6|2|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.699070930480957, + 0.6977603435516357, + 10.017152786254883 + ], + [ + 7.699070930480957, + 0.6977603435516357, + 9.824880599975586 + ], + [ + 7.699070930480957, + 0.6780743598937988, + 10.017152786254883 + ], + [ + 7.699070930480957, + 0.6780743598937988, + 9.824880599975586 + ], + [ + 7.50679874420166, + 0.6977603435516357, + 10.017152786254883 + ], + [ + 7.50679874420166, + 0.6977603435516357, + 9.824880599975586 + ], + [ + 7.50679874420166, + 0.6780743598937988, + 10.017152786254883 + ], + [ + 7.50679874420166, + 0.6780743598937988, + 9.824880599975586 + ] + ], + "center": { + "x": 7.602934837341309, + "y": 0.6879173517227173, + "z": 9.921016693115234 + }, + "size": { + "x": 0.19227218627929688, + "y": 0.019685983657836914, + "z": 0.19227218627929688 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.699081897735596, + 0.6784887313842773, + 9.824854850769043 + ], + [ + 7.699078559875488, + 0.6781132221221924, + 10.01712703704834 + ], + [ + 7.506808280944824, + 0.6779688596725464, + 10.017123222351074 + ], + [ + 7.506811618804932, + 0.6783444285392761, + 9.824851036071777 + ], + [ + 7.699067115783691, + 0.6981801986694336, + 9.8248929977417 + ], + [ + 7.699063777923584, + 0.6978046894073486, + 10.017165184020996 + ], + [ + 7.50679349899292, + 0.6976603865623474, + 10.017162322998047 + ], + [ + 7.506796836853027, + 0.6980358958244324, + 9.82489013671875 + ] + ] + } + } + }, + { + "objectId": "Fridge|6|1", + "object_info": { + "name": "Fridge|6|1", + "position": { + "x": 6.976770877838135, + "y": 0.008309364318847656, + "z": 6.714920520782471 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Potato|surface|6|25", + "Egg|surface|6|23", + "Tomato|surface|6|41" + ], + "distance": 2.049478769302368, + "objectType": "Fridge", + "objectId": "Fridge|6|1", + "assetId": "Fridge_7", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.557404518127441, + 2.0204920768737793, + 7.186298370361328 + ], + [ + 7.557404518127441, + 2.0204920768737793, + 6.392000198364258 + ], + [ + 7.557404518127441, + 4.76837158203125e-07, + 7.186298370361328 + ], + [ + 7.557404518127441, + 4.76837158203125e-07, + 6.392000198364258 + ], + [ + 6.392000198364258, + 2.0204920768737793, + 7.186298370361328 + ], + [ + 6.392000198364258, + 2.0204920768737793, + 6.392000198364258 + ], + [ + 6.392000198364258, + 4.76837158203125e-07, + 7.186298370361328 + ], + [ + 6.392000198364258, + 4.76837158203125e-07, + 6.392000198364258 + ] + ], + "center": { + "x": 6.97470235824585, + "y": 1.0102462768554688, + "z": 6.789149284362793 + }, + "size": { + "x": 1.1654043197631836, + "y": 2.020491600036621, + "z": 0.7942981719970703 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Chair|6|2|1", + "object_info": { + "name": "Chair|6|2|1", + "position": { + "x": 6.648900508880615, + "y": -0.0016570687294006348, + "z": 9.698123931884766 + }, + "rotation": { + "x": -0.0, + "y": 84.76823425292969, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 2.1765389442443848, + "objectType": "Chair", + "objectId": "Chair|6|2|1", + "assetId": "Chair_227_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.89082145690918, + 0.7736937999725342, + 9.908531188964844 + ], + [ + 6.89082145690918, + 0.7736937999725342, + 9.487716674804688 + ], + [ + 6.89082145690918, + -2.9206275939941406e-06, + 9.908531188964844 + ], + [ + 6.89082145690918, + -2.9206275939941406e-06, + 9.487716674804688 + ], + [ + 6.393077850341797, + 0.7736937999725342, + 9.908531188964844 + ], + [ + 6.393077850341797, + 0.7736937999725342, + 9.487716674804688 + ], + [ + 6.393077850341797, + -2.9206275939941406e-06, + 9.908531188964844 + ], + [ + 6.393077850341797, + -2.9206275939941406e-06, + 9.487716674804688 + ] + ], + "center": { + "x": 6.641949653625488, + "y": 0.3868454396724701, + "z": 9.698123931884766 + }, + "size": { + "x": 0.4977436065673828, + "y": 0.7736967206001282, + "z": 0.42081451416015625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.89082145690918, + -2.86102294921875e-06, + 9.528837203979492 + ], + [ + 6.856054306030273, + -2.86102294921875e-06, + 9.908531188964844 + ], + [ + 6.391991138458252, + -2.86102294921875e-06, + 9.86603832244873 + ], + [ + 6.426758289337158, + -2.86102294921875e-06, + 9.486344337463379 + ], + [ + 6.89082145690918, + 0.7736939191818237, + 9.528837203979492 + ], + [ + 6.856054306030273, + 0.7736939191818237, + 9.908531188964844 + ], + [ + 6.391991138458252, + 0.7736939191818237, + 9.86603832244873 + ], + [ + 6.426758289337158, + 0.7736939191818237, + 9.486344337463379 + ] + ] + } + } + }, + { + "objectId": "Pencil|surface|6|27", + "object_info": { + "name": "Pencil|surface|6|27", + "position": { + "x": 6.988069534301758, + "y": 0.6829441785812378, + "z": 9.919360160827637 + }, + "rotation": { + "x": 0.00016481903730891645, + "y": 90.0, + "z": -7.080207433318719e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": null, + "distance": 1.964259386062622, + "objectType": "Pencil", + "objectId": "Pencil|surface|6|27", + "assetId": "Pencil_5", + "parentReceptacles": [ + "DiningTable|6|2|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.061227321624756, + 0.6876717805862427, + 9.924087524414062 + ], + [ + 7.061227321624756, + 0.6876717805862427, + 9.914632797241211 + ], + [ + 7.061227321624756, + 0.6782165765762329, + 9.924087524414062 + ], + [ + 7.061227321624756, + 0.6782165765762329, + 9.914632797241211 + ], + [ + 6.921295642852783, + 0.6876717805862427, + 9.924087524414062 + ], + [ + 6.921295642852783, + 0.6876717805862427, + 9.914632797241211 + ], + [ + 6.921295642852783, + 0.6782165765762329, + 9.924087524414062 + ], + [ + 6.921295642852783, + 0.6782165765762329, + 9.914632797241211 + ] + ], + "center": { + "x": 6.9912614822387695, + "y": 0.6829441785812378, + "z": 9.919360160827637 + }, + "size": { + "x": 0.13993167877197266, + "y": 0.009455204010009766, + "z": 0.009454727172851562 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.061227321624756, + 0.6782162189483643, + 9.914632797241211 + ], + [ + 7.061227321624756, + 0.6782162189483643, + 9.924087524414062 + ], + [ + 6.921295642852783, + 0.6782166361808777, + 9.924087524414062 + ], + [ + 6.921295642852783, + 0.6782165765762329, + 9.914632797241211 + ], + [ + 7.061227321624756, + 0.6876717209815979, + 9.914632797241211 + ], + [ + 7.061227321624756, + 0.6876717209815979, + 9.924087524414062 + ], + [ + 6.921295642852783, + 0.6876721382141113, + 9.924087524414062 + ], + [ + 6.921295642852783, + 0.6876721382141113, + 9.914632797241211 + ] + ] + } + } + }, + { + "objectId": "Stool|6|4", + "object_info": { + "name": "Stool|6|4", + "position": { + "x": 8.243863105773926, + "y": 0.000591576099395752, + "z": 6.585229873657227 + }, + "rotation": { + "x": 1.18705153465271, + "y": 359.9930725097656, + "z": 359.8995666503906 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.180000066757202, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 1.9083143472671509, + "objectType": "Stool", + "objectId": "Stool|6|4", + "assetId": "Stool_2_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.538818359375, + 0.7562337517738342, + 6.771154403686523 + ], + [ + 8.538818359375, + 0.7562337517738342, + 6.39228630065918 + ], + [ + 8.538818359375, + -2.491474151611328e-05, + 6.771154403686523 + ], + [ + 8.538818359375, + -2.491474151611328e-05, + 6.39228630065918 + ], + [ + 7.9479522705078125, + 0.7562337517738342, + 6.771154403686523 + ], + [ + 7.9479522705078125, + 0.7562337517738342, + 6.39228630065918 + ], + [ + 7.9479522705078125, + -2.491474151611328e-05, + 6.771154403686523 + ], + [ + 7.9479522705078125, + -2.491474151611328e-05, + 6.39228630065918 + ] + ], + "center": { + "x": 8.243385314941406, + "y": 0.37810441851615906, + "z": 6.581720352172852 + }, + "size": { + "x": 0.5908660888671875, + "y": 0.7562586665153503, + "z": 0.37886810302734375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 8.537458419799805, + -0.006932959891855717, + 6.77088737487793 + ], + [ + 7.947929382324219, + -0.005899687297642231, + 6.770837783813477 + ], + [ + 7.947975158691406, + 0.0019497345201671124, + 6.392021656036377 + ], + [ + 8.537504196166992, + 0.0009164621587842703, + 6.39207124710083 + ], + [ + 8.538780212402344, + 0.7481831312179565, + 6.786534309387207 + ], + [ + 7.949251651763916, + 0.7492163777351379, + 6.786484718322754 + ], + [ + 7.9492974281311035, + 0.7570657730102539, + 6.407668590545654 + ], + [ + 8.538825988769531, + 0.7560325264930725, + 6.407718181610107 + ] + ] + } + } + }, + { + "objectId": "DiningTable|6|2|0", + "object_info": { + "name": "DiningTable|6|2|0", + "position": { + "x": 7.235268592834473, + "y": -0.018440067768096924, + "z": 9.697439193725586 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood", + "Glass" + ], + "receptacleObjectIds": [ + "Pot|surface|6|28", + "Plate|surface|6|21", + "Pencil|surface|6|27", + "Toaster|surface|6|31", + "Ladle|surface|6|32", + "CellPhone|surface|6|36" + ], + "distance": 1.8775686025619507, + "objectType": "DiningTable", + "objectId": "DiningTable|6|2|0", + "assetId": "Dining_Table_201_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.729119777679443, + 0.6782166361808777, + 10.586999893188477 + ], + [ + 7.729119777679443, + 0.6782166361808777, + 8.807878494262695 + ], + [ + 7.729119777679443, + 1.5497207641601562e-06, + 10.586999893188477 + ], + [ + 7.729119777679443, + 1.5497207641601562e-06, + 8.807878494262695 + ], + [ + 6.741417407989502, + 0.6782166361808777, + 10.586999893188477 + ], + [ + 6.741417407989502, + 0.6782166361808777, + 8.807878494262695 + ], + [ + 6.741417407989502, + 1.5497207641601562e-06, + 10.586999893188477 + ], + [ + 6.741417407989502, + 1.5497207641601562e-06, + 8.807878494262695 + ] + ], + "center": { + "x": 7.235268592834473, + "y": 0.3391090929508209, + "z": 9.697439193725586 + }, + "size": { + "x": 0.9877023696899414, + "y": 0.6782150864601135, + "z": 1.7791213989257812 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.729119777679443, + 1.6093254089355469e-06, + 8.807878494262695 + ], + [ + 7.729119777679443, + 1.6093254089355469e-06, + 10.586999893188477 + ], + [ + 6.741417407989502, + 1.6093254089355469e-06, + 10.586999893188477 + ], + [ + 6.741417407989502, + 1.6093254089355469e-06, + 8.807878494262695 + ], + [ + 7.729119777679443, + 0.6782165169715881, + 8.807878494262695 + ], + [ + 7.729119777679443, + 0.6782165169715881, + 10.586999893188477 + ], + [ + 6.741417407989502, + 0.6782165169715881, + 10.586999893188477 + ], + [ + 6.741417407989502, + 0.6782165169715881, + 8.807878494262695 + ] + ] + } + } + }, + { + "objectId": "Toaster|surface|6|31", + "object_info": { + "name": "Toaster|surface|6|31", + "position": { + "x": 6.988070011138916, + "y": 0.6782166361808777, + "z": 9.031681060791016 + }, + "rotation": { + "x": -2.608218437671894e-06, + "y": 90.00001525878906, + "z": 3.174660378135741e-05 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 5.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.2979445457458496, + "objectType": "Toaster", + "objectId": "Toaster|surface|6|31", + "assetId": "Toaster_6", + "parentReceptacles": [ + "DiningTable|6|2|0", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.190628528594971, + 0.8852825164794922, + 9.130928039550781 + ], + [ + 7.190628528594971, + 0.8852825164794922, + 8.93243408203125 + ], + [ + 7.190628528594971, + 0.6782165765762329, + 9.130928039550781 + ], + [ + 7.190628528594971, + 0.6782165765762329, + 8.93243408203125 + ], + [ + 6.829248905181885, + 0.8852825164794922, + 9.130928039550781 + ], + [ + 6.829248905181885, + 0.8852825164794922, + 8.93243408203125 + ], + [ + 6.829248905181885, + 0.6782165765762329, + 9.130928039550781 + ], + [ + 6.829248905181885, + 0.6782165765762329, + 8.93243408203125 + ] + ], + "center": { + "x": 7.009938716888428, + "y": 0.7817495465278625, + "z": 9.031681060791016 + }, + "size": { + "x": 0.36137962341308594, + "y": 0.20706593990325928, + "z": 0.19849395751953125 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.190628528594971, + 0.6782164573669434, + 8.93243408203125 + ], + [ + 7.190628528594971, + 0.6782163381576538, + 9.130927085876465 + ], + [ + 6.829248428344727, + 0.6782163381576538, + 9.130928039550781 + ], + [ + 6.829248428344727, + 0.6782164573669434, + 8.932435035705566 + ], + [ + 7.190628528594971, + 0.885282576084137, + 8.93243408203125 + ], + [ + 7.190628528594971, + 0.8852824568748474, + 9.130928039550781 + ], + [ + 6.829248428344727, + 0.8852824568748474, + 9.130928039550781 + ], + [ + 6.829248428344727, + 0.885282576084137, + 8.932435035705566 + ] + ] + } + } + }, + { + "objectId": "door|6|7", + "object_info": { + "name": "door|6|7", + "position": { + "x": 8.643109321594238, + "y": -0.0005974769592285156, + "z": 6.367167949676514 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1843817234039307, + "objectType": "Doorway", + "objectId": "door|6|7", + "assetId": "Doorway_4", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.684856414794922, + 2.1035876274108887, + 7.285187721252441 + ], + [ + 9.684856414794922, + 2.1035876274108887, + 6.296596527099609 + ], + [ + 9.684856414794922, + 4.76837158203125e-07, + 7.285187721252441 + ], + [ + 9.684856414794922, + 4.76837158203125e-07, + 6.296596527099609 + ], + [ + 8.603919982910156, + 2.1035876274108887, + 7.285187721252441 + ], + [ + 8.603919982910156, + 2.1035876274108887, + 6.296596527099609 + ], + [ + 8.603919982910156, + 4.76837158203125e-07, + 7.285187721252441 + ], + [ + 8.603919982910156, + 4.76837158203125e-07, + 6.296596527099609 + ] + ], + "center": { + "x": 9.144388198852539, + "y": 1.0517940521240234, + "z": 6.790892124176025 + }, + "size": { + "x": 1.0809364318847656, + "y": 2.1035871505737305, + "z": 0.988591194152832 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Pot|surface|6|28", + "object_info": { + "name": "Pot|surface|6|28", + "position": { + "x": 7.3588690757751465, + "y": 0.6777743101119995, + "z": 9.475521087646484 + }, + "rotation": { + "x": -1.3460327181746834e-06, + "y": 89.99971771240234, + "z": 0.000818484288174659 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5699999928474426, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.4009926319122314, + "objectType": "Pot", + "objectId": "Pot|surface|6|28", + "assetId": "Pot_5", + "parentReceptacles": [ + "DiningTable|6|2|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.493688583374023, + 0.843828558921814, + 9.618644714355469 + ], + [ + 7.493688583374023, + 0.843828558921814, + 9.3330078125 + ], + [ + 7.493688583374023, + 0.6782162189483643, + 9.618644714355469 + ], + [ + 7.493688583374023, + 0.6782162189483643, + 9.3330078125 + ], + [ + 7.224050521850586, + 0.843828558921814, + 9.618644714355469 + ], + [ + 7.224050521850586, + 0.843828558921814, + 9.3330078125 + ], + [ + 7.224050521850586, + 0.6782162189483643, + 9.618644714355469 + ], + [ + 7.224050521850586, + 0.6782162189483643, + 9.3330078125 + ] + ], + "center": { + "x": 7.358869552612305, + "y": 0.7610223889350891, + "z": 9.475826263427734 + }, + "size": { + "x": 0.2696380615234375, + "y": 0.1656123399734497, + "z": 0.28563690185546875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.493689060211182, + 0.678218424320221, + 9.333005905151367 + ], + [ + 7.493687629699707, + 0.6782143115997314, + 9.618644714355469 + ], + [ + 7.2240495681762695, + 0.6782143115997314, + 9.618642807006836 + ], + [ + 7.224050998687744, + 0.678218424320221, + 9.33300495147705 + ], + [ + 7.493689060211182, + 0.8438296318054199, + 9.333008766174316 + ], + [ + 7.493687629699707, + 0.8438255190849304, + 9.618646621704102 + ], + [ + 7.2240495681762695, + 0.8438255190849304, + 9.618645668029785 + ], + [ + 7.224050998687744, + 0.8438296318054199, + 9.3330078125 + ] + ] + } + } + }, + { + "objectId": "GarbageCan|6|3", + "object_info": { + "name": "GarbageCan|6|3", + "position": { + "x": 6.568835258483887, + "y": -0.05039361119270325, + "z": 8.42866039276123 + }, + "rotation": { + "x": 359.9588928222656, + "y": 89.99987030029297, + "z": 359.9815368652344 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.699999988079071, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.7278025150299072, + "objectType": "GarbageCan", + "objectId": "GarbageCan|6|3", + "assetId": "bin_29", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.74216365814209, + 0.6587642431259155, + 8.623628616333008 + ], + [ + 6.74216365814209, + 0.6587642431259155, + 8.232809066772461 + ], + [ + 6.74216365814209, + -0.0021403133869171143, + 8.623628616333008 + ], + [ + 6.74216365814209, + -0.0021403133869171143, + 8.232809066772461 + ], + [ + 6.391571998596191, + 0.6587642431259155, + 8.623628616333008 + ], + [ + 6.391571998596191, + 0.6587642431259155, + 8.232809066772461 + ], + [ + 6.391571998596191, + -0.0021403133869171143, + 8.623628616333008 + ], + [ + 6.391571998596191, + -0.0021403133869171143, + 8.232809066772461 + ] + ], + "center": { + "x": 6.566867828369141, + "y": 0.328311949968338, + "z": 8.428218841552734 + }, + "size": { + "x": 0.35059165954589844, + "y": 0.6609045267105103, + "z": 0.3908195495605469 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.742166519165039, + -0.0020808465778827667, + 8.23300552368164 + ], + [ + 6.742165565490723, + -0.001954924315214157, + 8.623631477355957 + ], + [ + 6.392014503479004, + -0.0022062286734580994, + 8.62363052368164 + ], + [ + 6.39201545715332, + -0.002332150936126709, + 8.23300552368164 + ], + [ + 6.741692066192627, + 0.6588419675827026, + 8.232792854309082 + ], + [ + 6.7416911125183105, + 0.6589678525924683, + 8.623418807983398 + ], + [ + 6.391540050506592, + 0.6587165594100952, + 8.623417854309082 + ], + [ + 6.391541004180908, + 0.6585906744003296, + 8.232791900634766 + ] + ] + } + } + }, + { + "objectId": "Ladle|surface|6|32", + "object_info": { + "name": "Ladle|surface|6|32", + "position": { + "x": 7.229639530181885, + "y": 0.7005589604377747, + "z": 10.15164566040039 + }, + "rotation": { + "x": 351.2943420410156, + "y": 85.39877319335938, + "z": 27.456687927246094 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07999999821186066, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.061525583267212, + "objectType": "Ladle", + "objectId": "Ladle|surface|6|32", + "assetId": "Ladle_1", + "parentReceptacles": [ + "DiningTable|6|2|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.384504318237305, + 0.7279442548751831, + 10.188520431518555 + ], + [ + 7.384504318237305, + 0.7279442548751831, + 10.125310897827148 + ], + [ + 7.384504318237305, + 0.677679181098938, + 10.188520431518555 + ], + [ + 7.384504318237305, + 0.677679181098938, + 10.125310897827148 + ], + [ + 7.100492477416992, + 0.7279442548751831, + 10.188520431518555 + ], + [ + 7.100492477416992, + 0.7279442548751831, + 10.125310897827148 + ], + [ + 7.100492477416992, + 0.677679181098938, + 10.188520431518555 + ], + [ + 7.100492477416992, + 0.677679181098938, + 10.125310897827148 + ] + ], + "center": { + "x": 7.242498397827148, + "y": 0.7028117179870605, + "z": 10.156915664672852 + }, + "size": { + "x": 0.2840118408203125, + "y": 0.05026507377624512, + "z": 0.06320953369140625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.389695167541504, + 0.7053394317626953, + 10.1202392578125 + ], + [ + 7.389592170715332, + 0.6763448715209961, + 10.176865577697754 + ], + [ + 7.108338832855225, + 0.633139431476593, + 10.154230117797852 + ], + [ + 7.1084418296813965, + 0.6621339321136475, + 10.097604751586914 + ], + [ + 7.3814697265625, + 0.747565507888794, + 10.141845703125 + ], + [ + 7.381366729736328, + 0.7185710072517395, + 10.198472023010254 + ], + [ + 7.100113391876221, + 0.6753655076026917, + 10.175836563110352 + ], + [ + 7.100216388702393, + 0.7043600082397461, + 10.119211196899414 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 8.300000190734863, + "y": 0.9009997844696045, + "z": 8.399999618530273 + }, + "agent_rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "agent_cameraHorizon": 60.00001525878906, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 8.300000190734863, + "y": 1.5759997367858887, + "z": 8.399999618530273 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "door|6|7", + "Stool|6|4" + ], + "different_object": [ + "Pencil|surface|6|27", + "Toaster|surface|6|31", + "GarbageCan|6|3", + "Pot|surface|6|28", + "Plate|surface|6|21", + "Chair|6|2|1", + "DiningTable|6|2|0", + "Fridge|6|1", + "Ladle|surface|6|32" + ] +} \ No newline at end of file diff --git a/train/train1843/4/1_depth_npy.npy b/train/train1843/4/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..edd8f3148b94f2838f4ba4fb4caba79f0f30ff8e --- /dev/null +++ b/train/train1843/4/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1ad0b322508e0cddc8935b1f5c2467b6637e7ef1416458661016de2437c13f17 +size 3145856 diff --git a/train/train1843/4/1_semantic_sensor_npy.npy b/train/train1843/4/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..b41d3daa5a4939835c77f1ea2cb3197ab8d1e04e --- /dev/null +++ b/train/train1843/4/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:27bafef6f5e094656416f8f94a8670bd96a666175a5e9a67be9689da69e133d1 +size 2359424 diff --git a/train/train1843/4/depth_0.png b/train/train1843/4/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..921e3c935dea4dc3ab31d2cc3863f51fb9f7a5ee Binary files /dev/null and b/train/train1843/4/depth_0.png differ diff --git a/train/train1843/4/depth_1.png b/train/train1843/4/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..57f7c9d2981f54ddea652cb06523b75855526d17 Binary files /dev/null and b/train/train1843/4/depth_1.png differ diff --git a/train/train1843/4/mask_questions.jsonl b/train/train1843/4/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b4fb66f9b9478837724a5343bb49e86b2f445967 --- /dev/null +++ b/train/train1843/4/mask_questions.jsonl @@ -0,0 +1 @@ +{"id": 11139, "folder_dir": "train1843/4", "pair_name": "1-0:Stool|6|4", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Doorway\nB. Fridge\nC. Stool\nD. Ladle", "answer": "C", "object_name": "Stool", "image_1": "train1843/4/rgb_1.png", "image_2": "train1843/4/rgb_0.png", "mask_image": "train1843/4/rgb_0_mask_Stool|6|4.png", "options": ["Doorway", "Fridge", "Stool", "Ladle"]} diff --git a/train/train1843/4/rgb_0.png b/train/train1843/4/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..d4e641707a5873755eea2d2c635587a64204ee1b --- /dev/null +++ b/train/train1843/4/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:05cf6f240edcb6bf7ec102ccce5ba3938640492199fe379304ba7809035b66c4 +size 984782 diff --git a/train/train1843/4/rgb_0_mask_Stool|6|4.png b/train/train1843/4/rgb_0_mask_Stool|6|4.png new file mode 100644 index 0000000000000000000000000000000000000000..76d5395a27f0f619503b28ec15605b94d4397efa --- /dev/null +++ b/train/train1843/4/rgb_0_mask_Stool|6|4.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:abbdb9afd7553e3940998e17c16e9a1b26103e3250810c9c11e0ed16145aeb92 +size 851979 diff --git a/train/train1843/4/rgb_1.png b/train/train1843/4/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..71d8c9eb7275ce2d172f39b0788c1f5da124e585 --- /dev/null +++ b/train/train1843/4/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4abd6423512981845139263ab8206450ba2d1fb0478a706026fcc07fd5e468f3 +size 918730 diff --git a/train/train1843/4/semantic_0.png b/train/train1843/4/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..34785783f305740b35980f5eebf1ce7fb3b9a12a Binary files /dev/null and b/train/train1843/4/semantic_0.png differ diff --git a/train/train1843/4/semantic_1.png b/train/train1843/4/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..9958e590ef365affa558dfcd7f090f8c3d9b701d Binary files /dev/null and b/train/train1843/4/semantic_1.png differ diff --git a/train/train1843/color_to_object_id.json b/train/train1843/color_to_object_id.json new file mode 100644 index 0000000000000000000000000000000000000000..d4baa1fdc99b7272ef4aa55bcc924bbb82464938 --- /dev/null +++ b/train/train1843/color_to_object_id.json @@ -0,0 +1,1899 @@ +[ + { + "window|6|0": [ + 43, + 165, + 91 + ] + }, + { + "Window": [ + 200, + 150, + 134 + ] + }, + { + "door|1|6": [ + 130, + 205, + 0 + ] + }, + { + "Doorway": [ + 163, + 222, + 124 + ] + }, + { + "door|4|7": [ + 58, + 70, + 233 + ] + }, + { + "door|6|7": [ + 203, + 131, + 110 + ] + }, + { + "door|4|5": [ + 50, + 233, + 221 + ] + }, + { + "Painting|6|6": [ + 136, + 191, + 27 + ] + }, + { + "Painting": [ + 40, + 117, + 236 + ] + }, + { + "Painting|6|5": [ + 177, + 100, + 11 + ] + }, + { + "Painting|7|5": [ + 204, + 249, + 219 + ] + }, + { + "Painting|7|4": [ + 153, + 5, + 3 + ] + }, + { + "Painting|4|5": [ + 53, + 66, + 101 + ] + }, + { + "Painting|5|6": [ + 220, + 108, + 112 + ] + }, + { + "Painting|5|5": [ + 137, + 50, + 249 + ] + }, + { + "Pen|surface|7|54": [ + 148, + 153, + 25 + ] + }, + { + "Pen": [ + 239, + 130, + 152 + ] + }, + { + "SideTable|7|3": [ + 16, + 104, + 150 + ] + }, + { + "SideTable": [ + 202, + 45, + 114 + ] + }, + { + "Box|surface|7|47": [ + 10, + 115, + 60 + ] + }, + { + "Box": [ + 60, + 252, + 230 + ] + }, + { + "Pencil|surface|7|46": [ + 32, + 21, + 155 + ] + }, + { + "Pencil": [ + 177, + 226, + 23 + ] + }, + { + "Newspaper|surface|7|42": [ + 27, + 168, + 225 + ] + }, + { + "Newspaper": [ + 19, + 196, + 2 + ] + }, + { + "SideTable|7|2___1": [ + 118, + 81, + 141 + ] + }, + { + "Drawer": [ + 155, + 30, + 210 + ] + }, + { + "SideTable|7|2___0": [ + 209, + 117, + 48 + ] + }, + { + "SideTable|7|2": [ + 165, + 23, + 169 + ] + }, + { + "Box|surface|7|55": [ + 142, + 172, + 248 + ] + }, + { + "CreditCard|surface|7|51": [ + 136, + 0, + 68 + ] + }, + { + "CreditCard": [ + 56, + 235, + 12 + ] + }, + { + "Statue|surface|7|50": [ + 177, + 207, + 126 + ] + }, + { + "Statue": [ + 243, + 75, + 41 + ] + }, + { + "Statue|surface|7|49": [ + 218, + 145, + 10 + ] + }, + { + "Book|surface|7|48": [ + 139, + 188, + 111 + ] + }, + { + "Book": [ + 43, + 31, + 148 + ] + }, + { + "Pen|surface|7|45": [ + 37, + 182, + 245 + ] + }, + { + "Bowl|surface|7|43": [ + 125, + 152, + 234 + ] + }, + { + "Bowl": [ + 209, + 182, + 193 + ] + }, + { + "DiningTable|7|1": [ + 138, + 188, + 94 + ] + }, + { + "DiningTable": [ + 83, + 33, + 33 + ] + }, + { + "KeyChain|surface|7|56": [ + 79, + 125, + 235 + ] + }, + { + "KeyChain": [ + 27, + 54, + 18 + ] + }, + { + "Plate|surface|7|53": [ + 111, + 184, + 62 + ] + }, + { + "Plate": [ + 188, + 154, + 128 + ] + }, + { + "Watch|surface|7|52": [ + 144, + 124, + 198 + ] + }, + { + "Watch": [ + 242, + 6, + 88 + ] + }, + { + "HousePlant|surface|7|44": [ + 183, + 31, + 207 + ] + }, + { + "HousePlant": [ + 73, + 144, + 213 + ] + }, + { + "Television|7|0|1": [ + 255, + 220, + 146 + ] + }, + { + "Television": [ + 27, + 245, + 217 + ] + }, + { + "TVStand|7|0|0___5": [ + 6, + 73, + 205 + ] + }, + { + "Shelf": [ + 39, + 54, + 158 + ] + }, + { + "TVStand|7|0|0___4": [ + 151, + 111, + 70 + ] + }, + { + "TVStand|7|0|0___3": [ + 186, + 123, + 221 + ] + }, + { + "TVStand|7|0|0___2": [ + 102, + 57, + 6 + ] + }, + { + "TVStand|7|0|0___1": [ + 207, + 124, + 139 + ] + }, + { + "TVStand|7|0|0___0": [ + 124, + 125, + 90 + ] + }, + { + "TVStand|7|0|0": [ + 124, + 202, + 151 + ] + }, + { + "TVStand": [ + 94, + 234, + 136 + ] + }, + { + "Stool|6|4": [ + 108, + 161, + 94 + ] + }, + { + "Stool": [ + 13, + 54, + 156 + ] + }, + { + "GarbageCan|6|3": [ + 243, + 83, + 25 + ] + }, + { + "GarbageCan": [ + 225, + 40, + 55 + ] + }, + { + "Chair|6|2|1": [ + 69, + 104, + 223 + ] + }, + { + "Chair": [ + 166, + 13, + 176 + ] + }, + { + "CellPhone|surface|6|36": [ + 226, + 76, + 241 + ] + }, + { + "CellPhone": [ + 227, + 98, + 136 + ] + }, + { + "Ladle|surface|6|32": [ + 253, + 114, + 194 + ] + }, + { + "Ladle": [ + 174, + 98, + 216 + ] + }, + { + "Toaster|surface|6|31": [ + 154, + 107, + 10 + ] + }, + { + "Toaster": [ + 55, + 33, + 114 + ] + }, + { + "Pot|surface|6|28": [ + 225, + 133, + 169 + ] + }, + { + "Pot": [ + 132, + 237, + 87 + ] + }, + { + "Pencil|surface|6|27": [ + 71, + 46, + 151 + ] + }, + { + "Plate|surface|6|21": [ + 0, + 10, + 122 + ] + }, + { + "DiningTable|6|2|0": [ + 145, + 197, + 100 + ] + }, + { + "Tomato|surface|6|41": [ + 39, + 129, + 226 + ] + }, + { + "Tomato": [ + 119, + 189, + 121 + ] + }, + { + "Potato|surface|6|25": [ + 188, + 49, + 1 + ] + }, + { + "Potato": [ + 187, + 142, + 9 + ] + }, + { + "Egg|surface|6|23": [ + 207, + 113, + 95 + ] + }, + { + "Egg": [ + 240, + 75, + 163 + ] + }, + { + "Fridge|6|1": [ + 45, + 15, + 119 + ] + }, + { + "Fridge": [ + 91, + 156, + 207 + ] + }, + { + "DishSponge|surface|6|40": [ + 160, + 208, + 140 + ] + }, + { + "DishSponge": [ + 166, + 58, + 136 + ] + }, + { + "SprayBottle|surface|6|39": [ + 232, + 207, + 13 + ] + }, + { + "SprayBottle": [ + 89, + 126, + 121 + ] + }, + { + "Pan|surface|6|38": [ + 38, + 23, + 157 + ] + }, + { + "Pan": [ + 246, + 212, + 161 + ] + }, + { + "SaltShaker|surface|6|37": [ + 80, + 195, + 244 + ] + }, + { + "SaltShaker": [ + 36, + 222, + 26 + ] + }, + { + "Statue|surface|6|35": [ + 177, + 201, + 164 + ] + }, + { + "Spatula|surface|6|34": [ + 94, + 217, + 145 + ] + }, + { + "Spatula": [ + 30, + 98, + 242 + ] + }, + { + "Mug|surface|6|33": [ + 187, + 113, + 207 + ] + }, + { + "Mug": [ + 8, + 94, + 186 + ] + }, + { + "Spoon|surface|6|30": [ + 216, + 188, + 157 + ] + }, + { + "Spoon": [ + 235, + 57, + 90 + ] + }, + { + "Spoon|surface|6|29": [ + 247, + 183, + 96 + ] + }, + { + "Egg|surface|6|26": [ + 163, + 149, + 40 + ] + }, + { + "PepperShaker|surface|6|24": [ + 41, + 127, + 176 + ] + }, + { + "PepperShaker": [ + 5, + 204, + 214 + ] + }, + { + "Cup|surface|6|22": [ + 246, + 193, + 57 + ] + }, + { + "Cup": [ + 35, + 71, + 130 + ] + }, + { + "SoapBottle|surface|6|20": [ + 39, + 251, + 77 + ] + }, + { + "SoapBottle": [ + 168, + 222, + 137 + ] + }, + { + "CounterTop|6|0": [ + 175, + 244, + 241 + ] + }, + { + "CounterTop": [ + 103, + 209, + 30 + ] + }, + { + "GarbageCan|5|4": [ + 175, + 142, + 13 + ] + }, + { + "Plunger|5|3": [ + 150, + 121, + 19 + ] + }, + { + "Plunger": [ + 74, + 209, + 56 + ] + }, + { + "WashingMachine|5|2": [ + 129, + 147, + 14 + ] + }, + { + "WashingMachine": [ + 209, + 147, + 1 + ] + }, + { + "SoapBottle|surface|5|19": [ + 223, + 132, + 161 + ] + }, + { + "Faucet|5|1|1": [ + 65, + 42, + 255 + ] + }, + { + "Faucet": [ + 21, + 38, + 98 + ] + }, + { + "Sink|5|1|0___0": [ + 245, + 52, + 66 + ] + }, + { + "SinkBasin": [ + 80, + 192, + 81 + ] + }, + { + "Sink|5|1|0": [ + 201, + 233, + 65 + ] + }, + { + "Sink": [ + 30, + 181, + 88 + ] + }, + { + "ToiletPaper|surface|5|18": [ + 126, + 109, + 83 + ] + }, + { + "ToiletPaper": [ + 162, + 204, + 152 + ] + }, + { + "Toilet|5|0": [ + 241, + 253, + 188 + ] + }, + { + "Toilet": [ + 21, + 27, + 163 + ] + }, + { + "KeyChain|surface|4|11": [ + 231, + 114, + 167 + ] + }, + { + "RemoteControl|surface|4|8": [ + 67, + 231, + 3 + ] + }, + { + "RemoteControl": [ + 187, + 19, + 208 + ] + }, + { + "CreditCard|surface|4|7": [ + 208, + 5, + 93 + ] + }, + { + "AlarmClock|surface|4|6": [ + 166, + 106, + 55 + ] + }, + { + "AlarmClock": [ + 184, + 20, + 170 + ] + }, + { + "CellPhone|surface|4|1": [ + 175, + 249, + 83 + ] + }, + { + "Television|4|4|1": [ + 107, + 36, + 252 + ] + }, + { + "TVStand|4|4|0___1": [ + 84, + 135, + 178 + ] + }, + { + "TVStand|4|4|0___0": [ + 20, + 113, + 190 + ] + }, + { + "TVStand|4|4|0": [ + 48, + 39, + 105 + ] + }, + { + "Book|surface|4|10": [ + 38, + 55, + 228 + ] + }, + { + "Pillow|surface|4|5": [ + 126, + 121, + 235 + ] + }, + { + "Pillow": [ + 217, + 193, + 130 + ] + }, + { + "Laptop|surface|4|4": [ + 48, + 50, + 26 + ] + }, + { + "Laptop": [ + 20, + 107, + 222 + ] + }, + { + "Bed|4|3___2": [ + 45, + 58, + 141 + ] + }, + { + "Bed|4|3___1": [ + 64, + 207, + 172 + ] + }, + { + "Bed|4|3___0": [ + 244, + 41, + 108 + ] + }, + { + "Bed|4|3": [ + 80, + 121, + 50 + ] + }, + { + "Bed": [ + 209, + 156, + 101 + ] + }, + { + "Chair|4|2|6": [ + 147, + 96, + 175 + ] + }, + { + "Chair|4|2|5": [ + 154, + 144, + 157 + ] + }, + { + "Chair|4|2|4": [ + 45, + 165, + 54 + ] + }, + { + "Chair|4|2|3": [ + 18, + 106, + 169 + ] + }, + { + "Chair|4|2|2": [ + 129, + 106, + 158 + ] + }, + { + "Chair|4|2|1": [ + 38, + 158, + 18 + ] + }, + { + "Bowl|surface|4|15": [ + 31, + 120, + 168 + ] + }, + { + "CellPhone|surface|4|13": [ + 71, + 139, + 94 + ] + }, + { + "DeskLamp|surface|4|9": [ + 72, + 168, + 139 + ] + }, + { + "DeskLamp": [ + 99, + 164, + 25 + ] + }, + { + "Vase|surface|4|3": [ + 244, + 120, + 51 + ] + }, + { + "Vase": [ + 83, + 152, + 69 + ] + }, + { + "Box|surface|4|2": [ + 193, + 30, + 253 + ] + }, + { + "DiningTable|4|2|0": [ + 177, + 61, + 80 + ] + }, + { + "RemoteControl|surface|4|17": [ + 44, + 75, + 198 + ] + }, + { + "HousePlant|surface|4|16": [ + 213, + 187, + 211 + ] + }, + { + "Mug|surface|4|14": [ + 202, + 245, + 66 + ] + }, + { + "CD|surface|4|12": [ + 246, + 77, + 160 + ] + }, + { + "CD": [ + 65, + 112, + 172 + ] + }, + { + "Dresser|4|1___3": [ + 168, + 123, + 185 + ] + }, + { + "Dresser|4|1___2": [ + 211, + 252, + 239 + ] + }, + { + "Dresser|4|1___1": [ + 177, + 160, + 107 + ] + }, + { + "Dresser|4|1___0": [ + 198, + 101, + 243 + ] + }, + { + "Dresser|4|1": [ + 68, + 131, + 140 + ] + }, + { + "Dresser": [ + 51, + 128, + 146 + ] + }, + { + "Book|surface|4|0": [ + 197, + 176, + 148 + ] + }, + { + "Bed|4|0": [ + 197, + 154, + 79 + ] + }, + { + "Ceiling_room|7|0|2.957695|0": [ + 170, + 166, + 225 + ] + }, + { + "Ceiling": [ + 50, + 55, + 251 + ] + }, + { + "Ceiling_room|6|0|2.957695|0": [ + 37, + 68, + 111 + ] + }, + { + "Ceiling_room|5|0|2.957695|0": [ + 29, + 172, + 35 + ] + }, + { + "Ceiling_room|4|0|2.957695|0": [ + 250, + 208, + 195 + ] + }, + { + "wall|exterior|6.37|10.61|10.61|10.61": [ + 154, + 175, + 253 + ] + }, + { + "Wall": [ + 148, + 232, + 164 + ] + }, + { + "wall|exterior|10.61|6.37|10.61|10.61": [ + 103, + 68, + 49 + ] + }, + { + "wall|exterior|6.37|2.12|8.49|2.12": [ + 2, + 63, + 159 + ] + }, + { + "wall|exterior|10.61|4.25|10.61|6.37": [ + 204, + 231, + 37 + ] + }, + { + "wall|exterior|8.49|2.12|8.49|4.25": [ + 231, + 111, + 9 + ] + }, + { + "wall|exterior|8.49|4.25|10.61|4.25": [ + 188, + 185, + 253 + ] + }, + { + "wall|exterior|0.00|4.25|0.00|10.61": [ + 212, + 170, + 108 + ] + }, + { + "wall|exterior|0.00|10.61|6.37|10.61": [ + 241, + 99, + 120 + ] + }, + { + "wall|exterior|4.25|2.12|6.37|2.12": [ + 111, + 131, + 176 + ] + }, + { + "wall|exterior|0.00|0.00|4.25|0.00": [ + 130, + 1, + 80 + ] + }, + { + "wall|exterior|4.25|0.00|4.25|2.12": [ + 20, + 119, + 191 + ] + }, + { + "wall|exterior|0.00|0.00|0.00|4.25": [ + 221, + 77, + 8 + ] + }, + { + "wall|7|6.37|2.12|8.49|2.12": [ + 192, + 224, + 31 + ] + }, + { + "wall|7|8.49|2.12|8.49|4.25": [ + 104, + 91, + 75 + ] + }, + { + "wall|7|8.49|4.25|10.61|4.25": [ + 250, + 113, + 159 + ] + }, + { + "wall|7|10.61|4.25|10.61|6.37": [ + 101, + 18, + 31 + ] + }, + { + "wall|7|6.37|6.37|10.61|6.37": [ + 211, + 117, + 113 + ] + }, + { + "wall|7|6.37|4.25|6.37|6.37": [ + 67, + 41, + 62 + ] + }, + { + "wall|7|6.37|2.12|6.37|4.25": [ + 58, + 88, + 103 + ] + }, + { + "wall|6|6.37|6.37|10.61|6.37": [ + 79, + 23, + 29 + ] + }, + { + "wall|6|10.61|6.37|10.61|10.61": [ + 112, + 212, + 65 + ] + }, + { + "wall|6|6.37|10.61|10.61|10.61": [ + 77, + 53, + 26 + ] + }, + { + "wall|6|6.37|6.37|6.37|10.61": [ + 73, + 245, + 46 + ] + }, + { + "wall|5|0.00|0.00|4.25|0.00": [ + 191, + 235, + 224 + ] + }, + { + "wall|5|4.25|0.00|4.25|2.12": [ + 189, + 3, + 104 + ] + }, + { + "wall|5|4.25|2.12|6.37|2.12": [ + 161, + 191, + 200 + ] + }, + { + "wall|5|6.37|2.12|6.37|4.25": [ + 130, + 233, + 19 + ] + }, + { + "wall|5|0.00|4.25|6.37|4.25": [ + 252, + 132, + 142 + ] + }, + { + "wall|5|0.00|0.00|0.00|4.25": [ + 205, + 204, + 221 + ] + }, + { + "wall|4|0.00|4.25|0.00|10.61": [ + 82, + 140, + 183 + ] + }, + { + "wall|4|0.00|4.25|6.37|4.25": [ + 162, + 70, + 58 + ] + }, + { + "wall|4|6.37|4.25|6.37|6.37": [ + 156, + 241, + 82 + ] + }, + { + "wall|4|6.37|6.37|6.37|10.61": [ + 236, + 194, + 10 + ] + }, + { + "wall|4|0.00|10.61|6.37|10.61": [ + 190, + 130, + 188 + ] + }, + { + "room|7": [ + 183, + 155, + 144 + ] + }, + { + "Floor": [ + 243, + 246, + 208 + ] + }, + { + "room|6": [ + 217, + 194, + 196 + ] + }, + { + "room|5": [ + 190, + 121, + 70 + ] + }, + { + "room|4": [ + 60, + 42, + 179 + ] + }, + { + "TheHand": [ + 255, + 136, + 237 + ] + }, + { + "agent_neck_1": [ + 30, + 64, + 67 + ] + }, + { + "agent_body_1 (shadows)": [ + 134, + 158, + 226 + ] + }, + { + "agent_collarbone_1 (shadows)": [ + 217, + 96, + 80 + ] + }, + { + "agent_head_1 (shadows)": [ + 140, + 210, + 177 + ] + }, + { + "stretch_robot_base_code": [ + 101, + 30, + 126 + ] + }, + { + "agent_head_1": [ + 1, + 149, + 209 + ] + }, + { + "stretch_robot_laser": [ + 140, + 24, + 249 + ] + }, + { + "stretch_robot_mast": [ + 136, + 63, + 93 + ] + }, + { + "stretch_robot_head_1": [ + 0, + 57, + 255 + ] + }, + { + "agent_neck_3": [ + 209, + 228, + 37 + ] + }, + { + "robot_tilt_link_n (shadows)": [ + 202, + 16, + 52 + ] + }, + { + "agent_head_2 (shadows)": [ + 156, + 59, + 238 + ] + }, + { + "stretch_robot_head_3 (shadows)": [ + 83, + 209, + 138 + ] + }, + { + "agent_collarbone_2": [ + 152, + 152, + 185 + ] + }, + { + "agent_neck_2 (shadows)": [ + 244, + 240, + 196 + ] + }, + { + "agent_head_2": [ + 14, + 66, + 230 + ] + }, + { + "stretch_robot_head_2": [ + 73, + 58, + 96 + ] + }, + { + "agent_neck_3 (shadows)": [ + 239, + 35, + 232 + ] + }, + { + "stretch_robot_omniwheel": [ + 227, + 166, + 104 + ] + }, + { + "robot_elbow_link": [ + 231, + 128, + 58 + ] + }, + { + "robot_camera_link_n": [ + 140, + 65, + 197 + ] + }, + { + "robot_finger_r": [ + 122, + 202, + 170 + ] + }, + { + "robot_finger_l": [ + 178, + 169, + 157 + ] + }, + { + "robot_ar_tag": [ + 46, + 234, + 150 + ] + }, + { + "robot_cam_mount_n": [ + 54, + 221, + 114 + ] + }, + { + "robot_battery_n": [ + 165, + 68, + 55 + ] + }, + { + "robot_plate": [ + 211, + 118, + 132 + ] + }, + { + "robot_main_wheel_r_n": [ + 36, + 84, + 49 + ] + }, + { + "robot_shoulder_link": [ + 92, + 95, + 127 + ] + }, + { + "robot_roll_link_n": [ + 135, + 154, + 116 + ] + }, + { + "robot_gripper_link": [ + 241, + 136, + 173 + ] + }, + { + "robot_forearm_link": [ + 149, + 185, + 52 + ] + }, + { + "robot_main_wheel_l_n": [ + 139, + 151, + 200 + ] + }, + { + "robot_main_body": [ + 27, + 62, + 251 + ] + }, + { + "robot_wrist_link": [ + 3, + 195, + 0 + ] + }, + { + "robot_tilt_link_n": [ + 251, + 182, + 71 + ] + }, + { + "agent_collarbone_2 (shadows)": [ + 27, + 29, + 156 + ] + }, + { + "stretch_robot_head_2 (shadows)": [ + 167, + 106, + 44 + ] + }, + { + "stretch_robot_wheel_r": [ + 43, + 10, + 241 + ] + }, + { + "agent_collarbone_3": [ + 33, + 153, + 80 + ] + }, + { + "stretch_robot_wheel_l": [ + 209, + 121, + 111 + ] + }, + { + "agent_collarbone_3 (shadows)": [ + 12, + 185, + 24 + ] + }, + { + "agent_neck_1 (shadows)": [ + 5, + 106, + 127 + ] + }, + { + "agent_body_1": [ + 19, + 85, + 240 + ] + }, + { + "stretch_robot_base": [ + 18, + 223, + 56 + ] + }, + { + "robot_roll_link_n (shadows)": [ + 104, + 6, + 177 + ] + }, + { + "agent_neck_2": [ + 134, + 34, + 121 + ] + }, + { + "agent_collarbone_1": [ + 180, + 251, + 165 + ] + }, + { + "stretch_robot_head_3": [ + 175, + 244, + 187 + ] + }, + { + "robot_camera_link_n (shadows)": [ + 49, + 9, + 106 + ] + } +] \ No newline at end of file diff --git a/train/train1875/0/0.json b/train/train1875/0/0.json new file mode 100644 index 0000000000000000000000000000000000000000..5ac590f1e7d9f47f9d58d2f148baf6a6f841dfbd --- /dev/null +++ b/train/train1875/0/0.json @@ -0,0 +1,769 @@ +{ + "object": [ + { + "objectId": "Sofa|3|1|1", + "object_info": { + "name": "Sofa|3|1|1", + "position": { + "x": 8.158638000488281, + "y": 0.004032701253890991, + "z": 4.664748668670654 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 103.99999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 6.129424095153809, + "objectType": "Sofa", + "objectId": "Sofa|3|1|1", + "assetId": "Sofa_223_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.555356979370117, + 0.9045586585998535, + 5.914248466491699 + ], + [ + 8.555356979370117, + 0.9045586585998535, + 3.4152488708496094 + ], + [ + 8.555356979370117, + -2.205371856689453e-06, + 5.914248466491699 + ], + [ + 8.555356979370117, + -2.205371856689453e-06, + 3.4152488708496094 + ], + [ + 7.758047103881836, + 0.9045586585998535, + 5.914248466491699 + ], + [ + 7.758047103881836, + 0.9045586585998535, + 3.4152488708496094 + ], + [ + 7.758047103881836, + -2.205371856689453e-06, + 5.914248466491699 + ], + [ + 7.758047103881836, + -2.205371856689453e-06, + 3.4152488708496094 + ] + ], + "center": { + "x": 8.156702041625977, + "y": 0.4522782266139984, + "z": 4.664748668670654 + }, + "size": { + "x": 0.7973098754882812, + "y": 0.9045608639717102, + "z": 2.49899959564209 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 8.555357933044434, + -2.2351741790771484e-06, + 3.415248394012451 + ], + [ + 8.555357933044434, + -2.2351741790771484e-06, + 5.914248943328857 + ], + [ + 7.758047103881836, + -2.2351741790771484e-06, + 5.914248943328857 + ], + [ + 7.758047103881836, + -2.2351741790771484e-06, + 3.4152486324310303 + ], + [ + 8.555357933044434, + 0.904558539390564, + 3.415248394012451 + ], + [ + 8.555357933044434, + 0.904558539390564, + 5.914248943328857 + ], + [ + 7.758047103881836, + 0.904558539390564, + 5.914248943328857 + ], + [ + 7.758047103881836, + 0.904558539390564, + 3.4152486324310303 + ] + ] + } + } + }, + { + "objectId": "DiningTable|3|0", + "object_info": { + "name": "DiningTable|3|0", + "position": { + "x": 4.79160737991333, + "y": -0.00013914704322814941, + "z": 7.714365005493164 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Plate|surface|3|18" + ], + "distance": 2.0212814807891846, + "objectType": "DiningTable", + "objectId": "DiningTable|3|0", + "assetId": "RoboTHOR_dining_table_jokkmokk_v", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.175214767456055, + 0.7417037487030029, + 8.316061019897461 + ], + [ + 5.175214767456055, + 0.7417037487030029, + 7.112668991088867 + ], + [ + 5.175214767456055, + 7.748603820800781e-06, + 8.316061019897461 + ], + [ + 5.175214767456055, + 7.748603820800781e-06, + 7.112668991088867 + ], + [ + 4.4079999923706055, + 0.7417037487030029, + 8.316061019897461 + ], + [ + 4.4079999923706055, + 0.7417037487030029, + 7.112668991088867 + ], + [ + 4.4079999923706055, + 7.748603820800781e-06, + 8.316061019897461 + ], + [ + 4.4079999923706055, + 7.748603820800781e-06, + 7.112668991088867 + ] + ], + "center": { + "x": 4.79160737991333, + "y": 0.37085574865341187, + "z": 7.714365005493164 + }, + "size": { + "x": 0.7672147750854492, + "y": 0.7416960000991821, + "z": 1.2033920288085938 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.1752142906188965, + 8.195638656616211e-06, + 7.112668991088867 + ], + [ + 5.1752142906188965, + 8.195638656616211e-06, + 8.316061019897461 + ], + [ + 4.408000469207764, + 8.195638656616211e-06, + 8.316061019897461 + ], + [ + 4.408000469207764, + 8.195638656616211e-06, + 7.112669467926025 + ], + [ + 5.1752142906188965, + 0.7417033910751343, + 7.112668991088867 + ], + [ + 5.1752142906188965, + 0.7417033910751343, + 8.316061019897461 + ], + [ + 4.408000469207764, + 0.7417033910751343, + 8.316061019897461 + ], + [ + 4.408000469207764, + 0.7417033910751343, + 7.112669467926025 + ] + ] + } + } + }, + { + "objectId": "door|2|3", + "object_info": { + "name": "door|2|3", + "position": { + "x": 4.38394832611084, + "y": -0.0005985498428344727, + "z": 6.014908790588379 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.6016952991485596, + "objectType": "Doorframe", + "objectId": "door|2|3", + "assetId": "Doorframe_7", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.453569412231445, + 2.0956015586853027, + 7.049977779388428 + ], + [ + 4.453569412231445, + 2.0956015586853027, + 6.01416540145874 + ], + [ + 4.453569412231445, + 0.0, + 7.049977779388428 + ], + [ + 4.453569412231445, + 0.0, + 6.01416540145874 + ], + [ + 4.312430381774902, + 2.0956015586853027, + 7.049977779388428 + ], + [ + 4.312430381774902, + 2.0956015586853027, + 6.01416540145874 + ], + [ + 4.312430381774902, + 0.0, + 7.049977779388428 + ], + [ + 4.312430381774902, + 0.0, + 6.01416540145874 + ] + ], + "center": { + "x": 4.382999897003174, + "y": 1.0478007793426514, + "z": 6.532071590423584 + }, + "size": { + "x": 0.14113903045654297, + "y": 2.0956015586853027, + "z": 1.0358123779296875 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Plate|surface|3|18", + "object_info": { + "name": "Plate|surface|3|18", + "position": { + "x": 4.603600025177002, + "y": 0.7420594692230225, + "z": 7.26265287399292 + }, + "rotation": { + "x": 0.10436458140611649, + "y": 90.00174713134766, + "z": 0.08757404237985611 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 2.2453768253326416, + "objectType": "Plate", + "objectId": "Plate|surface|3|18", + "assetId": "Plate_26", + "parentReceptacles": [ + "DiningTable|3|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.726876258850098, + 0.7552944421768188, + 7.385578155517578 + ], + [ + 4.726876258850098, + 0.7552944421768188, + 7.139514923095703 + ], + [ + 4.726876258850098, + 0.741289496421814, + 7.385578155517578 + ], + [ + 4.726876258850098, + 0.741289496421814, + 7.139514923095703 + ], + [ + 4.48081111907959, + 0.7552944421768188, + 7.385578155517578 + ], + [ + 4.48081111907959, + 0.7552944421768188, + 7.139514923095703 + ], + [ + 4.48081111907959, + 0.741289496421814, + 7.385578155517578 + ], + [ + 4.48081111907959, + 0.741289496421814, + 7.139514923095703 + ] + ], + "center": { + "x": 4.603843688964844, + "y": 0.7482919692993164, + "z": 7.262546539306641 + }, + "size": { + "x": 0.2460651397705078, + "y": 0.014004945755004883, + "z": 0.246063232421875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.726856708526611, + 0.7414988279342651, + 7.139496326446533 + ], + [ + 4.726863861083984, + 0.7411227226257324, + 7.385563373565674 + ], + [ + 4.480799198150635, + 0.7415709495544434, + 7.385571002960205 + ], + [ + 4.48079252243042, + 0.7419470548629761, + 7.1395039558410645 + ], + [ + 4.726881504058838, + 0.7549598813056946, + 7.139516830444336 + ], + [ + 4.726888179779053, + 0.7545837759971619, + 7.385584354400635 + ], + [ + 4.480823993682861, + 0.7550320029258728, + 7.385591506958008 + ], + [ + 4.480816841125488, + 0.7554081082344055, + 7.139524459838867 + ] + ] + } + } + }, + { + "objectId": "SideTable|4|1", + "object_info": { + "name": "SideTable|4|1", + "position": { + "x": 2.302966833114624, + "y": 0.0017558932304382324, + "z": 8.910143852233887 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 2.446124315261841, + "objectType": "SideTable", + "objectId": "SideTable|4|1", + "assetId": "Side_Table_307_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.716496706008911, + 0.8106672167778015, + 9.028287887573242 + ], + [ + 2.716496706008911, + 0.8106672167778015, + 8.791999816894531 + ], + [ + 2.716496706008911, + 0.0, + 9.028287887573242 + ], + [ + 2.716496706008911, + 0.0, + 8.791999816894531 + ], + [ + 1.889436960220337, + 0.8106672167778015, + 9.028287887573242 + ], + [ + 1.889436960220337, + 0.8106672167778015, + 8.791999816894531 + ], + [ + 1.889436960220337, + 0.0, + 9.028287887573242 + ], + [ + 1.889436960220337, + 0.0, + 8.791999816894531 + ] + ], + "center": { + "x": 2.302966833114624, + "y": 0.40533360838890076, + "z": 8.910143852233887 + }, + "size": { + "x": 0.8270597457885742, + "y": 0.8106672167778015, + "z": 0.23628807067871094 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.716496706008911, + 0.0, + 9.028287887573242 + ], + [ + 1.889436960220337, + 0.0, + 9.028287887573242 + ], + [ + 1.889436960220337, + 0.0, + 8.791999816894531 + ], + [ + 2.716496706008911, + 0.0, + 8.791999816894531 + ], + [ + 2.716496706008911, + 0.8106672167778015, + 9.028287887573242 + ], + [ + 1.889436960220337, + 0.8106672167778015, + 9.028287887573242 + ], + [ + 1.889436960220337, + 0.8106672167778015, + 8.791999816894531 + ], + [ + 2.716496706008911, + 0.8106672167778015, + 8.791999816894531 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 4.5, + "y": 0.9009997844696045, + "z": 9.399999618530273 + }, + "agent_rotation": { + "x": -0.0, + "y": 180.0, + "z": 0.0 + }, + "agent_cameraHorizon": 60.00001525878906, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 4.5, + "y": 1.5759997367858887, + "z": 9.399999618530273 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "DiningTable|3|0", + "SideTable|4|1" + ], + "different_object": [ + "Sofa|3|1|1", + "Plate|surface|3|18", + "door|2|3" + ] +} \ No newline at end of file diff --git a/train/train1875/0/0_depth_npy.npy b/train/train1875/0/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..4a1ded42bb1af3aae17c60b9d1e18dba4367e0a2 --- /dev/null +++ b/train/train1875/0/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0350bbf9563f2fee0abe5e386e8413e7443fa3d945bae1e43cde1f5f237dbb9f +size 3145856 diff --git a/train/train1875/0/0_semantic_sensor_npy.npy b/train/train1875/0/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..d2128d951d48c0252cad3cb1e1c40f94fc6cd6f7 --- /dev/null +++ b/train/train1875/0/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0d0b8a97293eb5f0d203eca500b1dd831cf02b0a035911e007e2292ffa75d55d +size 2359424 diff --git a/train/train1875/0/1.json b/train/train1875/0/1.json new file mode 100644 index 0000000000000000000000000000000000000000..b249125c517b89305e642e94624db9c2939bcebd --- /dev/null +++ b/train/train1875/0/1.json @@ -0,0 +1,1872 @@ +{ + "object": [ + { + "objectId": "Statue|surface|4|19", + "object_info": { + "name": "Statue|surface|4|19", + "position": { + "x": 2.2257962226867676, + "y": 0.7808696627616882, + "z": 11.057782173156738 + }, + "rotation": { + "x": -7.705308235017583e-05, + "y": 179.99993896484375, + "z": -2.3478729417547584e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 2.759188175201416, + "objectType": "Statue", + "objectId": "Statue|surface|4|19", + "assetId": "Waving_Statue_1", + "parentReceptacles": [ + "DiningTable|4|0|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.3249969482421875, + 1.140368103981018, + 11.155679702758789 + ], + [ + 2.3249969482421875, + 1.140368103981018, + 10.959884643554688 + ], + [ + 2.3249969482421875, + 0.7820816040039062, + 11.155679702758789 + ], + [ + 2.3249969482421875, + 0.7820816040039062, + 10.959884643554688 + ], + [ + 2.1169772148132324, + 1.140368103981018, + 11.155679702758789 + ], + [ + 2.1169772148132324, + 1.140368103981018, + 10.959884643554688 + ], + [ + 2.1169772148132324, + 0.7820816040039062, + 11.155679702758789 + ], + [ + 2.1169772148132324, + 0.7820816040039062, + 10.959884643554688 + ] + ], + "center": { + "x": 2.22098708152771, + "y": 0.9612248539924622, + "z": 11.057782173156738 + }, + "size": { + "x": 0.20801973342895508, + "y": 0.3582864999771118, + "z": 0.19579505920410156 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.116975784301758, + 0.7820812463760376, + 10.959884643554688 + ], + [ + 2.324995517730713, + 0.7820813059806824, + 10.959884643554688 + ], + [ + 2.324995517730713, + 0.7820810675621033, + 11.155679702758789 + ], + [ + 2.1169755458831787, + 0.7820810079574585, + 11.155678749084473 + ], + [ + 2.116975784301758, + 1.1403690576553345, + 10.959885597229004 + ], + [ + 2.324995517730713, + 1.140369176864624, + 10.959885597229004 + ], + [ + 2.324995279312134, + 1.140368938446045, + 11.155679702758789 + ], + [ + 2.1169755458831787, + 1.1403688192367554, + 11.155679702758789 + ] + ] + } + } + }, + { + "objectId": "Chair|4|0|1", + "object_info": { + "name": "Chair|4|0|1", + "position": { + "x": 0.7321906685829163, + "y": 0.0008544623851776123, + "z": 10.763168334960938 + }, + "rotation": { + "x": -0.0, + "y": 78.55499267578125, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Metal", + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 4.0745849609375, + "objectType": "Chair", + "objectId": "Chair|4|0|1", + "assetId": "Chair_210_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.0114384889602661, + 0.8322234153747559, + 11.089305877685547 + ], + [ + 1.0114384889602661, + 0.8322234153747559, + 10.445968627929688 + ], + [ + 1.0114384889602661, + -2.9087066650390625e-05, + 11.089305877685547 + ], + [ + 1.0114384889602661, + -2.9087066650390625e-05, + 10.445968627929688 + ], + [ + 0.46215927600860596, + 0.8322234153747559, + 11.089305877685547 + ], + [ + 0.46215927600860596, + 0.8322234153747559, + 10.445968627929688 + ], + [ + 0.46215927600860596, + -2.9087066650390625e-05, + 11.089305877685547 + ], + [ + 0.46215927600860596, + -2.9087066650390625e-05, + 10.445968627929688 + ] + ], + "center": { + "x": 0.736798882484436, + "y": 0.41609716415405273, + "z": 10.767637252807617 + }, + "size": { + "x": 0.5492792129516602, + "y": 0.8322525024414062, + "z": 0.6433372497558594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.029482364654541, + -2.8878450393676758e-05, + 10.504408836364746 + ], + [ + 0.9053446054458618, + -2.8878450393676758e-05, + 11.11757755279541 + ], + [ + 0.42839670181274414, + -2.8878450393676758e-05, + 11.021018028259277 + ], + [ + 0.5525345206260681, + -2.8878450393676758e-05, + 10.407849311828613 + ], + [ + 1.029482364654541, + 0.8322229385375977, + 10.504408836364746 + ], + [ + 0.9053446054458618, + 0.8322229385375977, + 11.11757755279541 + ], + [ + 0.42839670181274414, + 0.8322229385375977, + 11.021018028259277 + ], + [ + 0.5525345206260681, + 0.8322229385375977, + 10.407849311828613 + ] + ] + } + } + }, + { + "objectId": "Painting|4|5", + "object_info": { + "name": "Painting|4|5", + "position": { + "x": 0.6075762510299683, + "y": 0.7746534943580627, + "z": 8.771995544433594 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 3.9619333744049072, + "objectType": "Painting", + "objectId": "Painting|4|5", + "assetId": "Wall_Decor_Photo_3V", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.0380332469940186, + 1.0626155138015747, + 8.803740501403809 + ], + [ + 1.0380332469940186, + 1.0626155138015747, + 8.772000312805176 + ], + [ + 1.0380332469940186, + 0.4866914749145508, + 8.803740501403809 + ], + [ + 1.0380332469940186, + 0.4866914749145508, + 8.772000312805176 + ], + [ + 0.17711925506591797, + 1.0626155138015747, + 8.803740501403809 + ], + [ + 0.17711925506591797, + 1.0626155138015747, + 8.772000312805176 + ], + [ + 0.17711925506591797, + 0.4866914749145508, + 8.803740501403809 + ], + [ + 0.17711925506591797, + 0.4866914749145508, + 8.772000312805176 + ] + ], + "center": { + "x": 0.6075762510299683, + "y": 0.7746534943580627, + "z": 8.787870407104492 + }, + "size": { + "x": 0.8609139919281006, + "y": 0.5759240388870239, + "z": 0.03174018859863281 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DiningTable|3|0", + "object_info": { + "name": "DiningTable|3|0", + "position": { + "x": 4.79160737991333, + "y": -0.00013914704322814941, + "z": 7.714365005493164 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Plate|surface|3|18" + ], + "distance": 2.0212814807891846, + "objectType": "DiningTable", + "objectId": "DiningTable|3|0", + "assetId": "RoboTHOR_dining_table_jokkmokk_v", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.175214767456055, + 0.7417037487030029, + 8.316061019897461 + ], + [ + 5.175214767456055, + 0.7417037487030029, + 7.112668991088867 + ], + [ + 5.175214767456055, + 7.748603820800781e-06, + 8.316061019897461 + ], + [ + 5.175214767456055, + 7.748603820800781e-06, + 7.112668991088867 + ], + [ + 4.4079999923706055, + 0.7417037487030029, + 8.316061019897461 + ], + [ + 4.4079999923706055, + 0.7417037487030029, + 7.112668991088867 + ], + [ + 4.4079999923706055, + 7.748603820800781e-06, + 8.316061019897461 + ], + [ + 4.4079999923706055, + 7.748603820800781e-06, + 7.112668991088867 + ] + ], + "center": { + "x": 4.79160737991333, + "y": 0.37085574865341187, + "z": 7.714365005493164 + }, + "size": { + "x": 0.7672147750854492, + "y": 0.7416960000991821, + "z": 1.2033920288085938 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.1752142906188965, + 8.195638656616211e-06, + 7.112668991088867 + ], + [ + 5.1752142906188965, + 8.195638656616211e-06, + 8.316061019897461 + ], + [ + 4.408000469207764, + 8.195638656616211e-06, + 8.316061019897461 + ], + [ + 4.408000469207764, + 8.195638656616211e-06, + 7.112669467926025 + ], + [ + 5.1752142906188965, + 0.7417033910751343, + 7.112668991088867 + ], + [ + 5.1752142906188965, + 0.7417033910751343, + 8.316061019897461 + ], + [ + 4.408000469207764, + 0.7417033910751343, + 8.316061019897461 + ], + [ + 4.408000469207764, + 0.7417033910751343, + 7.112669467926025 + ] + ] + } + } + }, + { + "objectId": "Chair|4|0|2", + "object_info": { + "name": "Chair|4|0|2", + "position": { + "x": 2.8319005966186523, + "y": 0.0008544623851776123, + "z": 10.763738632202148 + }, + "rotation": { + "x": 0.0, + "y": 284.9430847167969, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Metal", + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 2.2781248092651367, + "objectType": "Chair", + "objectId": "Chair|4|0|2", + "assetId": "Chair_210_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.1062493324279785, + 0.8322231769561768, + 11.102640151977539 + ], + [ + 3.1062493324279785, + 0.8322231769561768, + 10.450983047485352 + ], + [ + 3.1062493324279785, + -2.899765968322754e-05, + 11.102640151977539 + ], + [ + 3.1062493324279785, + -2.899765968322754e-05, + 10.450983047485352 + ], + [ + 2.540526866912842, + 0.8322231769561768, + 11.102640151977539 + ], + [ + 2.540526866912842, + 0.8322231769561768, + 10.450983047485352 + ], + [ + 2.540526866912842, + -2.899765968322754e-05, + 11.102640151977539 + ], + [ + 2.540526866912842, + -2.899765968322754e-05, + 10.450983047485352 + ] + ], + "center": { + "x": 2.82338809967041, + "y": 0.41609707474708557, + "z": 10.776811599731445 + }, + "size": { + "x": 0.5657224655151367, + "y": 0.8322521448135376, + "z": 0.6516571044921875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.6805906295776367, + -2.8878450393676758e-05, + 11.127667427062988 + ], + [ + 2.5192716121673584, + -2.8878450393676758e-05, + 10.523215293884277 + ], + [ + 2.9894392490386963, + -2.8878450393676758e-05, + 10.397734642028809 + ], + [ + 3.1507582664489746, + -2.8878450393676758e-05, + 11.00218677520752 + ], + [ + 2.6805906295776367, + 0.8322229385375977, + 11.127667427062988 + ], + [ + 2.5192716121673584, + 0.8322229385375977, + 10.523215293884277 + ], + [ + 2.9894392490386963, + 0.8322229385375977, + 10.397734642028809 + ], + [ + 3.1507582664489746, + 0.8322229385375977, + 11.00218677520752 + ] + ] + } + } + }, + { + "objectId": "Sofa|4|3", + "object_info": { + "name": "Sofa|4|3", + "position": { + "x": 0.8639020919799805, + "y": 0.0023636221885681152, + "z": 12.79378604888916 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 103.99999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 4.987763404846191, + "objectType": "Sofa", + "objectId": "Sofa|4|3", + "assetId": "Sofa_221_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.7028003931045532, + 0.8951113224029541, + 13.124959945678711 + ], + [ + 1.7028003931045532, + 0.8951113224029541, + 12.445600509643555 + ], + [ + 1.7028003931045532, + -2.8908252716064453e-06, + 13.124959945678711 + ], + [ + 1.7028003931045532, + -2.8908252716064453e-06, + 12.445600509643555 + ], + [ + 0.025003790855407715, + 0.8951113224029541, + 13.124959945678711 + ], + [ + 0.025003790855407715, + 0.8951113224029541, + 12.445600509643555 + ], + [ + 0.025003790855407715, + -2.8908252716064453e-06, + 13.124959945678711 + ], + [ + 0.025003790855407715, + -2.8908252716064453e-06, + 12.445600509643555 + ] + ], + "center": { + "x": 0.8639020919799805, + "y": 0.44755420088768005, + "z": 12.785280227661133 + }, + "size": { + "x": 1.6777966022491455, + "y": 0.8951141834259033, + "z": 0.6793594360351562 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.02500373125076294, + -2.8014183044433594e-06, + 12.445600509643555 + ], + [ + 1.7028002738952637, + -2.8014183044433594e-06, + 12.445600509643555 + ], + [ + 1.7028003931045532, + -2.8014183044433594e-06, + 13.124958992004395 + ], + [ + 0.025003790855407715, + -2.8014183044433594e-06, + 13.124959945678711 + ], + [ + 0.02500373125076294, + 0.8951110243797302, + 12.445600509643555 + ], + [ + 1.7028002738952637, + 0.8951110243797302, + 12.445600509643555 + ], + [ + 1.7028003931045532, + 0.8951110243797302, + 13.124958992004395 + ], + [ + 0.025003790855407715, + 0.8951110243797302, + 13.124959945678711 + ] + ] + } + } + }, + { + "objectId": "DeskLamp|surface|4|21", + "object_info": { + "name": "DeskLamp|surface|4|21", + "position": { + "x": 2.2257964611053467, + "y": 0.7821089029312134, + "z": 10.566015243530273 + }, + "rotation": { + "x": 0.0013408676022663713, + "y": 180.0013885498047, + "z": 0.023090684786438942 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 2.059999942779541, + "salientMaterials": [ + "Metal", + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 2.514463186264038, + "objectType": "DeskLamp", + "objectId": "DeskLamp|surface|4|21", + "assetId": "RoboTHOR_desk_lamp_arstid_v", + "parentReceptacles": [ + "DiningTable|4|0|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.3331634998321533, + 1.3275303840637207, + 10.68081283569336 + ], + [ + 2.3331634998321533, + 1.3275303840637207, + 10.45119857788086 + ], + [ + 2.3331634998321533, + 0.7820777893066406, + 10.68081283569336 + ], + [ + 2.3331634998321533, + 0.7820777893066406, + 10.45119857788086 + ], + [ + 2.1187827587127686, + 1.3275303840637207, + 10.68081283569336 + ], + [ + 2.1187827587127686, + 1.3275303840637207, + 10.45119857788086 + ], + [ + 2.1187827587127686, + 0.7820777893066406, + 10.68081283569336 + ], + [ + 2.1187827587127686, + 0.7820777893066406, + 10.45119857788086 + ] + ], + "center": { + "x": 2.225973129272461, + "y": 1.0548040866851807, + "z": 10.56600570678711 + }, + "size": { + "x": 0.21438074111938477, + "y": 0.5454525947570801, + "z": 0.2296142578125 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.1186490058898926, + 0.7821493744850159, + 10.451215744018555 + ], + [ + 2.3329381942749023, + 0.7820630073547363, + 10.451210975646973 + ], + [ + 2.332943916320801, + 0.7820684313774109, + 10.680814743041992 + ], + [ + 2.118654727935791, + 0.7821547985076904, + 10.680819511413574 + ], + [ + 2.118868827819824, + 1.327525019645691, + 10.451203346252441 + ], + [ + 2.333158016204834, + 1.3274387121200562, + 10.451197624206543 + ], + [ + 2.3331634998321533, + 1.327444076538086, + 10.680801391601562 + ], + [ + 2.1188745498657227, + 1.3275303840637207, + 10.680807113647461 + ] + ] + } + } + }, + { + "objectId": "SideTable|4|1", + "object_info": { + "name": "SideTable|4|1", + "position": { + "x": 2.302966833114624, + "y": 0.0017558932304382324, + "z": 8.910143852233887 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 2.446124315261841, + "objectType": "SideTable", + "objectId": "SideTable|4|1", + "assetId": "Side_Table_307_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.716496706008911, + 0.8106672167778015, + 9.028287887573242 + ], + [ + 2.716496706008911, + 0.8106672167778015, + 8.791999816894531 + ], + [ + 2.716496706008911, + 0.0, + 9.028287887573242 + ], + [ + 2.716496706008911, + 0.0, + 8.791999816894531 + ], + [ + 1.889436960220337, + 0.8106672167778015, + 9.028287887573242 + ], + [ + 1.889436960220337, + 0.8106672167778015, + 8.791999816894531 + ], + [ + 1.889436960220337, + 0.0, + 9.028287887573242 + ], + [ + 1.889436960220337, + 0.0, + 8.791999816894531 + ] + ], + "center": { + "x": 2.302966833114624, + "y": 0.40533360838890076, + "z": 8.910143852233887 + }, + "size": { + "x": 0.8270597457885742, + "y": 0.8106672167778015, + "z": 0.23628807067871094 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.716496706008911, + 0.0, + 9.028287887573242 + ], + [ + 1.889436960220337, + 0.0, + 9.028287887573242 + ], + [ + 1.889436960220337, + 0.0, + 8.791999816894531 + ], + [ + 2.716496706008911, + 0.0, + 8.791999816894531 + ], + [ + 2.716496706008911, + 0.8106672167778015, + 9.028287887573242 + ], + [ + 1.889436960220337, + 0.8106672167778015, + 9.028287887573242 + ], + [ + 1.889436960220337, + 0.8106672167778015, + 8.791999816894531 + ], + [ + 2.716496706008911, + 0.8106672167778015, + 8.791999816894531 + ] + ] + } + } + }, + { + "objectId": "Chair|4|0|3", + "object_info": { + "name": "Chair|4|0|3", + "position": { + "x": 2.173715591430664, + "y": 0.0008544623851776123, + "z": 11.254435539245605 + }, + "rotation": { + "x": 0.0, + "y": 184.4626922607422, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Metal", + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 3.049574613571167, + "objectType": "Chair", + "objectId": "Chair|4|0|3", + "assetId": "Chair_210_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.488889694213867, + 0.8322231769561768, + 11.511161804199219 + ], + [ + 2.488889694213867, + 0.8322231769561768, + 11.002986907958984 + ], + [ + 2.488889694213867, + -2.9027462005615234e-05, + 11.511161804199219 + ], + [ + 2.488889694213867, + -2.9027462005615234e-05, + 11.002986907958984 + ], + [ + 1.864943027496338, + 0.8322231769561768, + 11.511161804199219 + ], + [ + 1.864943027496338, + 0.8322231769561768, + 11.002986907958984 + ], + [ + 1.864943027496338, + -2.9027462005615234e-05, + 11.511161804199219 + ], + [ + 1.864943027496338, + -2.9027462005615234e-05, + 11.002986907958984 + ] + ], + "center": { + "x": 2.1769163608551025, + "y": 0.41609707474708557, + "z": 11.257074356079102 + }, + "size": { + "x": 0.6239466667175293, + "y": 0.8322522044181824, + "z": 0.5081748962402344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.843381404876709, + -2.8878450393676758e-05, + 11.039451599121094 + ], + [ + 2.4670932292938232, + -2.8878450393676758e-05, + 10.99077320098877 + ], + [ + 2.504957437515259, + -2.8878450393676758e-05, + 11.475921630859375 + ], + [ + 1.8812456130981445, + -2.8878450393676758e-05, + 11.5246000289917 + ], + [ + 1.843381404876709, + 0.8322229385375977, + 11.039451599121094 + ], + [ + 2.4670932292938232, + 0.8322229385375977, + 10.99077320098877 + ], + [ + 2.504957437515259, + 0.8322229385375977, + 11.475921630859375 + ], + [ + 1.8812456130981445, + 0.8322229385375977, + 11.5246000289917 + ] + ] + } + } + }, + { + "objectId": "DogBed|4|2", + "object_info": { + "name": "DogBed|4|2", + "position": { + "x": 4.638265609741211, + "y": 0.003950253129005432, + "z": 10.796929359436035 + }, + "rotation": { + "x": -0.0002660128811839968, + "y": -0.00015079793229233474, + "z": -2.7592546757659875e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.9800000190734863, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 1.5829848051071167, + "objectType": "DogBed", + "objectId": "DogBed|4|2", + "assetId": "Dog_Bed_2_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.138455390930176, + 0.31595391035079956, + 11.211904525756836 + ], + [ + 5.138455390930176, + 0.31595391035079956, + 10.377124786376953 + ], + [ + 5.138455390930176, + 5.960464477539063e-08, + 11.211904525756836 + ], + [ + 5.138455390930176, + 5.960464477539063e-08, + 10.377124786376953 + ], + [ + 4.146076202392578, + 0.31595391035079956, + 11.211904525756836 + ], + [ + 4.146076202392578, + 0.31595391035079956, + 10.377124786376953 + ], + [ + 4.146076202392578, + 5.960464477539063e-08, + 11.211904525756836 + ], + [ + 4.146076202392578, + 5.960464477539063e-08, + 10.377124786376953 + ] + ], + "center": { + "x": 4.642265796661377, + "y": 0.15797698497772217, + "z": 10.794514656066895 + }, + "size": { + "x": 0.9923791885375977, + "y": 0.3159538507461548, + "z": 0.8347797393798828 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.138454437255859, + 2.3562461137771606e-06, + 11.211907386779785 + ], + [ + 4.1460747718811035, + 2.834014594554901e-06, + 11.211904525756836 + ], + [ + 4.1460771560668945, + -1.0416842997074127e-06, + 10.377123832702637 + ], + [ + 5.138456344604492, + -1.5194527804851532e-06, + 10.377126693725586 + ], + [ + 5.138454437255859, + 0.31595462560653687, + 11.211905479431152 + ], + [ + 4.146075248718262, + 0.31595510244369507, + 11.211902618408203 + ], + [ + 4.1460771560668945, + 0.31595122814178467, + 10.37712287902832 + ], + [ + 5.138456344604492, + 0.31595075130462646, + 10.377124786376953 + ] + ] + } + } + }, + { + "objectId": "DiningTable|4|0|0", + "object_info": { + "name": "DiningTable|4|0|0", + "position": { + "x": 1.7819786071777344, + "y": 0.0024788379669189453, + "z": 10.762722969055176 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Statue|surface|4|19", + "Statue|surface|4|20", + "DeskLamp|surface|4|21" + ], + "distance": 3.128809690475464, + "objectType": "DiningTable", + "objectId": "DiningTable|4|0|0", + "assetId": "Dining_Table_221_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.674949884414673, + 0.7820817232131958, + 11.157618522644043 + ], + [ + 2.674949884414673, + 0.7820817232131958, + 10.367827415466309 + ], + [ + 2.674949884414673, + -1.430511474609375e-06, + 11.157618522644043 + ], + [ + 2.674949884414673, + -1.430511474609375e-06, + 10.367827415466309 + ], + [ + 0.8890073299407959, + 0.7820817232131958, + 11.157618522644043 + ], + [ + 0.8890073299407959, + 0.7820817232131958, + 10.367827415466309 + ], + [ + 0.8890073299407959, + -1.430511474609375e-06, + 11.157618522644043 + ], + [ + 0.8890073299407959, + -1.430511474609375e-06, + 10.367827415466309 + ] + ], + "center": { + "x": 1.7819786071777344, + "y": 0.3910401463508606, + "z": 10.762722969055176 + }, + "size": { + "x": 1.785942554473877, + "y": 0.7820831537246704, + "z": 0.7897911071777344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.8890072703361511, + -1.430511474609375e-06, + 10.367827415466309 + ], + [ + 2.674949884414673, + -1.430511474609375e-06, + 10.367827415466309 + ], + [ + 2.674949884414673, + -1.430511474609375e-06, + 11.157618522644043 + ], + [ + 0.8890073895454407, + -1.430511474609375e-06, + 11.157618522644043 + ], + [ + 0.8890072703361511, + 0.7820817232131958, + 10.367827415466309 + ], + [ + 2.674949884414673, + 0.7820817232131958, + 10.367827415466309 + ], + [ + 2.674949884414673, + 0.7820817232131958, + 11.157618522644043 + ], + [ + 0.8890073895454407, + 0.7820817232131958, + 11.157618522644043 + ] + ] + } + } + }, + { + "objectId": "Chair|4|0|4", + "object_info": { + "name": "Chair|4|0|4", + "position": { + "x": 1.41483473777771, + "y": 0.0008544623851776123, + "z": 11.254436492919922 + }, + "rotation": { + "x": -0.0, + "y": 168.38992309570312, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Metal", + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 3.661496162414551, + "objectType": "Chair", + "objectId": "Chair|4|0|4", + "assetId": "Chair_210_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.7414209842681885, + 0.8322232961654663, + 11.524728775024414 + ], + [ + 1.7414209842681885, + 0.8322232961654663, + 10.97458267211914 + ], + [ + 1.7414209842681885, + -2.8908252716064453e-05, + 11.524728775024414 + ], + [ + 1.7414209842681885, + -2.8908252716064453e-05, + 10.97458267211914 + ], + [ + 1.0976619720458984, + 0.8322232961654663, + 11.524728775024414 + ], + [ + 1.0976619720458984, + 0.8322232961654663, + 10.97458267211914 + ], + [ + 1.0976619720458984, + -2.8908252716064453e-05, + 11.524728775024414 + ], + [ + 1.0976619720458984, + -2.8908252716064453e-05, + 10.97458267211914 + ] + ], + "center": { + "x": 1.4195414781570435, + "y": 0.4160971939563751, + "z": 11.249655723571777 + }, + "size": { + "x": 0.64375901222229, + "y": 0.8322522044181824, + "z": 0.5501461029052734 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.156933069229126, + -2.8878450393676758e-05, + 10.956400871276855 + ], + [ + 1.7697416543960571, + -2.8878450393676758e-05, + 11.082304000854492 + ], + [ + 1.6718084812164307, + -2.8878450393676758e-05, + 11.558972358703613 + ], + [ + 1.0589998960494995, + -2.8878450393676758e-05, + 11.43306827545166 + ], + [ + 1.156933069229126, + 0.8322229385375977, + 10.956400871276855 + ], + [ + 1.7697416543960571, + 0.8322229385375977, + 11.082304000854492 + ], + [ + 1.6718084812164307, + 0.8322229385375977, + 11.558972358703613 + ], + [ + 1.0589998960494995, + 0.8322229385375977, + 11.43306827545166 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 4.5, + "y": 0.9009997844696045, + "z": 9.399999618530273 + }, + "agent_rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "agent_cameraHorizon": 60.000003814697266, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 4.5, + "y": 1.5759997367858887, + "z": 9.399999618530273 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "DiningTable|3|0", + "SideTable|4|1" + ], + "different_object": [ + "Chair|4|0|1", + "Chair|4|0|4", + "DiningTable|4|0|0", + "Chair|4|0|3", + "Chair|4|0|2", + "Statue|surface|4|19", + "DogBed|4|2", + "Painting|4|5", + "Sofa|4|3", + "DeskLamp|surface|4|21" + ] +} \ No newline at end of file diff --git a/train/train1875/0/1_depth_npy.npy b/train/train1875/0/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..5675c43cf6e276913cf671e481a02172ee00b5a3 --- /dev/null +++ b/train/train1875/0/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8c90a1e0ac4e4b1052af46fc99e210d5f6b8f034c00276eb152fa03dc2dd3c81 +size 3145856 diff --git a/train/train1875/0/1_semantic_sensor_npy.npy b/train/train1875/0/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..600c39cea767d41e01230775804a925560304ea3 --- /dev/null +++ b/train/train1875/0/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:812d986dbcf3c42c838f9d961290c467639dd59148ac606b01b4dc08e5df6f9e +size 2359424 diff --git a/train/train1875/0/depth_0.png b/train/train1875/0/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..8b78143d2e06ad20cd7c8da56917c91b018f1610 Binary files /dev/null and b/train/train1875/0/depth_0.png differ diff --git a/train/train1875/0/depth_1.png b/train/train1875/0/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..2f38957f6e6b099f070a949ba9e0789c9e640ba1 Binary files /dev/null and b/train/train1875/0/depth_1.png differ diff --git a/train/train1875/0/mask_questions.jsonl b/train/train1875/0/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4b298827d2a8fcf338b76e1d77861c52871e4b3f --- /dev/null +++ b/train/train1875/0/mask_questions.jsonl @@ -0,0 +1,3 @@ +{"id": 11162, "folder_dir": "train1875/0", "pair_name": "0-1:DiningTable|3|0", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Doorframe\nB. DiningTable\nC. SideTable\nD. Sofa", "answer": "B", "object_name": "DiningTable", "image_1": "train1875/0/rgb_0.png", "image_2": "train1875/0/rgb_1.png", "mask_image": "train1875/0/rgb_1_mask_DiningTable|3|0.png", "options": ["Doorframe", "DiningTable", "SideTable", "Sofa"]} +{"id": 11163, "folder_dir": "train1875/0", "pair_name": "0-1:SideTable|4|1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. DiningTable\nB. Sofa\nC. Doorframe\nD. SideTable", "answer": "D", "object_name": "SideTable", "image_1": "train1875/0/rgb_0.png", "image_2": "train1875/0/rgb_1.png", "mask_image": "train1875/0/rgb_1_mask_SideTable|4|1.png", "options": ["DiningTable", "Sofa", "Doorframe", "SideTable"]} +{"id": 11164, "folder_dir": "train1875/0", "pair_name": "1-0:SideTable|4|1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Painting\nB. DiningTable\nC. Statue\nD. SideTable", "answer": "D", "object_name": "SideTable", "image_1": "train1875/0/rgb_1.png", "image_2": "train1875/0/rgb_0.png", "mask_image": "train1875/0/rgb_0_mask_SideTable|4|1.png", "options": ["Painting", "DiningTable", "Statue", "SideTable"]} diff --git a/train/train1875/0/questions_direction.jsonl b/train/train1875/0/questions_direction.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..26f6ec25b1840f640a667306e8e6eea89c65b9f9 --- /dev/null +++ b/train/train1875/0/questions_direction.jsonl @@ -0,0 +1,8 @@ +{"id": 17996, "folder_dir": "train1875/0", "pair_name": "Doorframe-Statue", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Doorframe. Where is the centroid position of Statue in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Doorframe", "tgt_object": "Statue", "src_com": {"x": 4.382999897003174, "y": 1.0478007793426514, "z": 6.532071590423584}, "tgt_com": {"x": 2.22098708152771, "y": 0.9612248539924622, "z": 11.057782173156738}, "agent_pos": {"x": 4.5, "y": 1.5759997367858887, "z": 9.399999618530273}, "image_1": "train1875/0/rgb_0.png", "image_2": "train1875/0/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17997, "folder_dir": "train1875/0", "pair_name": "Doorframe-DeskLamp", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Doorframe. Where is the centroid position of DeskLamp in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Doorframe", "tgt_object": "DeskLamp", "src_com": {"x": 4.382999897003174, "y": 1.0478007793426514, "z": 6.532071590423584}, "tgt_com": {"x": 2.225973129272461, "y": 1.0548040866851807, "z": 10.56600570678711}, "agent_pos": {"x": 4.5, "y": 1.5759997367858887, "z": 9.399999618530273}, "image_1": "train1875/0/rgb_0.png", "image_2": "train1875/0/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17998, "folder_dir": "train1875/0", "pair_name": "Plate-Statue", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Plate. Where is the centroid position of Statue in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Plate", "tgt_object": "Statue", "src_com": {"x": 4.603843688964844, "y": 0.7482919692993164, "z": 7.262546539306641}, "tgt_com": {"x": 2.22098708152771, "y": 0.9612248539924622, "z": 11.057782173156738}, "agent_pos": {"x": 4.5, "y": 1.5759997367858887, "z": 9.399999618530273}, "image_1": "train1875/0/rgb_0.png", "image_2": "train1875/0/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 17999, "folder_dir": "train1875/0", "pair_name": "Plate-DeskLamp", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Plate. Where is the centroid position of DeskLamp in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Plate", "tgt_object": "DeskLamp", "src_com": {"x": 4.603843688964844, "y": 0.7482919692993164, "z": 7.262546539306641}, "tgt_com": {"x": 2.225973129272461, "y": 1.0548040866851807, "z": 10.56600570678711}, "agent_pos": {"x": 4.5, "y": 1.5759997367858887, "z": 9.399999618530273}, "image_1": "train1875/0/rgb_0.png", "image_2": "train1875/0/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 18000, "folder_dir": "train1875/0", "pair_name": "Statue-Doorframe", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Statue. Where is the centroid position of Doorframe in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Statue", "tgt_object": "Doorframe", "src_com": {"x": 2.22098708152771, "y": 0.9612248539924622, "z": 11.057782173156738}, "tgt_com": {"x": 4.382999897003174, "y": 1.0478007793426514, "z": 6.532071590423584}, "agent_pos": {"x": 4.5, "y": 1.5759997367858887, "z": 9.399999618530273}, "image_1": "train1875/0/rgb_1.png", "image_2": "train1875/0/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 18001, "folder_dir": "train1875/0", "pair_name": "Statue-Plate", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Statue. Where is the centroid position of Plate in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Statue", "tgt_object": "Plate", "src_com": {"x": 2.22098708152771, "y": 0.9612248539924622, "z": 11.057782173156738}, "tgt_com": {"x": 4.603843688964844, "y": 0.7482919692993164, "z": 7.262546539306641}, "agent_pos": {"x": 4.5, "y": 1.5759997367858887, "z": 9.399999618530273}, "image_1": "train1875/0/rgb_1.png", "image_2": "train1875/0/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 18002, "folder_dir": "train1875/0", "pair_name": "DeskLamp-Doorframe", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of DeskLamp. Where is the centroid position of Doorframe in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "DeskLamp", "tgt_object": "Doorframe", "src_com": {"x": 2.225973129272461, "y": 1.0548040866851807, "z": 10.56600570678711}, "tgt_com": {"x": 4.382999897003174, "y": 1.0478007793426514, "z": 6.532071590423584}, "agent_pos": {"x": 4.5, "y": 1.5759997367858887, "z": 9.399999618530273}, "image_1": "train1875/0/rgb_1.png", "image_2": "train1875/0/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 18003, "folder_dir": "train1875/0", "pair_name": "DeskLamp-Plate", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of DeskLamp. Where is the centroid position of Plate in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "DeskLamp", "tgt_object": "Plate", "src_com": {"x": 2.225973129272461, "y": 1.0548040866851807, "z": 10.56600570678711}, "tgt_com": {"x": 4.603843688964844, "y": 0.7482919692993164, "z": 7.262546539306641}, "agent_pos": {"x": 4.5, "y": 1.5759997367858887, "z": 9.399999618530273}, "image_1": "train1875/0/rgb_1.png", "image_2": "train1875/0/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} diff --git a/train/train1875/0/questions_distance.jsonl b/train/train1875/0/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a526804d833b2d754fbb2584f630092d6358f65f --- /dev/null +++ b/train/train1875/0/questions_distance.jsonl @@ -0,0 +1 @@ +{"id": 4542, "folder_dir": "train1875/0", "query": "Which of the following objects is closest to SideTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. DeskLamp\nB. Statue\nC. Painting\nD. Other\n", "answer": "C", "src_object": "SideTable", "target_object": "Painting", "question": "Which of the following objects is closest to SideTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "DeskLamp", "semantic_id": "DeskLamp|surface|4|21", "distance": 1.7803422182193431, "com": {"x": 2.225973129272461, "y": 1.0548040866851807, "z": 10.56600570678711}}, {"text": "Statue", "semantic_id": "Statue|surface|4|19", "distance": 2.219929303852998, "com": {"x": 2.22098708152771, "y": 0.9612248539924622, "z": 11.057782173156738}}, {"text": "Painting", "semantic_id": "Painting|4|5", "distance": 1.7394531322738862, "com": {"x": 0.6075762510299683, "y": 0.7746534943580627, "z": 8.787870407104492}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1875/0/rgb_0.png", "image_2": "train1875/0/rgb_1.png"} diff --git a/train/train1875/0/rgb_0.png b/train/train1875/0/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..0eff92c228a5dcf5fc96e337472d4f278bf58aac --- /dev/null +++ b/train/train1875/0/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:04133fc2cccf9d30dec674d26b4a02f48b0e799f9b8c2e6c31d4e8658c892a6f +size 446530 diff --git a/train/train1875/0/rgb_0_mask_SideTable|4|1.png b/train/train1875/0/rgb_0_mask_SideTable|4|1.png new file mode 100644 index 0000000000000000000000000000000000000000..2f51bae4fbe7e784725aa1623253af3afd950e97 --- /dev/null +++ b/train/train1875/0/rgb_0_mask_SideTable|4|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eb3d3bb4aa889f5e5fca21cead20c14d083e2407e34ebdcaca52983059fa2ddf +size 394334 diff --git a/train/train1875/0/rgb_1.png b/train/train1875/0/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..7abf1e1d153c831e1ab98322188366bcfbeaaaf3 --- /dev/null +++ b/train/train1875/0/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7877f2f73b3824684864303e7318826044eb7292dc883d2296a93f72e6568f5b +size 599804 diff --git a/train/train1875/0/rgb_1_mask_DiningTable|3|0.png b/train/train1875/0/rgb_1_mask_DiningTable|3|0.png new file mode 100644 index 0000000000000000000000000000000000000000..f08e8606403d4a21bf183c59d5e81e28d35e8cb9 --- /dev/null +++ b/train/train1875/0/rgb_1_mask_DiningTable|3|0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c7cbee0b764190dd3cb5fd0f95ec078ba48c67afb76665776faf8c11931d419c +size 524206 diff --git a/train/train1875/0/rgb_1_mask_SideTable|4|1.png b/train/train1875/0/rgb_1_mask_SideTable|4|1.png new file mode 100644 index 0000000000000000000000000000000000000000..5971902c704602e3cdf3e32f0c8262d20512e244 --- /dev/null +++ b/train/train1875/0/rgb_1_mask_SideTable|4|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e7cdd42910043b209c4e41e29ac0abee2f396c435cbbe8bb236275fee6db8c35 +size 519146 diff --git a/train/train1875/0/semantic_0.png b/train/train1875/0/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..6d4b4f9ae4ed39f4c5e2c20b9747ef54cd3e46f0 Binary files /dev/null and b/train/train1875/0/semantic_0.png differ diff --git a/train/train1875/0/semantic_1.png b/train/train1875/0/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..6870f5050f6457ee9db7edb4c540738e55093155 Binary files /dev/null and b/train/train1875/0/semantic_1.png differ diff --git a/train/train1875/1/0.json b/train/train1875/1/0.json new file mode 100644 index 0000000000000000000000000000000000000000..9186a52b2e2e35a2c1920318ff44f8f0e83d7f79 --- /dev/null +++ b/train/train1875/1/0.json @@ -0,0 +1,1872 @@ +{ + "object": [ + { + "objectId": "Statue|surface|4|19", + "object_info": { + "name": "Statue|surface|4|19", + "position": { + "x": 2.2257962226867676, + "y": 0.7808696627616882, + "z": 11.057782173156738 + }, + "rotation": { + "x": -7.705308235017583e-05, + "y": 179.99993896484375, + "z": -2.3478729417547584e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 2.759188175201416, + "objectType": "Statue", + "objectId": "Statue|surface|4|19", + "assetId": "Waving_Statue_1", + "parentReceptacles": [ + "DiningTable|4|0|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.3249969482421875, + 1.140368103981018, + 11.155679702758789 + ], + [ + 2.3249969482421875, + 1.140368103981018, + 10.959884643554688 + ], + [ + 2.3249969482421875, + 0.7820816040039062, + 11.155679702758789 + ], + [ + 2.3249969482421875, + 0.7820816040039062, + 10.959884643554688 + ], + [ + 2.1169772148132324, + 1.140368103981018, + 11.155679702758789 + ], + [ + 2.1169772148132324, + 1.140368103981018, + 10.959884643554688 + ], + [ + 2.1169772148132324, + 0.7820816040039062, + 11.155679702758789 + ], + [ + 2.1169772148132324, + 0.7820816040039062, + 10.959884643554688 + ] + ], + "center": { + "x": 2.22098708152771, + "y": 0.9612248539924622, + "z": 11.057782173156738 + }, + "size": { + "x": 0.20801973342895508, + "y": 0.3582864999771118, + "z": 0.19579505920410156 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.116975784301758, + 0.7820812463760376, + 10.959884643554688 + ], + [ + 2.324995517730713, + 0.7820813059806824, + 10.959884643554688 + ], + [ + 2.324995517730713, + 0.7820810675621033, + 11.155679702758789 + ], + [ + 2.1169755458831787, + 0.7820810079574585, + 11.155678749084473 + ], + [ + 2.116975784301758, + 1.1403690576553345, + 10.959885597229004 + ], + [ + 2.324995517730713, + 1.140369176864624, + 10.959885597229004 + ], + [ + 2.324995279312134, + 1.140368938446045, + 11.155679702758789 + ], + [ + 2.1169755458831787, + 1.1403688192367554, + 11.155679702758789 + ] + ] + } + } + }, + { + "objectId": "Chair|4|0|1", + "object_info": { + "name": "Chair|4|0|1", + "position": { + "x": 0.7321906685829163, + "y": 0.0008544623851776123, + "z": 10.763168334960938 + }, + "rotation": { + "x": -0.0, + "y": 78.55499267578125, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Metal", + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 4.0745849609375, + "objectType": "Chair", + "objectId": "Chair|4|0|1", + "assetId": "Chair_210_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.0114384889602661, + 0.8322234153747559, + 11.089305877685547 + ], + [ + 1.0114384889602661, + 0.8322234153747559, + 10.445968627929688 + ], + [ + 1.0114384889602661, + -2.9087066650390625e-05, + 11.089305877685547 + ], + [ + 1.0114384889602661, + -2.9087066650390625e-05, + 10.445968627929688 + ], + [ + 0.46215927600860596, + 0.8322234153747559, + 11.089305877685547 + ], + [ + 0.46215927600860596, + 0.8322234153747559, + 10.445968627929688 + ], + [ + 0.46215927600860596, + -2.9087066650390625e-05, + 11.089305877685547 + ], + [ + 0.46215927600860596, + -2.9087066650390625e-05, + 10.445968627929688 + ] + ], + "center": { + "x": 0.736798882484436, + "y": 0.41609716415405273, + "z": 10.767637252807617 + }, + "size": { + "x": 0.5492792129516602, + "y": 0.8322525024414062, + "z": 0.6433372497558594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.029482364654541, + -2.8878450393676758e-05, + 10.504408836364746 + ], + [ + 0.9053446054458618, + -2.8878450393676758e-05, + 11.11757755279541 + ], + [ + 0.42839670181274414, + -2.8878450393676758e-05, + 11.021018028259277 + ], + [ + 0.5525345206260681, + -2.8878450393676758e-05, + 10.407849311828613 + ], + [ + 1.029482364654541, + 0.8322229385375977, + 10.504408836364746 + ], + [ + 0.9053446054458618, + 0.8322229385375977, + 11.11757755279541 + ], + [ + 0.42839670181274414, + 0.8322229385375977, + 11.021018028259277 + ], + [ + 0.5525345206260681, + 0.8322229385375977, + 10.407849311828613 + ] + ] + } + } + }, + { + "objectId": "Painting|4|5", + "object_info": { + "name": "Painting|4|5", + "position": { + "x": 0.6075762510299683, + "y": 0.7746534943580627, + "z": 8.771995544433594 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 3.9619333744049072, + "objectType": "Painting", + "objectId": "Painting|4|5", + "assetId": "Wall_Decor_Photo_3V", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.0380332469940186, + 1.0626155138015747, + 8.803740501403809 + ], + [ + 1.0380332469940186, + 1.0626155138015747, + 8.772000312805176 + ], + [ + 1.0380332469940186, + 0.4866914749145508, + 8.803740501403809 + ], + [ + 1.0380332469940186, + 0.4866914749145508, + 8.772000312805176 + ], + [ + 0.17711925506591797, + 1.0626155138015747, + 8.803740501403809 + ], + [ + 0.17711925506591797, + 1.0626155138015747, + 8.772000312805176 + ], + [ + 0.17711925506591797, + 0.4866914749145508, + 8.803740501403809 + ], + [ + 0.17711925506591797, + 0.4866914749145508, + 8.772000312805176 + ] + ], + "center": { + "x": 0.6075762510299683, + "y": 0.7746534943580627, + "z": 8.787870407104492 + }, + "size": { + "x": 0.8609139919281006, + "y": 0.5759240388870239, + "z": 0.03174018859863281 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DiningTable|3|0", + "object_info": { + "name": "DiningTable|3|0", + "position": { + "x": 4.79160737991333, + "y": -0.00013914704322814941, + "z": 7.714365005493164 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Plate|surface|3|18" + ], + "distance": 2.0212814807891846, + "objectType": "DiningTable", + "objectId": "DiningTable|3|0", + "assetId": "RoboTHOR_dining_table_jokkmokk_v", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.175214767456055, + 0.7417037487030029, + 8.316061019897461 + ], + [ + 5.175214767456055, + 0.7417037487030029, + 7.112668991088867 + ], + [ + 5.175214767456055, + 7.748603820800781e-06, + 8.316061019897461 + ], + [ + 5.175214767456055, + 7.748603820800781e-06, + 7.112668991088867 + ], + [ + 4.4079999923706055, + 0.7417037487030029, + 8.316061019897461 + ], + [ + 4.4079999923706055, + 0.7417037487030029, + 7.112668991088867 + ], + [ + 4.4079999923706055, + 7.748603820800781e-06, + 8.316061019897461 + ], + [ + 4.4079999923706055, + 7.748603820800781e-06, + 7.112668991088867 + ] + ], + "center": { + "x": 4.79160737991333, + "y": 0.37085574865341187, + "z": 7.714365005493164 + }, + "size": { + "x": 0.7672147750854492, + "y": 0.7416960000991821, + "z": 1.2033920288085938 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.1752142906188965, + 8.195638656616211e-06, + 7.112668991088867 + ], + [ + 5.1752142906188965, + 8.195638656616211e-06, + 8.316061019897461 + ], + [ + 4.408000469207764, + 8.195638656616211e-06, + 8.316061019897461 + ], + [ + 4.408000469207764, + 8.195638656616211e-06, + 7.112669467926025 + ], + [ + 5.1752142906188965, + 0.7417033910751343, + 7.112668991088867 + ], + [ + 5.1752142906188965, + 0.7417033910751343, + 8.316061019897461 + ], + [ + 4.408000469207764, + 0.7417033910751343, + 8.316061019897461 + ], + [ + 4.408000469207764, + 0.7417033910751343, + 7.112669467926025 + ] + ] + } + } + }, + { + "objectId": "Chair|4|0|2", + "object_info": { + "name": "Chair|4|0|2", + "position": { + "x": 2.8319005966186523, + "y": 0.0008544623851776123, + "z": 10.763738632202148 + }, + "rotation": { + "x": 0.0, + "y": 284.9430847167969, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Metal", + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 2.2781248092651367, + "objectType": "Chair", + "objectId": "Chair|4|0|2", + "assetId": "Chair_210_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.1062493324279785, + 0.8322231769561768, + 11.102640151977539 + ], + [ + 3.1062493324279785, + 0.8322231769561768, + 10.450983047485352 + ], + [ + 3.1062493324279785, + -2.899765968322754e-05, + 11.102640151977539 + ], + [ + 3.1062493324279785, + -2.899765968322754e-05, + 10.450983047485352 + ], + [ + 2.540526866912842, + 0.8322231769561768, + 11.102640151977539 + ], + [ + 2.540526866912842, + 0.8322231769561768, + 10.450983047485352 + ], + [ + 2.540526866912842, + -2.899765968322754e-05, + 11.102640151977539 + ], + [ + 2.540526866912842, + -2.899765968322754e-05, + 10.450983047485352 + ] + ], + "center": { + "x": 2.82338809967041, + "y": 0.41609707474708557, + "z": 10.776811599731445 + }, + "size": { + "x": 0.5657224655151367, + "y": 0.8322521448135376, + "z": 0.6516571044921875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.6805906295776367, + -2.8878450393676758e-05, + 11.127667427062988 + ], + [ + 2.5192716121673584, + -2.8878450393676758e-05, + 10.523215293884277 + ], + [ + 2.9894392490386963, + -2.8878450393676758e-05, + 10.397734642028809 + ], + [ + 3.1507582664489746, + -2.8878450393676758e-05, + 11.00218677520752 + ], + [ + 2.6805906295776367, + 0.8322229385375977, + 11.127667427062988 + ], + [ + 2.5192716121673584, + 0.8322229385375977, + 10.523215293884277 + ], + [ + 2.9894392490386963, + 0.8322229385375977, + 10.397734642028809 + ], + [ + 3.1507582664489746, + 0.8322229385375977, + 11.00218677520752 + ] + ] + } + } + }, + { + "objectId": "Sofa|4|3", + "object_info": { + "name": "Sofa|4|3", + "position": { + "x": 0.8639020919799805, + "y": 0.0023636221885681152, + "z": 12.79378604888916 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 103.99999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 4.987763404846191, + "objectType": "Sofa", + "objectId": "Sofa|4|3", + "assetId": "Sofa_221_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.7028003931045532, + 0.8951113224029541, + 13.124959945678711 + ], + [ + 1.7028003931045532, + 0.8951113224029541, + 12.445600509643555 + ], + [ + 1.7028003931045532, + -2.8908252716064453e-06, + 13.124959945678711 + ], + [ + 1.7028003931045532, + -2.8908252716064453e-06, + 12.445600509643555 + ], + [ + 0.025003790855407715, + 0.8951113224029541, + 13.124959945678711 + ], + [ + 0.025003790855407715, + 0.8951113224029541, + 12.445600509643555 + ], + [ + 0.025003790855407715, + -2.8908252716064453e-06, + 13.124959945678711 + ], + [ + 0.025003790855407715, + -2.8908252716064453e-06, + 12.445600509643555 + ] + ], + "center": { + "x": 0.8639020919799805, + "y": 0.44755420088768005, + "z": 12.785280227661133 + }, + "size": { + "x": 1.6777966022491455, + "y": 0.8951141834259033, + "z": 0.6793594360351562 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.02500373125076294, + -2.8014183044433594e-06, + 12.445600509643555 + ], + [ + 1.7028002738952637, + -2.8014183044433594e-06, + 12.445600509643555 + ], + [ + 1.7028003931045532, + -2.8014183044433594e-06, + 13.124958992004395 + ], + [ + 0.025003790855407715, + -2.8014183044433594e-06, + 13.124959945678711 + ], + [ + 0.02500373125076294, + 0.8951110243797302, + 12.445600509643555 + ], + [ + 1.7028002738952637, + 0.8951110243797302, + 12.445600509643555 + ], + [ + 1.7028003931045532, + 0.8951110243797302, + 13.124958992004395 + ], + [ + 0.025003790855407715, + 0.8951110243797302, + 13.124959945678711 + ] + ] + } + } + }, + { + "objectId": "DeskLamp|surface|4|21", + "object_info": { + "name": "DeskLamp|surface|4|21", + "position": { + "x": 2.2257964611053467, + "y": 0.7821089029312134, + "z": 10.566015243530273 + }, + "rotation": { + "x": 0.0013408676022663713, + "y": 180.0013885498047, + "z": 0.023090684786438942 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 2.059999942779541, + "salientMaterials": [ + "Metal", + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 2.514463186264038, + "objectType": "DeskLamp", + "objectId": "DeskLamp|surface|4|21", + "assetId": "RoboTHOR_desk_lamp_arstid_v", + "parentReceptacles": [ + "DiningTable|4|0|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.3331634998321533, + 1.3275303840637207, + 10.68081283569336 + ], + [ + 2.3331634998321533, + 1.3275303840637207, + 10.45119857788086 + ], + [ + 2.3331634998321533, + 0.7820777893066406, + 10.68081283569336 + ], + [ + 2.3331634998321533, + 0.7820777893066406, + 10.45119857788086 + ], + [ + 2.1187827587127686, + 1.3275303840637207, + 10.68081283569336 + ], + [ + 2.1187827587127686, + 1.3275303840637207, + 10.45119857788086 + ], + [ + 2.1187827587127686, + 0.7820777893066406, + 10.68081283569336 + ], + [ + 2.1187827587127686, + 0.7820777893066406, + 10.45119857788086 + ] + ], + "center": { + "x": 2.225973129272461, + "y": 1.0548040866851807, + "z": 10.56600570678711 + }, + "size": { + "x": 0.21438074111938477, + "y": 0.5454525947570801, + "z": 0.2296142578125 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.1186490058898926, + 0.7821493744850159, + 10.451215744018555 + ], + [ + 2.3329381942749023, + 0.7820630073547363, + 10.451210975646973 + ], + [ + 2.332943916320801, + 0.7820684313774109, + 10.680814743041992 + ], + [ + 2.118654727935791, + 0.7821547985076904, + 10.680819511413574 + ], + [ + 2.118868827819824, + 1.327525019645691, + 10.451203346252441 + ], + [ + 2.333158016204834, + 1.3274387121200562, + 10.451197624206543 + ], + [ + 2.3331634998321533, + 1.327444076538086, + 10.680801391601562 + ], + [ + 2.1188745498657227, + 1.3275303840637207, + 10.680807113647461 + ] + ] + } + } + }, + { + "objectId": "SideTable|4|1", + "object_info": { + "name": "SideTable|4|1", + "position": { + "x": 2.302966833114624, + "y": 0.0017558932304382324, + "z": 8.910143852233887 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 2.446124315261841, + "objectType": "SideTable", + "objectId": "SideTable|4|1", + "assetId": "Side_Table_307_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.716496706008911, + 0.8106672167778015, + 9.028287887573242 + ], + [ + 2.716496706008911, + 0.8106672167778015, + 8.791999816894531 + ], + [ + 2.716496706008911, + 0.0, + 9.028287887573242 + ], + [ + 2.716496706008911, + 0.0, + 8.791999816894531 + ], + [ + 1.889436960220337, + 0.8106672167778015, + 9.028287887573242 + ], + [ + 1.889436960220337, + 0.8106672167778015, + 8.791999816894531 + ], + [ + 1.889436960220337, + 0.0, + 9.028287887573242 + ], + [ + 1.889436960220337, + 0.0, + 8.791999816894531 + ] + ], + "center": { + "x": 2.302966833114624, + "y": 0.40533360838890076, + "z": 8.910143852233887 + }, + "size": { + "x": 0.8270597457885742, + "y": 0.8106672167778015, + "z": 0.23628807067871094 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.716496706008911, + 0.0, + 9.028287887573242 + ], + [ + 1.889436960220337, + 0.0, + 9.028287887573242 + ], + [ + 1.889436960220337, + 0.0, + 8.791999816894531 + ], + [ + 2.716496706008911, + 0.0, + 8.791999816894531 + ], + [ + 2.716496706008911, + 0.8106672167778015, + 9.028287887573242 + ], + [ + 1.889436960220337, + 0.8106672167778015, + 9.028287887573242 + ], + [ + 1.889436960220337, + 0.8106672167778015, + 8.791999816894531 + ], + [ + 2.716496706008911, + 0.8106672167778015, + 8.791999816894531 + ] + ] + } + } + }, + { + "objectId": "Chair|4|0|3", + "object_info": { + "name": "Chair|4|0|3", + "position": { + "x": 2.173715591430664, + "y": 0.0008544623851776123, + "z": 11.254435539245605 + }, + "rotation": { + "x": 0.0, + "y": 184.4626922607422, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Metal", + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 3.049574613571167, + "objectType": "Chair", + "objectId": "Chair|4|0|3", + "assetId": "Chair_210_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.488889694213867, + 0.8322231769561768, + 11.511161804199219 + ], + [ + 2.488889694213867, + 0.8322231769561768, + 11.002986907958984 + ], + [ + 2.488889694213867, + -2.9027462005615234e-05, + 11.511161804199219 + ], + [ + 2.488889694213867, + -2.9027462005615234e-05, + 11.002986907958984 + ], + [ + 1.864943027496338, + 0.8322231769561768, + 11.511161804199219 + ], + [ + 1.864943027496338, + 0.8322231769561768, + 11.002986907958984 + ], + [ + 1.864943027496338, + -2.9027462005615234e-05, + 11.511161804199219 + ], + [ + 1.864943027496338, + -2.9027462005615234e-05, + 11.002986907958984 + ] + ], + "center": { + "x": 2.1769163608551025, + "y": 0.41609707474708557, + "z": 11.257074356079102 + }, + "size": { + "x": 0.6239466667175293, + "y": 0.8322522044181824, + "z": 0.5081748962402344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.843381404876709, + -2.8878450393676758e-05, + 11.039451599121094 + ], + [ + 2.4670932292938232, + -2.8878450393676758e-05, + 10.99077320098877 + ], + [ + 2.504957437515259, + -2.8878450393676758e-05, + 11.475921630859375 + ], + [ + 1.8812456130981445, + -2.8878450393676758e-05, + 11.5246000289917 + ], + [ + 1.843381404876709, + 0.8322229385375977, + 11.039451599121094 + ], + [ + 2.4670932292938232, + 0.8322229385375977, + 10.99077320098877 + ], + [ + 2.504957437515259, + 0.8322229385375977, + 11.475921630859375 + ], + [ + 1.8812456130981445, + 0.8322229385375977, + 11.5246000289917 + ] + ] + } + } + }, + { + "objectId": "DogBed|4|2", + "object_info": { + "name": "DogBed|4|2", + "position": { + "x": 4.638265609741211, + "y": 0.003950253129005432, + "z": 10.796929359436035 + }, + "rotation": { + "x": -0.0002660128811839968, + "y": -0.00015079793229233474, + "z": -2.7592546757659875e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.9800000190734863, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 1.5829848051071167, + "objectType": "DogBed", + "objectId": "DogBed|4|2", + "assetId": "Dog_Bed_2_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.138455390930176, + 0.31595391035079956, + 11.211904525756836 + ], + [ + 5.138455390930176, + 0.31595391035079956, + 10.377124786376953 + ], + [ + 5.138455390930176, + 5.960464477539063e-08, + 11.211904525756836 + ], + [ + 5.138455390930176, + 5.960464477539063e-08, + 10.377124786376953 + ], + [ + 4.146076202392578, + 0.31595391035079956, + 11.211904525756836 + ], + [ + 4.146076202392578, + 0.31595391035079956, + 10.377124786376953 + ], + [ + 4.146076202392578, + 5.960464477539063e-08, + 11.211904525756836 + ], + [ + 4.146076202392578, + 5.960464477539063e-08, + 10.377124786376953 + ] + ], + "center": { + "x": 4.642265796661377, + "y": 0.15797698497772217, + "z": 10.794514656066895 + }, + "size": { + "x": 0.9923791885375977, + "y": 0.3159538507461548, + "z": 0.8347797393798828 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.138454437255859, + 2.3562461137771606e-06, + 11.211907386779785 + ], + [ + 4.1460747718811035, + 2.834014594554901e-06, + 11.211904525756836 + ], + [ + 4.1460771560668945, + -1.0416842997074127e-06, + 10.377123832702637 + ], + [ + 5.138456344604492, + -1.5194527804851532e-06, + 10.377126693725586 + ], + [ + 5.138454437255859, + 0.31595462560653687, + 11.211905479431152 + ], + [ + 4.146075248718262, + 0.31595510244369507, + 11.211902618408203 + ], + [ + 4.1460771560668945, + 0.31595122814178467, + 10.37712287902832 + ], + [ + 5.138456344604492, + 0.31595075130462646, + 10.377124786376953 + ] + ] + } + } + }, + { + "objectId": "DiningTable|4|0|0", + "object_info": { + "name": "DiningTable|4|0|0", + "position": { + "x": 1.7819786071777344, + "y": 0.0024788379669189453, + "z": 10.762722969055176 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Statue|surface|4|19", + "Statue|surface|4|20", + "DeskLamp|surface|4|21" + ], + "distance": 3.128809690475464, + "objectType": "DiningTable", + "objectId": "DiningTable|4|0|0", + "assetId": "Dining_Table_221_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.674949884414673, + 0.7820817232131958, + 11.157618522644043 + ], + [ + 2.674949884414673, + 0.7820817232131958, + 10.367827415466309 + ], + [ + 2.674949884414673, + -1.430511474609375e-06, + 11.157618522644043 + ], + [ + 2.674949884414673, + -1.430511474609375e-06, + 10.367827415466309 + ], + [ + 0.8890073299407959, + 0.7820817232131958, + 11.157618522644043 + ], + [ + 0.8890073299407959, + 0.7820817232131958, + 10.367827415466309 + ], + [ + 0.8890073299407959, + -1.430511474609375e-06, + 11.157618522644043 + ], + [ + 0.8890073299407959, + -1.430511474609375e-06, + 10.367827415466309 + ] + ], + "center": { + "x": 1.7819786071777344, + "y": 0.3910401463508606, + "z": 10.762722969055176 + }, + "size": { + "x": 1.785942554473877, + "y": 0.7820831537246704, + "z": 0.7897911071777344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.8890072703361511, + -1.430511474609375e-06, + 10.367827415466309 + ], + [ + 2.674949884414673, + -1.430511474609375e-06, + 10.367827415466309 + ], + [ + 2.674949884414673, + -1.430511474609375e-06, + 11.157618522644043 + ], + [ + 0.8890073895454407, + -1.430511474609375e-06, + 11.157618522644043 + ], + [ + 0.8890072703361511, + 0.7820817232131958, + 10.367827415466309 + ], + [ + 2.674949884414673, + 0.7820817232131958, + 10.367827415466309 + ], + [ + 2.674949884414673, + 0.7820817232131958, + 11.157618522644043 + ], + [ + 0.8890073895454407, + 0.7820817232131958, + 11.157618522644043 + ] + ] + } + } + }, + { + "objectId": "Chair|4|0|4", + "object_info": { + "name": "Chair|4|0|4", + "position": { + "x": 1.41483473777771, + "y": 0.0008544623851776123, + "z": 11.254436492919922 + }, + "rotation": { + "x": -0.0, + "y": 168.38992309570312, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Metal", + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 3.661496162414551, + "objectType": "Chair", + "objectId": "Chair|4|0|4", + "assetId": "Chair_210_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.7414209842681885, + 0.8322232961654663, + 11.524728775024414 + ], + [ + 1.7414209842681885, + 0.8322232961654663, + 10.97458267211914 + ], + [ + 1.7414209842681885, + -2.8908252716064453e-05, + 11.524728775024414 + ], + [ + 1.7414209842681885, + -2.8908252716064453e-05, + 10.97458267211914 + ], + [ + 1.0976619720458984, + 0.8322232961654663, + 11.524728775024414 + ], + [ + 1.0976619720458984, + 0.8322232961654663, + 10.97458267211914 + ], + [ + 1.0976619720458984, + -2.8908252716064453e-05, + 11.524728775024414 + ], + [ + 1.0976619720458984, + -2.8908252716064453e-05, + 10.97458267211914 + ] + ], + "center": { + "x": 1.4195414781570435, + "y": 0.4160971939563751, + "z": 11.249655723571777 + }, + "size": { + "x": 0.64375901222229, + "y": 0.8322522044181824, + "z": 0.5501461029052734 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.156933069229126, + -2.8878450393676758e-05, + 10.956400871276855 + ], + [ + 1.7697416543960571, + -2.8878450393676758e-05, + 11.082304000854492 + ], + [ + 1.6718084812164307, + -2.8878450393676758e-05, + 11.558972358703613 + ], + [ + 1.0589998960494995, + -2.8878450393676758e-05, + 11.43306827545166 + ], + [ + 1.156933069229126, + 0.8322229385375977, + 10.956400871276855 + ], + [ + 1.7697416543960571, + 0.8322229385375977, + 11.082304000854492 + ], + [ + 1.6718084812164307, + 0.8322229385375977, + 11.558972358703613 + ], + [ + 1.0589998960494995, + 0.8322229385375977, + 11.43306827545166 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 4.5, + "y": 0.9009997844696045, + "z": 9.300000190734863 + }, + "agent_rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "agent_cameraHorizon": 60.000003814697266, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 4.5, + "y": 1.5759997367858887, + "z": 9.300000190734863 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Chair|4|0|1", + "Chair|4|0|4", + "SideTable|4|1", + "DiningTable|4|0|0", + "Chair|4|0|3", + "Chair|4|0|2", + "Statue|surface|4|19", + "Painting|4|5", + "Sofa|4|3", + "DeskLamp|surface|4|21" + ], + "different_object": [ + "DiningTable|3|0", + "DogBed|4|2" + ] +} \ No newline at end of file diff --git a/train/train1875/1/0_depth_npy.npy b/train/train1875/1/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..fd47f7f43e96de48693e60b35a0b21a9ccc36631 --- /dev/null +++ b/train/train1875/1/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:18832678c67c9dfdbad45e3013dc3f756f4cbb2aa332656da6fb7fd97db4c53e +size 3145856 diff --git a/train/train1875/1/0_semantic_sensor_npy.npy b/train/train1875/1/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..b08069c9edd0703d2d4488a53e90927cc78d0adb --- /dev/null +++ b/train/train1875/1/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:44847afbaf08320f1eddbb2167ecc9b7706693833b779c76038d87bdc4cc9485 +size 2359424 diff --git a/train/train1875/1/1.json b/train/train1875/1/1.json new file mode 100644 index 0000000000000000000000000000000000000000..0f286a5778fc711fd1f4827e0e72f256bcda6561 --- /dev/null +++ b/train/train1875/1/1.json @@ -0,0 +1,1823 @@ +{ + "object": [ + { + "objectId": "Statue|surface|4|19", + "object_info": { + "name": "Statue|surface|4|19", + "position": { + "x": 2.2257962226867676, + "y": 0.7808696627616882, + "z": 11.057782173156738 + }, + "rotation": { + "x": -7.705308235017583e-05, + "y": 179.99993896484375, + "z": -2.3478729417547584e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 2.759188175201416, + "objectType": "Statue", + "objectId": "Statue|surface|4|19", + "assetId": "Waving_Statue_1", + "parentReceptacles": [ + "DiningTable|4|0|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.3249969482421875, + 1.140368103981018, + 11.155679702758789 + ], + [ + 2.3249969482421875, + 1.140368103981018, + 10.959884643554688 + ], + [ + 2.3249969482421875, + 0.7820816040039062, + 11.155679702758789 + ], + [ + 2.3249969482421875, + 0.7820816040039062, + 10.959884643554688 + ], + [ + 2.1169772148132324, + 1.140368103981018, + 11.155679702758789 + ], + [ + 2.1169772148132324, + 1.140368103981018, + 10.959884643554688 + ], + [ + 2.1169772148132324, + 0.7820816040039062, + 11.155679702758789 + ], + [ + 2.1169772148132324, + 0.7820816040039062, + 10.959884643554688 + ] + ], + "center": { + "x": 2.22098708152771, + "y": 0.9612248539924622, + "z": 11.057782173156738 + }, + "size": { + "x": 0.20801973342895508, + "y": 0.3582864999771118, + "z": 0.19579505920410156 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.116975784301758, + 0.7820812463760376, + 10.959884643554688 + ], + [ + 2.324995517730713, + 0.7820813059806824, + 10.959884643554688 + ], + [ + 2.324995517730713, + 0.7820810675621033, + 11.155679702758789 + ], + [ + 2.1169755458831787, + 0.7820810079574585, + 11.155678749084473 + ], + [ + 2.116975784301758, + 1.1403690576553345, + 10.959885597229004 + ], + [ + 2.324995517730713, + 1.140369176864624, + 10.959885597229004 + ], + [ + 2.324995279312134, + 1.140368938446045, + 11.155679702758789 + ], + [ + 2.1169755458831787, + 1.1403688192367554, + 11.155679702758789 + ] + ] + } + } + }, + { + "objectId": "Chair|4|0|1", + "object_info": { + "name": "Chair|4|0|1", + "position": { + "x": 0.7321906685829163, + "y": 0.0008544623851776123, + "z": 10.763168334960938 + }, + "rotation": { + "x": -0.0, + "y": 78.55499267578125, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Metal", + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 4.0745849609375, + "objectType": "Chair", + "objectId": "Chair|4|0|1", + "assetId": "Chair_210_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.0114384889602661, + 0.8322234153747559, + 11.089305877685547 + ], + [ + 1.0114384889602661, + 0.8322234153747559, + 10.445968627929688 + ], + [ + 1.0114384889602661, + -2.9087066650390625e-05, + 11.089305877685547 + ], + [ + 1.0114384889602661, + -2.9087066650390625e-05, + 10.445968627929688 + ], + [ + 0.46215927600860596, + 0.8322234153747559, + 11.089305877685547 + ], + [ + 0.46215927600860596, + 0.8322234153747559, + 10.445968627929688 + ], + [ + 0.46215927600860596, + -2.9087066650390625e-05, + 11.089305877685547 + ], + [ + 0.46215927600860596, + -2.9087066650390625e-05, + 10.445968627929688 + ] + ], + "center": { + "x": 0.736798882484436, + "y": 0.41609716415405273, + "z": 10.767637252807617 + }, + "size": { + "x": 0.5492792129516602, + "y": 0.8322525024414062, + "z": 0.6433372497558594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.029482364654541, + -2.8878450393676758e-05, + 10.504408836364746 + ], + [ + 0.9053446054458618, + -2.8878450393676758e-05, + 11.11757755279541 + ], + [ + 0.42839670181274414, + -2.8878450393676758e-05, + 11.021018028259277 + ], + [ + 0.5525345206260681, + -2.8878450393676758e-05, + 10.407849311828613 + ], + [ + 1.029482364654541, + 0.8322229385375977, + 10.504408836364746 + ], + [ + 0.9053446054458618, + 0.8322229385375977, + 11.11757755279541 + ], + [ + 0.42839670181274414, + 0.8322229385375977, + 11.021018028259277 + ], + [ + 0.5525345206260681, + 0.8322229385375977, + 10.407849311828613 + ] + ] + } + } + }, + { + "objectId": "Painting|4|5", + "object_info": { + "name": "Painting|4|5", + "position": { + "x": 0.6075762510299683, + "y": 0.7746534943580627, + "z": 8.771995544433594 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 3.9619333744049072, + "objectType": "Painting", + "objectId": "Painting|4|5", + "assetId": "Wall_Decor_Photo_3V", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.0380332469940186, + 1.0626155138015747, + 8.803740501403809 + ], + [ + 1.0380332469940186, + 1.0626155138015747, + 8.772000312805176 + ], + [ + 1.0380332469940186, + 0.4866914749145508, + 8.803740501403809 + ], + [ + 1.0380332469940186, + 0.4866914749145508, + 8.772000312805176 + ], + [ + 0.17711925506591797, + 1.0626155138015747, + 8.803740501403809 + ], + [ + 0.17711925506591797, + 1.0626155138015747, + 8.772000312805176 + ], + [ + 0.17711925506591797, + 0.4866914749145508, + 8.803740501403809 + ], + [ + 0.17711925506591797, + 0.4866914749145508, + 8.772000312805176 + ] + ], + "center": { + "x": 0.6075762510299683, + "y": 0.7746534943580627, + "z": 8.787870407104492 + }, + "size": { + "x": 0.8609139919281006, + "y": 0.5759240388870239, + "z": 0.03174018859863281 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Chair|4|0|2", + "object_info": { + "name": "Chair|4|0|2", + "position": { + "x": 2.8319005966186523, + "y": 0.0008544623851776123, + "z": 10.763738632202148 + }, + "rotation": { + "x": 0.0, + "y": 284.9430847167969, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Metal", + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 2.2781248092651367, + "objectType": "Chair", + "objectId": "Chair|4|0|2", + "assetId": "Chair_210_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.1062493324279785, + 0.8322231769561768, + 11.102640151977539 + ], + [ + 3.1062493324279785, + 0.8322231769561768, + 10.450983047485352 + ], + [ + 3.1062493324279785, + -2.899765968322754e-05, + 11.102640151977539 + ], + [ + 3.1062493324279785, + -2.899765968322754e-05, + 10.450983047485352 + ], + [ + 2.540526866912842, + 0.8322231769561768, + 11.102640151977539 + ], + [ + 2.540526866912842, + 0.8322231769561768, + 10.450983047485352 + ], + [ + 2.540526866912842, + -2.899765968322754e-05, + 11.102640151977539 + ], + [ + 2.540526866912842, + -2.899765968322754e-05, + 10.450983047485352 + ] + ], + "center": { + "x": 2.82338809967041, + "y": 0.41609707474708557, + "z": 10.776811599731445 + }, + "size": { + "x": 0.5657224655151367, + "y": 0.8322521448135376, + "z": 0.6516571044921875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.6805906295776367, + -2.8878450393676758e-05, + 11.127667427062988 + ], + [ + 2.5192716121673584, + -2.8878450393676758e-05, + 10.523215293884277 + ], + [ + 2.9894392490386963, + -2.8878450393676758e-05, + 10.397734642028809 + ], + [ + 3.1507582664489746, + -2.8878450393676758e-05, + 11.00218677520752 + ], + [ + 2.6805906295776367, + 0.8322229385375977, + 11.127667427062988 + ], + [ + 2.5192716121673584, + 0.8322229385375977, + 10.523215293884277 + ], + [ + 2.9894392490386963, + 0.8322229385375977, + 10.397734642028809 + ], + [ + 3.1507582664489746, + 0.8322229385375977, + 11.00218677520752 + ] + ] + } + } + }, + { + "objectId": "Statue|surface|4|20", + "object_info": { + "name": "Statue|surface|4|20", + "position": { + "x": 1.3381917476654053, + "y": 0.8720796704292297, + "z": 10.95944595336914 + }, + "rotation": { + "x": -0.0038027348928153515, + "y": 179.99876403808594, + "z": 0.013844622299075127 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Stone" + ], + "receptacleObjectIds": null, + "distance": 3.482506275177002, + "objectType": "Statue", + "objectId": "Statue|surface|4|20", + "assetId": "Stone_Statue_1", + "parentReceptacles": [ + "DiningTable|4|0|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.421018123626709, + 1.367896556854248, + 11.026971817016602 + ], + [ + 1.421018123626709, + 1.367896556854248, + 10.891925811767578 + ], + [ + 1.421018123626709, + 0.7820501327514648, + 11.026971817016602 + ], + [ + 1.421018123626709, + 0.7820501327514648, + 10.891925811767578 + ], + [ + 1.271106481552124, + 1.367896556854248, + 11.026971817016602 + ], + [ + 1.271106481552124, + 1.367896556854248, + 10.891925811767578 + ], + [ + 1.271106481552124, + 0.7820501327514648, + 11.026971817016602 + ], + [ + 1.271106481552124, + 0.7820501327514648, + 10.891925811767578 + ] + ], + "center": { + "x": 1.3460623025894165, + "y": 1.0749733448028564, + "z": 10.95944881439209 + }, + "size": { + "x": 0.14991164207458496, + "y": 0.5858464241027832, + "z": 0.13504600524902344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.271109700202942, + 0.7820906639099121, + 10.891925811767578 + ], + [ + 1.4209281206130981, + 0.7820544838905334, + 10.891928672790527 + ], + [ + 1.420925259590149, + 0.7820454835891724, + 11.026954650878906 + ], + [ + 1.2711068391799927, + 0.7820817232131958, + 11.026951789855957 + ], + [ + 1.2712513208389282, + 1.367915391921997, + 10.89196491241455 + ], + [ + 1.4210697412490845, + 1.3678792715072632, + 10.8919677734375 + ], + [ + 1.4210667610168457, + 1.3678703308105469, + 11.026993751525879 + ], + [ + 1.2712483406066895, + 1.3679064512252808, + 11.026989936828613 + ] + ] + } + } + }, + { + "objectId": "window|4|0", + "object_info": { + "name": "window|4|0", + "position": { + "x": 7.441400953211996e-07, + "y": 1.0401558876037598, + "z": 10.648065567016602 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 4.646225452423096, + "objectType": "Window", + "objectId": "window|4|0", + "assetId": "Window_Slider_48x36", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.043728794902563095, + 1.9545599222183228, + 11.869343757629395 + ], + [ + 0.043728794902563095, + 1.9545599222183228, + 10.645987510681152 + ], + [ + 0.043728794902563095, + 1.040160059928894, + 11.869343757629395 + ], + [ + 0.043728794902563095, + 1.040160059928894, + 10.645987510681152 + ], + [ + -0.043728891760110855, + 1.9545599222183228, + 11.869343757629395 + ], + [ + -0.043728891760110855, + 1.9545599222183228, + 10.645987510681152 + ], + [ + -0.043728891760110855, + 1.040160059928894, + 11.869343757629395 + ], + [ + -0.043728891760110855, + 1.040160059928894, + 10.645987510681152 + ] + ], + "center": { + "x": -4.842877388000488e-08, + "y": 1.4973599910736084, + "z": 11.257665634155273 + }, + "size": { + "x": 0.08745768666267395, + "y": 0.9143998622894287, + "z": 1.2233562469482422 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sofa|4|3", + "object_info": { + "name": "Sofa|4|3", + "position": { + "x": 0.8639020919799805, + "y": 0.0023636221885681152, + "z": 12.79378604888916 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 103.99999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 4.987763404846191, + "objectType": "Sofa", + "objectId": "Sofa|4|3", + "assetId": "Sofa_221_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.7028003931045532, + 0.8951113224029541, + 13.124959945678711 + ], + [ + 1.7028003931045532, + 0.8951113224029541, + 12.445600509643555 + ], + [ + 1.7028003931045532, + -2.8908252716064453e-06, + 13.124959945678711 + ], + [ + 1.7028003931045532, + -2.8908252716064453e-06, + 12.445600509643555 + ], + [ + 0.025003790855407715, + 0.8951113224029541, + 13.124959945678711 + ], + [ + 0.025003790855407715, + 0.8951113224029541, + 12.445600509643555 + ], + [ + 0.025003790855407715, + -2.8908252716064453e-06, + 13.124959945678711 + ], + [ + 0.025003790855407715, + -2.8908252716064453e-06, + 12.445600509643555 + ] + ], + "center": { + "x": 0.8639020919799805, + "y": 0.44755420088768005, + "z": 12.785280227661133 + }, + "size": { + "x": 1.6777966022491455, + "y": 0.8951141834259033, + "z": 0.6793594360351562 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.02500373125076294, + -2.8014183044433594e-06, + 12.445600509643555 + ], + [ + 1.7028002738952637, + -2.8014183044433594e-06, + 12.445600509643555 + ], + [ + 1.7028003931045532, + -2.8014183044433594e-06, + 13.124958992004395 + ], + [ + 0.025003790855407715, + -2.8014183044433594e-06, + 13.124959945678711 + ], + [ + 0.02500373125076294, + 0.8951110243797302, + 12.445600509643555 + ], + [ + 1.7028002738952637, + 0.8951110243797302, + 12.445600509643555 + ], + [ + 1.7028003931045532, + 0.8951110243797302, + 13.124958992004395 + ], + [ + 0.025003790855407715, + 0.8951110243797302, + 13.124959945678711 + ] + ] + } + } + }, + { + "objectId": "DeskLamp|surface|4|21", + "object_info": { + "name": "DeskLamp|surface|4|21", + "position": { + "x": 2.2257964611053467, + "y": 0.7821089029312134, + "z": 10.566015243530273 + }, + "rotation": { + "x": 0.0013408676022663713, + "y": 180.0013885498047, + "z": 0.023090684786438942 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 2.059999942779541, + "salientMaterials": [ + "Metal", + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 2.514463186264038, + "objectType": "DeskLamp", + "objectId": "DeskLamp|surface|4|21", + "assetId": "RoboTHOR_desk_lamp_arstid_v", + "parentReceptacles": [ + "DiningTable|4|0|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.3331634998321533, + 1.3275303840637207, + 10.68081283569336 + ], + [ + 2.3331634998321533, + 1.3275303840637207, + 10.45119857788086 + ], + [ + 2.3331634998321533, + 0.7820777893066406, + 10.68081283569336 + ], + [ + 2.3331634998321533, + 0.7820777893066406, + 10.45119857788086 + ], + [ + 2.1187827587127686, + 1.3275303840637207, + 10.68081283569336 + ], + [ + 2.1187827587127686, + 1.3275303840637207, + 10.45119857788086 + ], + [ + 2.1187827587127686, + 0.7820777893066406, + 10.68081283569336 + ], + [ + 2.1187827587127686, + 0.7820777893066406, + 10.45119857788086 + ] + ], + "center": { + "x": 2.225973129272461, + "y": 1.0548040866851807, + "z": 10.56600570678711 + }, + "size": { + "x": 0.21438074111938477, + "y": 0.5454525947570801, + "z": 0.2296142578125 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.1186490058898926, + 0.7821493744850159, + 10.451215744018555 + ], + [ + 2.3329381942749023, + 0.7820630073547363, + 10.451210975646973 + ], + [ + 2.332943916320801, + 0.7820684313774109, + 10.680814743041992 + ], + [ + 2.118654727935791, + 0.7821547985076904, + 10.680819511413574 + ], + [ + 2.118868827819824, + 1.327525019645691, + 10.451203346252441 + ], + [ + 2.333158016204834, + 1.3274387121200562, + 10.451197624206543 + ], + [ + 2.3331634998321533, + 1.327444076538086, + 10.680801391601562 + ], + [ + 2.1188745498657227, + 1.3275303840637207, + 10.680807113647461 + ] + ] + } + } + }, + { + "objectId": "SideTable|4|1", + "object_info": { + "name": "SideTable|4|1", + "position": { + "x": 2.302966833114624, + "y": 0.0017558932304382324, + "z": 8.910143852233887 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 2.446124315261841, + "objectType": "SideTable", + "objectId": "SideTable|4|1", + "assetId": "Side_Table_307_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.716496706008911, + 0.8106672167778015, + 9.028287887573242 + ], + [ + 2.716496706008911, + 0.8106672167778015, + 8.791999816894531 + ], + [ + 2.716496706008911, + 0.0, + 9.028287887573242 + ], + [ + 2.716496706008911, + 0.0, + 8.791999816894531 + ], + [ + 1.889436960220337, + 0.8106672167778015, + 9.028287887573242 + ], + [ + 1.889436960220337, + 0.8106672167778015, + 8.791999816894531 + ], + [ + 1.889436960220337, + 0.0, + 9.028287887573242 + ], + [ + 1.889436960220337, + 0.0, + 8.791999816894531 + ] + ], + "center": { + "x": 2.302966833114624, + "y": 0.40533360838890076, + "z": 8.910143852233887 + }, + "size": { + "x": 0.8270597457885742, + "y": 0.8106672167778015, + "z": 0.23628807067871094 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.716496706008911, + 0.0, + 9.028287887573242 + ], + [ + 1.889436960220337, + 0.0, + 9.028287887573242 + ], + [ + 1.889436960220337, + 0.0, + 8.791999816894531 + ], + [ + 2.716496706008911, + 0.0, + 8.791999816894531 + ], + [ + 2.716496706008911, + 0.8106672167778015, + 9.028287887573242 + ], + [ + 1.889436960220337, + 0.8106672167778015, + 9.028287887573242 + ], + [ + 1.889436960220337, + 0.8106672167778015, + 8.791999816894531 + ], + [ + 2.716496706008911, + 0.8106672167778015, + 8.791999816894531 + ] + ] + } + } + }, + { + "objectId": "Chair|4|0|3", + "object_info": { + "name": "Chair|4|0|3", + "position": { + "x": 2.173715591430664, + "y": 0.0008544623851776123, + "z": 11.254435539245605 + }, + "rotation": { + "x": 0.0, + "y": 184.4626922607422, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Metal", + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 3.049574613571167, + "objectType": "Chair", + "objectId": "Chair|4|0|3", + "assetId": "Chair_210_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.488889694213867, + 0.8322231769561768, + 11.511161804199219 + ], + [ + 2.488889694213867, + 0.8322231769561768, + 11.002986907958984 + ], + [ + 2.488889694213867, + -2.9027462005615234e-05, + 11.511161804199219 + ], + [ + 2.488889694213867, + -2.9027462005615234e-05, + 11.002986907958984 + ], + [ + 1.864943027496338, + 0.8322231769561768, + 11.511161804199219 + ], + [ + 1.864943027496338, + 0.8322231769561768, + 11.002986907958984 + ], + [ + 1.864943027496338, + -2.9027462005615234e-05, + 11.511161804199219 + ], + [ + 1.864943027496338, + -2.9027462005615234e-05, + 11.002986907958984 + ] + ], + "center": { + "x": 2.1769163608551025, + "y": 0.41609707474708557, + "z": 11.257074356079102 + }, + "size": { + "x": 0.6239466667175293, + "y": 0.8322522044181824, + "z": 0.5081748962402344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.843381404876709, + -2.8878450393676758e-05, + 11.039451599121094 + ], + [ + 2.4670932292938232, + -2.8878450393676758e-05, + 10.99077320098877 + ], + [ + 2.504957437515259, + -2.8878450393676758e-05, + 11.475921630859375 + ], + [ + 1.8812456130981445, + -2.8878450393676758e-05, + 11.5246000289917 + ], + [ + 1.843381404876709, + 0.8322229385375977, + 11.039451599121094 + ], + [ + 2.4670932292938232, + 0.8322229385375977, + 10.99077320098877 + ], + [ + 2.504957437515259, + 0.8322229385375977, + 11.475921630859375 + ], + [ + 1.8812456130981445, + 0.8322229385375977, + 11.5246000289917 + ] + ] + } + } + }, + { + "objectId": "DiningTable|4|0|0", + "object_info": { + "name": "DiningTable|4|0|0", + "position": { + "x": 1.7819786071777344, + "y": 0.0024788379669189453, + "z": 10.762722969055176 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Statue|surface|4|19", + "Statue|surface|4|20", + "DeskLamp|surface|4|21" + ], + "distance": 3.128809690475464, + "objectType": "DiningTable", + "objectId": "DiningTable|4|0|0", + "assetId": "Dining_Table_221_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.674949884414673, + 0.7820817232131958, + 11.157618522644043 + ], + [ + 2.674949884414673, + 0.7820817232131958, + 10.367827415466309 + ], + [ + 2.674949884414673, + -1.430511474609375e-06, + 11.157618522644043 + ], + [ + 2.674949884414673, + -1.430511474609375e-06, + 10.367827415466309 + ], + [ + 0.8890073299407959, + 0.7820817232131958, + 11.157618522644043 + ], + [ + 0.8890073299407959, + 0.7820817232131958, + 10.367827415466309 + ], + [ + 0.8890073299407959, + -1.430511474609375e-06, + 11.157618522644043 + ], + [ + 0.8890073299407959, + -1.430511474609375e-06, + 10.367827415466309 + ] + ], + "center": { + "x": 1.7819786071777344, + "y": 0.3910401463508606, + "z": 10.762722969055176 + }, + "size": { + "x": 1.785942554473877, + "y": 0.7820831537246704, + "z": 0.7897911071777344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.8890072703361511, + -1.430511474609375e-06, + 10.367827415466309 + ], + [ + 2.674949884414673, + -1.430511474609375e-06, + 10.367827415466309 + ], + [ + 2.674949884414673, + -1.430511474609375e-06, + 11.157618522644043 + ], + [ + 0.8890073895454407, + -1.430511474609375e-06, + 11.157618522644043 + ], + [ + 0.8890072703361511, + 0.7820817232131958, + 10.367827415466309 + ], + [ + 2.674949884414673, + 0.7820817232131958, + 10.367827415466309 + ], + [ + 2.674949884414673, + 0.7820817232131958, + 11.157618522644043 + ], + [ + 0.8890073895454407, + 0.7820817232131958, + 11.157618522644043 + ] + ] + } + } + }, + { + "objectId": "Chair|4|0|4", + "object_info": { + "name": "Chair|4|0|4", + "position": { + "x": 1.41483473777771, + "y": 0.0008544623851776123, + "z": 11.254436492919922 + }, + "rotation": { + "x": -0.0, + "y": 168.38992309570312, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Metal", + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 3.661496162414551, + "objectType": "Chair", + "objectId": "Chair|4|0|4", + "assetId": "Chair_210_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.7414209842681885, + 0.8322232961654663, + 11.524728775024414 + ], + [ + 1.7414209842681885, + 0.8322232961654663, + 10.97458267211914 + ], + [ + 1.7414209842681885, + -2.8908252716064453e-05, + 11.524728775024414 + ], + [ + 1.7414209842681885, + -2.8908252716064453e-05, + 10.97458267211914 + ], + [ + 1.0976619720458984, + 0.8322232961654663, + 11.524728775024414 + ], + [ + 1.0976619720458984, + 0.8322232961654663, + 10.97458267211914 + ], + [ + 1.0976619720458984, + -2.8908252716064453e-05, + 11.524728775024414 + ], + [ + 1.0976619720458984, + -2.8908252716064453e-05, + 10.97458267211914 + ] + ], + "center": { + "x": 1.4195414781570435, + "y": 0.4160971939563751, + "z": 11.249655723571777 + }, + "size": { + "x": 0.64375901222229, + "y": 0.8322522044181824, + "z": 0.5501461029052734 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.156933069229126, + -2.8878450393676758e-05, + 10.956400871276855 + ], + [ + 1.7697416543960571, + -2.8878450393676758e-05, + 11.082304000854492 + ], + [ + 1.6718084812164307, + -2.8878450393676758e-05, + 11.558972358703613 + ], + [ + 1.0589998960494995, + -2.8878450393676758e-05, + 11.43306827545166 + ], + [ + 1.156933069229126, + 0.8322229385375977, + 10.956400871276855 + ], + [ + 1.7697416543960571, + 0.8322229385375977, + 11.082304000854492 + ], + [ + 1.6718084812164307, + 0.8322229385375977, + 11.558972358703613 + ], + [ + 1.0589998960494995, + 0.8322229385375977, + 11.43306827545166 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 4.400000095367432, + "y": 0.9009997844696045, + "z": 9.300000190734863 + }, + "agent_rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "agent_cameraHorizon": 30.00000762939453, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 4.400000095367432, + "y": 1.5759997367858887, + "z": 9.300000190734863 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Chair|4|0|1", + "Chair|4|0|4", + "SideTable|4|1", + "DiningTable|4|0|0", + "Chair|4|0|3", + "Chair|4|0|2", + "Statue|surface|4|19", + "Painting|4|5", + "Sofa|4|3", + "DeskLamp|surface|4|21" + ], + "different_object": [ + "window|4|0", + "Statue|surface|4|20" + ] +} \ No newline at end of file diff --git a/train/train1875/1/1_depth_npy.npy b/train/train1875/1/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..ece04178c6815322fef6ba7b6487dd2c124e1e50 --- /dev/null +++ b/train/train1875/1/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a2a9420b62913adbcb7ccf47d1baa9207ed318ff10c235c567aca5a5c92633b6 +size 3145856 diff --git a/train/train1875/1/1_semantic_sensor_npy.npy b/train/train1875/1/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..d93cb09997d6d2cb068b869ce45e62d67dd5fb72 --- /dev/null +++ b/train/train1875/1/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2c0128aa8f27d695d3caac6c986f83b21b158f52aab07221abd6bb4f3c75f222 +size 2359424 diff --git a/train/train1875/1/depth_0.png b/train/train1875/1/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..a8eafd832ab1ba6bd0d12a9f975fcf0fd7088267 Binary files /dev/null and b/train/train1875/1/depth_0.png differ diff --git a/train/train1875/1/depth_1.png b/train/train1875/1/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..51e1a914c256165a7be86673513c5f3f36776410 Binary files /dev/null and b/train/train1875/1/depth_1.png differ diff --git a/train/train1875/1/mask_questions.jsonl b/train/train1875/1/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..351734ec17eb190e1612ae562cfadd4179b2c43e --- /dev/null +++ b/train/train1875/1/mask_questions.jsonl @@ -0,0 +1,5 @@ +{"id": 11165, "folder_dir": "train1875/1", "pair_name": "0-1:SideTable|4|1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. SideTable\nB. DogBed\nC. DiningTable\nD. Chair", "answer": "A", "object_name": "SideTable", "image_1": "train1875/1/rgb_0.png", "image_2": "train1875/1/rgb_1.png", "mask_image": "train1875/1/rgb_1_mask_SideTable|4|1.png", "options": ["SideTable", "DogBed", "DiningTable", "Chair"]} +{"id": 11166, "folder_dir": "train1875/1", "pair_name": "0-1:Chair|4|0|2", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Chair\nB. DogBed\nC. Chair\nD. DiningTable", "answer": "A", "object_name": "Chair", "image_1": "train1875/1/rgb_0.png", "image_2": "train1875/1/rgb_1.png", "mask_image": "train1875/1/rgb_1_mask_Chair|4|0|2.png", "options": ["Chair", "DogBed", "Chair", "DiningTable"]} +{"id": 11167, "folder_dir": "train1875/1", "pair_name": "1-0:Chair|4|0|1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Window\nB. Statue\nC. Chair\nD. Chair", "answer": "C", "object_name": "Chair", "image_1": "train1875/1/rgb_1.png", "image_2": "train1875/1/rgb_0.png", "mask_image": "train1875/1/rgb_0_mask_Chair|4|0|1.png", "options": ["Window", "Statue", "Chair", "Chair"]} +{"id": 11168, "folder_dir": "train1875/1", "pair_name": "1-0:SideTable|4|1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Chair\nB. SideTable\nC. Window\nD. Statue", "answer": "B", "object_name": "SideTable", "image_1": "train1875/1/rgb_1.png", "image_2": "train1875/1/rgb_0.png", "mask_image": "train1875/1/rgb_0_mask_SideTable|4|1.png", "options": ["Chair", "SideTable", "Window", "Statue"]} +{"id": 11169, "folder_dir": "train1875/1", "pair_name": "1-0:Chair|4|0|2", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Chair\nB. Window\nC. Chair\nD. Statue", "answer": "A", "object_name": "Chair", "image_1": "train1875/1/rgb_1.png", "image_2": "train1875/1/rgb_0.png", "mask_image": "train1875/1/rgb_0_mask_Chair|4|0|2.png", "options": ["Chair", "Window", "Chair", "Statue"]} diff --git a/train/train1875/1/questions_distance.jsonl b/train/train1875/1/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fd94dcb15fde83e9bbb91f80d5fe2e64bc007b58 --- /dev/null +++ b/train/train1875/1/questions_distance.jsonl @@ -0,0 +1,2 @@ +{"id": 4543, "folder_dir": "train1875/1", "query": "Which of the following objects is closest to SideTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Painting\nB. DogBed\nC. DeskLamp\nD. Other\n", "answer": "A", "src_object": "SideTable", "target_object": "Painting", "question": "Which of the following objects is closest to SideTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Painting", "semantic_id": "Painting|4|5", "distance": 1.7394531322738862, "com": {"x": 0.6075762510299683, "y": 0.7746534943580627, "z": 8.787870407104492}}, {"text": "DogBed", "semantic_id": "DogBed|4|2", "distance": 3.014026918647965, "com": {"x": 4.642265796661377, "y": 0.15797698497772217, "z": 10.794514656066895}}, {"text": "DeskLamp", "semantic_id": "DeskLamp|surface|4|21", "distance": 1.7803422182193431, "com": {"x": 2.225973129272461, "y": 1.0548040866851807, "z": 10.56600570678711}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1875/1/rgb_0.png", "image_2": "train1875/1/rgb_1.png"} +{"id": 4544, "folder_dir": "train1875/1", "query": "Which of the following objects is closest to Sofa in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Painting\nB. DeskLamp\nC. Window\nD. Other\n", "answer": "C", "src_object": "Sofa", "target_object": "Window", "question": "Which of the following objects is closest to Sofa in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Painting", "semantic_id": "Painting|4|5", "distance": 4.018952868348947, "com": {"x": 0.6075762510299683, "y": 0.7746534943580627, "z": 8.787870407104492}}, {"text": "DeskLamp", "semantic_id": "DeskLamp|surface|4|21", "distance": 2.6737930610712413, "com": {"x": 2.225973129272461, "y": 1.0548040866851807, "z": 10.56600570678711}}, {"text": "Window", "semantic_id": "window|4|0", "distance": 2.04500011041633, "com": {"x": -4.842877388000488e-08, "y": 1.4973599910736084, "z": 11.257665634155273}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1875/1/rgb_0.png", "image_2": "train1875/1/rgb_1.png"} diff --git a/train/train1875/1/rgb_0.png b/train/train1875/1/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..4974c7d760344db143bc15dc2b5f041945eb4566 --- /dev/null +++ b/train/train1875/1/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d769effb7c8102000e6ce5496ffc4d1268d124e1a87ecb653f16fbc1ec43513b +size 579283 diff --git a/train/train1875/1/rgb_0_mask_Chair|4|0|1.png b/train/train1875/1/rgb_0_mask_Chair|4|0|1.png new file mode 100644 index 0000000000000000000000000000000000000000..7f9b885db9633d21f6f56bc70f363145ee3840e3 --- /dev/null +++ b/train/train1875/1/rgb_0_mask_Chair|4|0|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cde937f5b499cacd5b56b074d881e9036404b3af82b4ec51ef0e5a0987f0454c +size 501567 diff --git a/train/train1875/1/rgb_0_mask_Chair|4|0|2.png b/train/train1875/1/rgb_0_mask_Chair|4|0|2.png new file mode 100644 index 0000000000000000000000000000000000000000..8a2829d96c8ba557548837eb68a60123635c94dd --- /dev/null +++ b/train/train1875/1/rgb_0_mask_Chair|4|0|2.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b2ba6d778c9cff565151dd5b0df311229fca899e0719c1f51732824b322fc2b2 +size 463768 diff --git a/train/train1875/1/rgb_0_mask_SideTable|4|1.png b/train/train1875/1/rgb_0_mask_SideTable|4|1.png new file mode 100644 index 0000000000000000000000000000000000000000..70ee6e0596f87b7a8258626a4c3c1aee9f9e5a24 --- /dev/null +++ b/train/train1875/1/rgb_0_mask_SideTable|4|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:192577a489e137f7eee86a0c6f825bffc4d59cbee06fcf7be71a7a375fe29116 +size 502141 diff --git a/train/train1875/1/rgb_1.png b/train/train1875/1/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..ce7a392e51806df0a4b0e6ab400370c5db54c656 --- /dev/null +++ b/train/train1875/1/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:83ec3052459a92e31eb794c6cad15f04e30bf83524f5e9c080d871cd8c8ecba0 +size 411609 diff --git a/train/train1875/1/rgb_1_mask_Chair|4|0|2.png b/train/train1875/1/rgb_1_mask_Chair|4|0|2.png new file mode 100644 index 0000000000000000000000000000000000000000..02f6a51422338f0bec60ff8b394ba38a928870e1 --- /dev/null +++ b/train/train1875/1/rgb_1_mask_Chair|4|0|2.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:87d65997dc96062a3090db313121edb9f550405c496dad6b7ac294a9cc9d72bd +size 328276 diff --git a/train/train1875/1/rgb_1_mask_SideTable|4|1.png b/train/train1875/1/rgb_1_mask_SideTable|4|1.png new file mode 100644 index 0000000000000000000000000000000000000000..38155d11349e042ca5fa0271840f79c73544d36b --- /dev/null +++ b/train/train1875/1/rgb_1_mask_SideTable|4|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3aa83be928cad8fcfc199fad9f4c72d04010600c364bd45baf1622f32d290a03 +size 360705 diff --git a/train/train1875/1/semantic_0.png b/train/train1875/1/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..d6d87e79ebfa69d95d7ce08fa0eb258bfe4a8744 Binary files /dev/null and b/train/train1875/1/semantic_0.png differ diff --git a/train/train1875/1/semantic_1.png b/train/train1875/1/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..68f865ad233e8a38e95a2c642cfdfc4d450a26f3 Binary files /dev/null and b/train/train1875/1/semantic_1.png differ diff --git a/train/train1875/2/0.json b/train/train1875/2/0.json new file mode 100644 index 0000000000000000000000000000000000000000..b216c3d6632454f0ce038b6f3373eaca541e26e6 --- /dev/null +++ b/train/train1875/2/0.json @@ -0,0 +1,1872 @@ +{ + "object": [ + { + "objectId": "Statue|surface|4|19", + "object_info": { + "name": "Statue|surface|4|19", + "position": { + "x": 2.2257962226867676, + "y": 0.7808696627616882, + "z": 11.057782173156738 + }, + "rotation": { + "x": -7.705308235017583e-05, + "y": 179.99993896484375, + "z": -2.3478729417547584e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 2.759188175201416, + "objectType": "Statue", + "objectId": "Statue|surface|4|19", + "assetId": "Waving_Statue_1", + "parentReceptacles": [ + "DiningTable|4|0|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.3249969482421875, + 1.140368103981018, + 11.155679702758789 + ], + [ + 2.3249969482421875, + 1.140368103981018, + 10.959884643554688 + ], + [ + 2.3249969482421875, + 0.7820816040039062, + 11.155679702758789 + ], + [ + 2.3249969482421875, + 0.7820816040039062, + 10.959884643554688 + ], + [ + 2.1169772148132324, + 1.140368103981018, + 11.155679702758789 + ], + [ + 2.1169772148132324, + 1.140368103981018, + 10.959884643554688 + ], + [ + 2.1169772148132324, + 0.7820816040039062, + 11.155679702758789 + ], + [ + 2.1169772148132324, + 0.7820816040039062, + 10.959884643554688 + ] + ], + "center": { + "x": 2.22098708152771, + "y": 0.9612248539924622, + "z": 11.057782173156738 + }, + "size": { + "x": 0.20801973342895508, + "y": 0.3582864999771118, + "z": 0.19579505920410156 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.116975784301758, + 0.7820812463760376, + 10.959884643554688 + ], + [ + 2.324995517730713, + 0.7820813059806824, + 10.959884643554688 + ], + [ + 2.324995517730713, + 0.7820810675621033, + 11.155679702758789 + ], + [ + 2.1169755458831787, + 0.7820810079574585, + 11.155678749084473 + ], + [ + 2.116975784301758, + 1.1403690576553345, + 10.959885597229004 + ], + [ + 2.324995517730713, + 1.140369176864624, + 10.959885597229004 + ], + [ + 2.324995279312134, + 1.140368938446045, + 11.155679702758789 + ], + [ + 2.1169755458831787, + 1.1403688192367554, + 11.155679702758789 + ] + ] + } + } + }, + { + "objectId": "Chair|4|0|1", + "object_info": { + "name": "Chair|4|0|1", + "position": { + "x": 0.7321906685829163, + "y": 0.0008544623851776123, + "z": 10.763168334960938 + }, + "rotation": { + "x": -0.0, + "y": 78.55499267578125, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Metal", + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 4.0745849609375, + "objectType": "Chair", + "objectId": "Chair|4|0|1", + "assetId": "Chair_210_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.0114384889602661, + 0.8322234153747559, + 11.089305877685547 + ], + [ + 1.0114384889602661, + 0.8322234153747559, + 10.445968627929688 + ], + [ + 1.0114384889602661, + -2.9087066650390625e-05, + 11.089305877685547 + ], + [ + 1.0114384889602661, + -2.9087066650390625e-05, + 10.445968627929688 + ], + [ + 0.46215927600860596, + 0.8322234153747559, + 11.089305877685547 + ], + [ + 0.46215927600860596, + 0.8322234153747559, + 10.445968627929688 + ], + [ + 0.46215927600860596, + -2.9087066650390625e-05, + 11.089305877685547 + ], + [ + 0.46215927600860596, + -2.9087066650390625e-05, + 10.445968627929688 + ] + ], + "center": { + "x": 0.736798882484436, + "y": 0.41609716415405273, + "z": 10.767637252807617 + }, + "size": { + "x": 0.5492792129516602, + "y": 0.8322525024414062, + "z": 0.6433372497558594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.029482364654541, + -2.8878450393676758e-05, + 10.504408836364746 + ], + [ + 0.9053446054458618, + -2.8878450393676758e-05, + 11.11757755279541 + ], + [ + 0.42839670181274414, + -2.8878450393676758e-05, + 11.021018028259277 + ], + [ + 0.5525345206260681, + -2.8878450393676758e-05, + 10.407849311828613 + ], + [ + 1.029482364654541, + 0.8322229385375977, + 10.504408836364746 + ], + [ + 0.9053446054458618, + 0.8322229385375977, + 11.11757755279541 + ], + [ + 0.42839670181274414, + 0.8322229385375977, + 11.021018028259277 + ], + [ + 0.5525345206260681, + 0.8322229385375977, + 10.407849311828613 + ] + ] + } + } + }, + { + "objectId": "Painting|4|5", + "object_info": { + "name": "Painting|4|5", + "position": { + "x": 0.6075762510299683, + "y": 0.7746534943580627, + "z": 8.771995544433594 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 3.9619333744049072, + "objectType": "Painting", + "objectId": "Painting|4|5", + "assetId": "Wall_Decor_Photo_3V", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.0380332469940186, + 1.0626155138015747, + 8.803740501403809 + ], + [ + 1.0380332469940186, + 1.0626155138015747, + 8.772000312805176 + ], + [ + 1.0380332469940186, + 0.4866914749145508, + 8.803740501403809 + ], + [ + 1.0380332469940186, + 0.4866914749145508, + 8.772000312805176 + ], + [ + 0.17711925506591797, + 1.0626155138015747, + 8.803740501403809 + ], + [ + 0.17711925506591797, + 1.0626155138015747, + 8.772000312805176 + ], + [ + 0.17711925506591797, + 0.4866914749145508, + 8.803740501403809 + ], + [ + 0.17711925506591797, + 0.4866914749145508, + 8.772000312805176 + ] + ], + "center": { + "x": 0.6075762510299683, + "y": 0.7746534943580627, + "z": 8.787870407104492 + }, + "size": { + "x": 0.8609139919281006, + "y": 0.5759240388870239, + "z": 0.03174018859863281 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DiningTable|3|0", + "object_info": { + "name": "DiningTable|3|0", + "position": { + "x": 4.79160737991333, + "y": -0.00013914704322814941, + "z": 7.714365005493164 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Plate|surface|3|18" + ], + "distance": 2.0212814807891846, + "objectType": "DiningTable", + "objectId": "DiningTable|3|0", + "assetId": "RoboTHOR_dining_table_jokkmokk_v", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.175214767456055, + 0.7417037487030029, + 8.316061019897461 + ], + [ + 5.175214767456055, + 0.7417037487030029, + 7.112668991088867 + ], + [ + 5.175214767456055, + 7.748603820800781e-06, + 8.316061019897461 + ], + [ + 5.175214767456055, + 7.748603820800781e-06, + 7.112668991088867 + ], + [ + 4.4079999923706055, + 0.7417037487030029, + 8.316061019897461 + ], + [ + 4.4079999923706055, + 0.7417037487030029, + 7.112668991088867 + ], + [ + 4.4079999923706055, + 7.748603820800781e-06, + 8.316061019897461 + ], + [ + 4.4079999923706055, + 7.748603820800781e-06, + 7.112668991088867 + ] + ], + "center": { + "x": 4.79160737991333, + "y": 0.37085574865341187, + "z": 7.714365005493164 + }, + "size": { + "x": 0.7672147750854492, + "y": 0.7416960000991821, + "z": 1.2033920288085938 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.1752142906188965, + 8.195638656616211e-06, + 7.112668991088867 + ], + [ + 5.1752142906188965, + 8.195638656616211e-06, + 8.316061019897461 + ], + [ + 4.408000469207764, + 8.195638656616211e-06, + 8.316061019897461 + ], + [ + 4.408000469207764, + 8.195638656616211e-06, + 7.112669467926025 + ], + [ + 5.1752142906188965, + 0.7417033910751343, + 7.112668991088867 + ], + [ + 5.1752142906188965, + 0.7417033910751343, + 8.316061019897461 + ], + [ + 4.408000469207764, + 0.7417033910751343, + 8.316061019897461 + ], + [ + 4.408000469207764, + 0.7417033910751343, + 7.112669467926025 + ] + ] + } + } + }, + { + "objectId": "Chair|4|0|2", + "object_info": { + "name": "Chair|4|0|2", + "position": { + "x": 2.8319005966186523, + "y": 0.0008544623851776123, + "z": 10.763738632202148 + }, + "rotation": { + "x": 0.0, + "y": 284.9430847167969, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Metal", + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 2.2781248092651367, + "objectType": "Chair", + "objectId": "Chair|4|0|2", + "assetId": "Chair_210_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.1062493324279785, + 0.8322231769561768, + 11.102640151977539 + ], + [ + 3.1062493324279785, + 0.8322231769561768, + 10.450983047485352 + ], + [ + 3.1062493324279785, + -2.899765968322754e-05, + 11.102640151977539 + ], + [ + 3.1062493324279785, + -2.899765968322754e-05, + 10.450983047485352 + ], + [ + 2.540526866912842, + 0.8322231769561768, + 11.102640151977539 + ], + [ + 2.540526866912842, + 0.8322231769561768, + 10.450983047485352 + ], + [ + 2.540526866912842, + -2.899765968322754e-05, + 11.102640151977539 + ], + [ + 2.540526866912842, + -2.899765968322754e-05, + 10.450983047485352 + ] + ], + "center": { + "x": 2.82338809967041, + "y": 0.41609707474708557, + "z": 10.776811599731445 + }, + "size": { + "x": 0.5657224655151367, + "y": 0.8322521448135376, + "z": 0.6516571044921875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.6805906295776367, + -2.8878450393676758e-05, + 11.127667427062988 + ], + [ + 2.5192716121673584, + -2.8878450393676758e-05, + 10.523215293884277 + ], + [ + 2.9894392490386963, + -2.8878450393676758e-05, + 10.397734642028809 + ], + [ + 3.1507582664489746, + -2.8878450393676758e-05, + 11.00218677520752 + ], + [ + 2.6805906295776367, + 0.8322229385375977, + 11.127667427062988 + ], + [ + 2.5192716121673584, + 0.8322229385375977, + 10.523215293884277 + ], + [ + 2.9894392490386963, + 0.8322229385375977, + 10.397734642028809 + ], + [ + 3.1507582664489746, + 0.8322229385375977, + 11.00218677520752 + ] + ] + } + } + }, + { + "objectId": "Sofa|4|3", + "object_info": { + "name": "Sofa|4|3", + "position": { + "x": 0.8639020919799805, + "y": 0.0023636221885681152, + "z": 12.79378604888916 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 103.99999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 4.987763404846191, + "objectType": "Sofa", + "objectId": "Sofa|4|3", + "assetId": "Sofa_221_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.7028003931045532, + 0.8951113224029541, + 13.124959945678711 + ], + [ + 1.7028003931045532, + 0.8951113224029541, + 12.445600509643555 + ], + [ + 1.7028003931045532, + -2.8908252716064453e-06, + 13.124959945678711 + ], + [ + 1.7028003931045532, + -2.8908252716064453e-06, + 12.445600509643555 + ], + [ + 0.025003790855407715, + 0.8951113224029541, + 13.124959945678711 + ], + [ + 0.025003790855407715, + 0.8951113224029541, + 12.445600509643555 + ], + [ + 0.025003790855407715, + -2.8908252716064453e-06, + 13.124959945678711 + ], + [ + 0.025003790855407715, + -2.8908252716064453e-06, + 12.445600509643555 + ] + ], + "center": { + "x": 0.8639020919799805, + "y": 0.44755420088768005, + "z": 12.785280227661133 + }, + "size": { + "x": 1.6777966022491455, + "y": 0.8951141834259033, + "z": 0.6793594360351562 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.02500373125076294, + -2.8014183044433594e-06, + 12.445600509643555 + ], + [ + 1.7028002738952637, + -2.8014183044433594e-06, + 12.445600509643555 + ], + [ + 1.7028003931045532, + -2.8014183044433594e-06, + 13.124958992004395 + ], + [ + 0.025003790855407715, + -2.8014183044433594e-06, + 13.124959945678711 + ], + [ + 0.02500373125076294, + 0.8951110243797302, + 12.445600509643555 + ], + [ + 1.7028002738952637, + 0.8951110243797302, + 12.445600509643555 + ], + [ + 1.7028003931045532, + 0.8951110243797302, + 13.124958992004395 + ], + [ + 0.025003790855407715, + 0.8951110243797302, + 13.124959945678711 + ] + ] + } + } + }, + { + "objectId": "DeskLamp|surface|4|21", + "object_info": { + "name": "DeskLamp|surface|4|21", + "position": { + "x": 2.2257964611053467, + "y": 0.7821089029312134, + "z": 10.566015243530273 + }, + "rotation": { + "x": 0.0013408676022663713, + "y": 180.0013885498047, + "z": 0.023090684786438942 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 2.059999942779541, + "salientMaterials": [ + "Metal", + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 2.514463186264038, + "objectType": "DeskLamp", + "objectId": "DeskLamp|surface|4|21", + "assetId": "RoboTHOR_desk_lamp_arstid_v", + "parentReceptacles": [ + "DiningTable|4|0|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.3331634998321533, + 1.3275303840637207, + 10.68081283569336 + ], + [ + 2.3331634998321533, + 1.3275303840637207, + 10.45119857788086 + ], + [ + 2.3331634998321533, + 0.7820777893066406, + 10.68081283569336 + ], + [ + 2.3331634998321533, + 0.7820777893066406, + 10.45119857788086 + ], + [ + 2.1187827587127686, + 1.3275303840637207, + 10.68081283569336 + ], + [ + 2.1187827587127686, + 1.3275303840637207, + 10.45119857788086 + ], + [ + 2.1187827587127686, + 0.7820777893066406, + 10.68081283569336 + ], + [ + 2.1187827587127686, + 0.7820777893066406, + 10.45119857788086 + ] + ], + "center": { + "x": 2.225973129272461, + "y": 1.0548040866851807, + "z": 10.56600570678711 + }, + "size": { + "x": 0.21438074111938477, + "y": 0.5454525947570801, + "z": 0.2296142578125 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.1186490058898926, + 0.7821493744850159, + 10.451215744018555 + ], + [ + 2.3329381942749023, + 0.7820630073547363, + 10.451210975646973 + ], + [ + 2.332943916320801, + 0.7820684313774109, + 10.680814743041992 + ], + [ + 2.118654727935791, + 0.7821547985076904, + 10.680819511413574 + ], + [ + 2.118868827819824, + 1.327525019645691, + 10.451203346252441 + ], + [ + 2.333158016204834, + 1.3274387121200562, + 10.451197624206543 + ], + [ + 2.3331634998321533, + 1.327444076538086, + 10.680801391601562 + ], + [ + 2.1188745498657227, + 1.3275303840637207, + 10.680807113647461 + ] + ] + } + } + }, + { + "objectId": "SideTable|4|1", + "object_info": { + "name": "SideTable|4|1", + "position": { + "x": 2.302966833114624, + "y": 0.0017558932304382324, + "z": 8.910143852233887 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 2.446124315261841, + "objectType": "SideTable", + "objectId": "SideTable|4|1", + "assetId": "Side_Table_307_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.716496706008911, + 0.8106672167778015, + 9.028287887573242 + ], + [ + 2.716496706008911, + 0.8106672167778015, + 8.791999816894531 + ], + [ + 2.716496706008911, + 0.0, + 9.028287887573242 + ], + [ + 2.716496706008911, + 0.0, + 8.791999816894531 + ], + [ + 1.889436960220337, + 0.8106672167778015, + 9.028287887573242 + ], + [ + 1.889436960220337, + 0.8106672167778015, + 8.791999816894531 + ], + [ + 1.889436960220337, + 0.0, + 9.028287887573242 + ], + [ + 1.889436960220337, + 0.0, + 8.791999816894531 + ] + ], + "center": { + "x": 2.302966833114624, + "y": 0.40533360838890076, + "z": 8.910143852233887 + }, + "size": { + "x": 0.8270597457885742, + "y": 0.8106672167778015, + "z": 0.23628807067871094 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.716496706008911, + 0.0, + 9.028287887573242 + ], + [ + 1.889436960220337, + 0.0, + 9.028287887573242 + ], + [ + 1.889436960220337, + 0.0, + 8.791999816894531 + ], + [ + 2.716496706008911, + 0.0, + 8.791999816894531 + ], + [ + 2.716496706008911, + 0.8106672167778015, + 9.028287887573242 + ], + [ + 1.889436960220337, + 0.8106672167778015, + 9.028287887573242 + ], + [ + 1.889436960220337, + 0.8106672167778015, + 8.791999816894531 + ], + [ + 2.716496706008911, + 0.8106672167778015, + 8.791999816894531 + ] + ] + } + } + }, + { + "objectId": "Chair|4|0|3", + "object_info": { + "name": "Chair|4|0|3", + "position": { + "x": 2.173715591430664, + "y": 0.0008544623851776123, + "z": 11.254435539245605 + }, + "rotation": { + "x": 0.0, + "y": 184.4626922607422, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Metal", + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 3.049574613571167, + "objectType": "Chair", + "objectId": "Chair|4|0|3", + "assetId": "Chair_210_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.488889694213867, + 0.8322231769561768, + 11.511161804199219 + ], + [ + 2.488889694213867, + 0.8322231769561768, + 11.002986907958984 + ], + [ + 2.488889694213867, + -2.9027462005615234e-05, + 11.511161804199219 + ], + [ + 2.488889694213867, + -2.9027462005615234e-05, + 11.002986907958984 + ], + [ + 1.864943027496338, + 0.8322231769561768, + 11.511161804199219 + ], + [ + 1.864943027496338, + 0.8322231769561768, + 11.002986907958984 + ], + [ + 1.864943027496338, + -2.9027462005615234e-05, + 11.511161804199219 + ], + [ + 1.864943027496338, + -2.9027462005615234e-05, + 11.002986907958984 + ] + ], + "center": { + "x": 2.1769163608551025, + "y": 0.41609707474708557, + "z": 11.257074356079102 + }, + "size": { + "x": 0.6239466667175293, + "y": 0.8322522044181824, + "z": 0.5081748962402344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.843381404876709, + -2.8878450393676758e-05, + 11.039451599121094 + ], + [ + 2.4670932292938232, + -2.8878450393676758e-05, + 10.99077320098877 + ], + [ + 2.504957437515259, + -2.8878450393676758e-05, + 11.475921630859375 + ], + [ + 1.8812456130981445, + -2.8878450393676758e-05, + 11.5246000289917 + ], + [ + 1.843381404876709, + 0.8322229385375977, + 11.039451599121094 + ], + [ + 2.4670932292938232, + 0.8322229385375977, + 10.99077320098877 + ], + [ + 2.504957437515259, + 0.8322229385375977, + 11.475921630859375 + ], + [ + 1.8812456130981445, + 0.8322229385375977, + 11.5246000289917 + ] + ] + } + } + }, + { + "objectId": "DogBed|4|2", + "object_info": { + "name": "DogBed|4|2", + "position": { + "x": 4.638265609741211, + "y": 0.003950253129005432, + "z": 10.796929359436035 + }, + "rotation": { + "x": -0.0002660128811839968, + "y": -0.00015079793229233474, + "z": -2.7592546757659875e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.9800000190734863, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 1.5829848051071167, + "objectType": "DogBed", + "objectId": "DogBed|4|2", + "assetId": "Dog_Bed_2_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.138455390930176, + 0.31595391035079956, + 11.211904525756836 + ], + [ + 5.138455390930176, + 0.31595391035079956, + 10.377124786376953 + ], + [ + 5.138455390930176, + 5.960464477539063e-08, + 11.211904525756836 + ], + [ + 5.138455390930176, + 5.960464477539063e-08, + 10.377124786376953 + ], + [ + 4.146076202392578, + 0.31595391035079956, + 11.211904525756836 + ], + [ + 4.146076202392578, + 0.31595391035079956, + 10.377124786376953 + ], + [ + 4.146076202392578, + 5.960464477539063e-08, + 11.211904525756836 + ], + [ + 4.146076202392578, + 5.960464477539063e-08, + 10.377124786376953 + ] + ], + "center": { + "x": 4.642265796661377, + "y": 0.15797698497772217, + "z": 10.794514656066895 + }, + "size": { + "x": 0.9923791885375977, + "y": 0.3159538507461548, + "z": 0.8347797393798828 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.138454437255859, + 2.3562461137771606e-06, + 11.211907386779785 + ], + [ + 4.1460747718811035, + 2.834014594554901e-06, + 11.211904525756836 + ], + [ + 4.1460771560668945, + -1.0416842997074127e-06, + 10.377123832702637 + ], + [ + 5.138456344604492, + -1.5194527804851532e-06, + 10.377126693725586 + ], + [ + 5.138454437255859, + 0.31595462560653687, + 11.211905479431152 + ], + [ + 4.146075248718262, + 0.31595510244369507, + 11.211902618408203 + ], + [ + 4.1460771560668945, + 0.31595122814178467, + 10.37712287902832 + ], + [ + 5.138456344604492, + 0.31595075130462646, + 10.377124786376953 + ] + ] + } + } + }, + { + "objectId": "DiningTable|4|0|0", + "object_info": { + "name": "DiningTable|4|0|0", + "position": { + "x": 1.7819786071777344, + "y": 0.0024788379669189453, + "z": 10.762722969055176 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Statue|surface|4|19", + "Statue|surface|4|20", + "DeskLamp|surface|4|21" + ], + "distance": 3.128809690475464, + "objectType": "DiningTable", + "objectId": "DiningTable|4|0|0", + "assetId": "Dining_Table_221_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.674949884414673, + 0.7820817232131958, + 11.157618522644043 + ], + [ + 2.674949884414673, + 0.7820817232131958, + 10.367827415466309 + ], + [ + 2.674949884414673, + -1.430511474609375e-06, + 11.157618522644043 + ], + [ + 2.674949884414673, + -1.430511474609375e-06, + 10.367827415466309 + ], + [ + 0.8890073299407959, + 0.7820817232131958, + 11.157618522644043 + ], + [ + 0.8890073299407959, + 0.7820817232131958, + 10.367827415466309 + ], + [ + 0.8890073299407959, + -1.430511474609375e-06, + 11.157618522644043 + ], + [ + 0.8890073299407959, + -1.430511474609375e-06, + 10.367827415466309 + ] + ], + "center": { + "x": 1.7819786071777344, + "y": 0.3910401463508606, + "z": 10.762722969055176 + }, + "size": { + "x": 1.785942554473877, + "y": 0.7820831537246704, + "z": 0.7897911071777344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.8890072703361511, + -1.430511474609375e-06, + 10.367827415466309 + ], + [ + 2.674949884414673, + -1.430511474609375e-06, + 10.367827415466309 + ], + [ + 2.674949884414673, + -1.430511474609375e-06, + 11.157618522644043 + ], + [ + 0.8890073895454407, + -1.430511474609375e-06, + 11.157618522644043 + ], + [ + 0.8890072703361511, + 0.7820817232131958, + 10.367827415466309 + ], + [ + 2.674949884414673, + 0.7820817232131958, + 10.367827415466309 + ], + [ + 2.674949884414673, + 0.7820817232131958, + 11.157618522644043 + ], + [ + 0.8890073895454407, + 0.7820817232131958, + 11.157618522644043 + ] + ] + } + } + }, + { + "objectId": "Chair|4|0|4", + "object_info": { + "name": "Chair|4|0|4", + "position": { + "x": 1.41483473777771, + "y": 0.0008544623851776123, + "z": 11.254436492919922 + }, + "rotation": { + "x": -0.0, + "y": 168.38992309570312, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Metal", + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 3.661496162414551, + "objectType": "Chair", + "objectId": "Chair|4|0|4", + "assetId": "Chair_210_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.7414209842681885, + 0.8322232961654663, + 11.524728775024414 + ], + [ + 1.7414209842681885, + 0.8322232961654663, + 10.97458267211914 + ], + [ + 1.7414209842681885, + -2.8908252716064453e-05, + 11.524728775024414 + ], + [ + 1.7414209842681885, + -2.8908252716064453e-05, + 10.97458267211914 + ], + [ + 1.0976619720458984, + 0.8322232961654663, + 11.524728775024414 + ], + [ + 1.0976619720458984, + 0.8322232961654663, + 10.97458267211914 + ], + [ + 1.0976619720458984, + -2.8908252716064453e-05, + 11.524728775024414 + ], + [ + 1.0976619720458984, + -2.8908252716064453e-05, + 10.97458267211914 + ] + ], + "center": { + "x": 1.4195414781570435, + "y": 0.4160971939563751, + "z": 11.249655723571777 + }, + "size": { + "x": 0.64375901222229, + "y": 0.8322522044181824, + "z": 0.5501461029052734 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.156933069229126, + -2.8878450393676758e-05, + 10.956400871276855 + ], + [ + 1.7697416543960571, + -2.8878450393676758e-05, + 11.082304000854492 + ], + [ + 1.6718084812164307, + -2.8878450393676758e-05, + 11.558972358703613 + ], + [ + 1.0589998960494995, + -2.8878450393676758e-05, + 11.43306827545166 + ], + [ + 1.156933069229126, + 0.8322229385375977, + 10.956400871276855 + ], + [ + 1.7697416543960571, + 0.8322229385375977, + 11.082304000854492 + ], + [ + 1.6718084812164307, + 0.8322229385375977, + 11.558972358703613 + ], + [ + 1.0589998960494995, + 0.8322229385375977, + 11.43306827545166 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 4.300000190734863, + "y": 0.9009997844696045, + "z": 9.399999618530273 + }, + "agent_rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "agent_cameraHorizon": 60.000003814697266, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 4.300000190734863, + "y": 1.5759997367858887, + "z": 9.399999618530273 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Chair|4|0|4", + "DiningTable|4|0|0", + "Chair|4|0|3", + "Statue|surface|4|19", + "DogBed|4|2", + "Chair|4|0|2", + "Sofa|4|3" + ], + "different_object": [ + "Chair|4|0|1", + "SideTable|4|1", + "DiningTable|3|0", + "Painting|4|5", + "DeskLamp|surface|4|21" + ] +} \ No newline at end of file diff --git a/train/train1875/2/0_depth_npy.npy b/train/train1875/2/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..c5fda6c43135d51593792f115a46e43204cb8e21 --- /dev/null +++ b/train/train1875/2/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5ad7f34df5c5ed73928db741589e633f79e5380ac7ecfcde8b4381baa19f53ee +size 3145856 diff --git a/train/train1875/2/0_semantic_sensor_npy.npy b/train/train1875/2/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..d3ec6512a56c7a31d3a7ae9351c476e9dcc4cff1 --- /dev/null +++ b/train/train1875/2/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:865e46495ba8b64417d6402556060f3885d6d8a4540459cfa3868551f287a03b +size 2359424 diff --git a/train/train1875/2/1.json b/train/train1875/2/1.json new file mode 100644 index 0000000000000000000000000000000000000000..2451bbe21d006b7bed969272cc922cc3acc463d7 --- /dev/null +++ b/train/train1875/2/1.json @@ -0,0 +1,3502 @@ +{ + "object": [ + { + "objectId": "BasketBall|7|0", + "object_info": { + "name": "BasketBall|7|0", + "position": { + "x": 2.4640564918518066, + "y": 0.11968711018562317, + "z": 19.953516006469727 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6000000238418579, + "salientMaterials": [ + "Rubber" + ], + "receptacleObjectIds": null, + "distance": 10.678553581237793, + "objectType": "BasketBall", + "objectId": "BasketBall|7|0", + "assetId": "RoboTHOR_basketball_rhode_island_novelty_v", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.5837435722351074, + 0.23937422037124634, + 20.073204040527344 + ], + [ + 2.5837435722351074, + 0.23937422037124634, + 19.83382797241211 + ], + [ + 2.5837435722351074, + 0.0, + 20.073204040527344 + ], + [ + 2.5837435722351074, + 0.0, + 19.83382797241211 + ], + [ + 2.344369411468506, + 0.23937422037124634, + 20.073204040527344 + ], + [ + 2.344369411468506, + 0.23937422037124634, + 19.83382797241211 + ], + [ + 2.344369411468506, + 0.0, + 20.073204040527344 + ], + [ + 2.344369411468506, + 0.0, + 19.83382797241211 + ] + ], + "center": { + "x": 2.4640564918518066, + "y": 0.11968711018562317, + "z": 19.953516006469727 + }, + "size": { + "x": 0.23937416076660156, + "y": 0.23937422037124634, + "z": 0.23937606811523438 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.344369411468506, + 7.450580596923828e-09, + 20.073204040527344 + ], + [ + 2.344369411468506, + 7.450580596923828e-09, + 19.83382797241211 + ], + [ + 2.5837435722351074, + 7.450580596923828e-09, + 19.83382797241211 + ], + [ + 2.5837435722351074, + 7.450580596923828e-09, + 20.073204040527344 + ], + [ + 2.344369411468506, + 0.23937422037124634, + 20.073204040527344 + ], + [ + 2.344369411468506, + 0.23937422037124634, + 19.83382797241211 + ], + [ + 2.5837435722351074, + 0.23937422037124634, + 19.83382797241211 + ], + [ + 2.5837435722351074, + 0.23937422037124634, + 20.073204040527344 + ] + ] + } + } + }, + { + "objectId": "Statue|surface|4|19", + "object_info": { + "name": "Statue|surface|4|19", + "position": { + "x": 2.2257962226867676, + "y": 0.7808696627616882, + "z": 11.057782173156738 + }, + "rotation": { + "x": -7.705308235017583e-05, + "y": 179.99993896484375, + "z": -2.3478729417547584e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 2.759188175201416, + "objectType": "Statue", + "objectId": "Statue|surface|4|19", + "assetId": "Waving_Statue_1", + "parentReceptacles": [ + "DiningTable|4|0|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.3249969482421875, + 1.140368103981018, + 11.155679702758789 + ], + [ + 2.3249969482421875, + 1.140368103981018, + 10.959884643554688 + ], + [ + 2.3249969482421875, + 0.7820816040039062, + 11.155679702758789 + ], + [ + 2.3249969482421875, + 0.7820816040039062, + 10.959884643554688 + ], + [ + 2.1169772148132324, + 1.140368103981018, + 11.155679702758789 + ], + [ + 2.1169772148132324, + 1.140368103981018, + 10.959884643554688 + ], + [ + 2.1169772148132324, + 0.7820816040039062, + 11.155679702758789 + ], + [ + 2.1169772148132324, + 0.7820816040039062, + 10.959884643554688 + ] + ], + "center": { + "x": 2.22098708152771, + "y": 0.9612248539924622, + "z": 11.057782173156738 + }, + "size": { + "x": 0.20801973342895508, + "y": 0.3582864999771118, + "z": 0.19579505920410156 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.116975784301758, + 0.7820812463760376, + 10.959884643554688 + ], + [ + 2.324995517730713, + 0.7820813059806824, + 10.959884643554688 + ], + [ + 2.324995517730713, + 0.7820810675621033, + 11.155679702758789 + ], + [ + 2.1169755458831787, + 0.7820810079574585, + 11.155678749084473 + ], + [ + 2.116975784301758, + 1.1403690576553345, + 10.959885597229004 + ], + [ + 2.324995517730713, + 1.140369176864624, + 10.959885597229004 + ], + [ + 2.324995279312134, + 1.140368938446045, + 11.155679702758789 + ], + [ + 2.1169755458831787, + 1.1403688192367554, + 11.155679702758789 + ] + ] + } + } + }, + { + "objectId": "door|4|8", + "object_info": { + "name": "door|4|8", + "position": { + "x": 5.176477432250977, + "y": -0.0005984306335449219, + "z": 13.150002479553223 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.8200809955596924, + "objectType": "Doorway", + "objectId": "door|4|8", + "assetId": "Doorway_Double_4", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.200747489929199, + 2.1049132347106934, + 13.220573425292969 + ], + [ + 5.200747489929199, + 2.1049132347106934, + 12.231983184814453 + ], + [ + 5.200747489929199, + -2.384185791015625e-07, + 13.220573425292969 + ], + [ + 5.200747489929199, + -2.384185791015625e-07, + 12.231983184814453 + ], + [ + 3.1618261337280273, + 2.1049132347106934, + 13.220573425292969 + ], + [ + 3.1618261337280273, + 2.1049132347106934, + 12.231983184814453 + ], + [ + 3.1618261337280273, + -2.384185791015625e-07, + 13.220573425292969 + ], + [ + 3.1618261337280273, + -2.384185791015625e-07, + 12.231983184814453 + ] + ], + "center": { + "x": 4.181286811828613, + "y": 1.0524564981460571, + "z": 12.726278305053711 + }, + "size": { + "x": 2.038921356201172, + "y": 2.1049134731292725, + "z": 0.9885902404785156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Television|8|6", + "object_info": { + "name": "Television|8|6", + "position": { + "x": 4.39431619644165, + "y": 1.2759428024291992, + "z": 15.97736644744873 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 6.489069938659668, + "objectType": "Television", + "objectId": "Television|8|6", + "assetId": "Television_25", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.455300807952881, + 1.6262065172195435, + 16.51884651184082 + ], + [ + 4.455300807952881, + 1.6262065172195435, + 15.435884475708008 + ], + [ + 4.455300807952881, + 0.8892563581466675, + 16.51884651184082 + ], + [ + 4.455300807952881, + 0.8892563581466675, + 15.435884475708008 + ], + [ + 4.388000011444092, + 1.6262065172195435, + 16.51884651184082 + ], + [ + 4.388000011444092, + 1.6262065172195435, + 15.435884475708008 + ], + [ + 4.388000011444092, + 0.8892563581466675, + 16.51884651184082 + ], + [ + 4.388000011444092, + 0.8892563581466675, + 15.435884475708008 + ] + ], + "center": { + "x": 4.421650409698486, + "y": 1.2577314376831055, + "z": 15.977365493774414 + }, + "size": { + "x": 0.06730079650878906, + "y": 0.736950159072876, + "z": 1.0829620361328125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "FloorLamp|7|4|1", + "object_info": { + "name": "FloorLamp|7|4|1", + "position": { + "x": 1.6431869268417358, + "y": 0.006955265998840332, + "z": 23.574430465698242 + }, + "rotation": { + "x": 0.00774009944871068, + "y": 36.35567855834961, + "z": 0.0012783753918483853 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 14.389242172241211, + "objectType": "FloorLamp", + "objectId": "FloorLamp|7|4|1", + "assetId": "Floor_Lamp_15", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.8990676403045654, + 1.857406497001648, + 23.848159790039062 + ], + [ + 1.8990676403045654, + 1.857406497001648, + 23.291770935058594 + ], + [ + 1.8990676403045654, + 3.814697265625e-05, + 23.848159790039062 + ], + [ + 1.8990676403045654, + 3.814697265625e-05, + 23.291770935058594 + ], + [ + 1.354663610458374, + 1.857406497001648, + 23.848159790039062 + ], + [ + 1.354663610458374, + 1.857406497001648, + 23.291770935058594 + ], + [ + 1.354663610458374, + 3.814697265625e-05, + 23.848159790039062 + ], + [ + 1.354663610458374, + 3.814697265625e-05, + 23.291770935058594 + ] + ], + "center": { + "x": 1.6268656253814697, + "y": 0.9287223219871521, + "z": 23.569965362548828 + }, + "size": { + "x": 0.5444040298461914, + "y": 1.8573683500289917, + "z": 0.5563888549804688 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.0408663749694824, + 2.9006507247686386e-05, + 23.649141311645508 + ], + [ + 1.597196102142334, + 1.6714446246623993e-05, + 23.97571563720703 + ], + [ + 1.2763456106185913, + 8.98316502571106e-05, + 23.539817810058594 + ], + [ + 1.7200158834457397, + 0.00010212371125817299, + 23.213245391845703 + ], + [ + 2.0409817695617676, + 1.8573956489562988, + 23.649368286132812 + ], + [ + 1.5973114967346191, + 1.857383370399475, + 23.975940704345703 + ], + [ + 1.2764610052108765, + 1.8574564456939697, + 23.5400447845459 + ], + [ + 1.720131278038025, + 1.8574687242507935, + 23.213472366333008 + ] + ] + } + } + }, + { + "objectId": "Painting|8|8", + "object_info": { + "name": "Painting|8|8", + "position": { + "x": 4.936426162719727, + "y": 1.2000521421432495, + "z": 17.52739143371582 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 8.044806480407715, + "objectType": "Painting", + "objectId": "Painting|8|8", + "assetId": "Wall_Decor_Photo_7", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.40455961227417, + 1.5218288898468018, + 17.52899932861328 + ], + [ + 5.40455961227417, + 1.5218288898468018, + 17.501571655273438 + ], + [ + 5.40455961227417, + 0.8813021183013916, + 17.52899932861328 + ], + [ + 5.40455961227417, + 0.8813021183013916, + 17.501571655273438 + ], + [ + 4.468292713165283, + 1.5218288898468018, + 17.52899932861328 + ], + [ + 4.468292713165283, + 1.5218288898468018, + 17.501571655273438 + ], + [ + 4.468292713165283, + 0.8813021183013916, + 17.52899932861328 + ], + [ + 4.468292713165283, + 0.8813021183013916, + 17.501571655273438 + ] + ], + "center": { + "x": 4.936426162719727, + "y": 1.2015655040740967, + "z": 17.51528549194336 + }, + "size": { + "x": 0.9362668991088867, + "y": 0.6405267715454102, + "z": 0.02742767333984375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ArmChair|7|4|0", + "object_info": { + "name": "ArmChair|7|4|0", + "position": { + "x": 2.7308361530303955, + "y": -0.0016761720180511475, + "z": 23.614013671875 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather" + ], + "receptacleObjectIds": [], + "distance": 14.253074645996094, + "objectType": "ArmChair", + "objectId": "ArmChair|7|4|0", + "assetId": "Armchair_201_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.2308361530303955, + 0.9222918152809143, + 24.084014892578125 + ], + [ + 3.2308361530303955, + 0.9222918152809143, + 23.104995727539062 + ], + [ + 3.2308361530303955, + -7.62939453125e-06, + 24.084014892578125 + ], + [ + 3.2308361530303955, + -7.62939453125e-06, + 23.104995727539062 + ], + [ + 2.2308361530303955, + 0.9222918152809143, + 24.084014892578125 + ], + [ + 2.2308361530303955, + 0.9222918152809143, + 23.104995727539062 + ], + [ + 2.2308361530303955, + -7.62939453125e-06, + 24.084014892578125 + ], + [ + 2.2308361530303955, + -7.62939453125e-06, + 23.104995727539062 + ] + ], + "center": { + "x": 2.7308361530303955, + "y": 0.46114209294319153, + "z": 23.594505310058594 + }, + "size": { + "x": 1.0, + "y": 0.9222994446754456, + "z": 0.9790191650390625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.2308361530303955, + -7.68899917602539e-06, + 23.104995727539062 + ], + [ + 3.2308361530303955, + -7.68899917602539e-06, + 23.104995727539062 + ], + [ + 3.2308361530303955, + -7.68899917602539e-06, + 24.084012985229492 + ], + [ + 2.2308361530303955, + -7.68899917602539e-06, + 24.084012985229492 + ], + [ + 2.2308361530303955, + 0.92229163646698, + 23.104995727539062 + ], + [ + 3.2308361530303955, + 0.92229163646698, + 23.104995727539062 + ], + [ + 3.2308361530303955, + 0.92229163646698, + 24.084012985229492 + ], + [ + 2.2308361530303955, + 0.92229163646698, + 24.084012985229492 + ] + ] + } + } + }, + { + "objectId": "door|4|5", + "object_info": { + "name": "door|4|5", + "position": { + "x": 6.574704170227051, + "y": -0.0022848844528198242, + "z": 10.628036499023438 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.5283961296081543, + "objectType": "Doorway", + "objectId": "door|4|5", + "assetId": "Doorway_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.490900039672852, + 2.0939149856567383, + 10.64681625366211 + ], + [ + 7.490900039672852, + 2.0939149856567383, + 9.593067169189453 + ], + [ + 7.490900039672852, + -0.002017974853515625, + 10.64681625366211 + ], + [ + 7.490900039672852, + -0.002017974853515625, + 9.593067169189453 + ], + [ + 6.52313232421875, + 2.0939149856567383, + 10.64681625366211 + ], + [ + 6.52313232421875, + 2.0939149856567383, + 9.593067169189453 + ], + [ + 6.52313232421875, + -0.002017974853515625, + 10.64681625366211 + ], + [ + 6.52313232421875, + -0.002017974853515625, + 9.593067169189453 + ] + ], + "center": { + "x": 7.007016181945801, + "y": 1.0459485054016113, + "z": 10.119941711425781 + }, + "size": { + "x": 0.9677677154541016, + "y": 2.095932960510254, + "z": 1.0537490844726562 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Statue|surface|7|33", + "object_info": { + "name": "Statue|surface|7|33", + "position": { + "x": 0.20190145075321198, + "y": 0.7599295973777771, + "z": 23.627748489379883 + }, + "rotation": { + "x": -0.0038510244339704514, + "y": 179.99855041503906, + "z": 0.013887103646993637 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Stone" + ], + "receptacleObjectIds": null, + "distance": 14.767763137817383, + "objectType": "Statue", + "objectId": "Statue|surface|7|33", + "assetId": "Stone_Statue_1", + "parentReceptacles": [ + "Dresser|7|2", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.28472810983657837, + 1.2557467222213745, + 23.695274353027344 + ], + [ + 0.28472810983657837, + 1.2557467222213745, + 23.560226440429688 + ], + [ + 0.28472810983657837, + 0.6698999404907227, + 23.695274353027344 + ], + [ + 0.28472810983657837, + 0.6698999404907227, + 23.560226440429688 + ], + [ + 0.13481584191322327, + 1.2557467222213745, + 23.695274353027344 + ], + [ + 0.13481584191322327, + 1.2557467222213745, + 23.560226440429688 + ], + [ + 0.13481584191322327, + 0.6698999404907227, + 23.695274353027344 + ], + [ + 0.13481584191322327, + 0.6698999404907227, + 23.560226440429688 + ] + ], + "center": { + "x": 0.20977197587490082, + "y": 0.9628233313560486, + "z": 23.627750396728516 + }, + "size": { + "x": 0.1499122679233551, + "y": 0.5858467817306519, + "z": 0.13504791259765625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.1348196268081665, + 0.669940710067749, + 23.56022834777832 + ], + [ + 0.28463804721832275, + 0.6699044108390808, + 23.560232162475586 + ], + [ + 0.28463461995124817, + 0.6698952913284302, + 23.69525718688965 + ], + [ + 0.13481619954109192, + 0.6699316501617432, + 23.695253372192383 + ], + [ + 0.13496161997318268, + 1.255765438079834, + 23.560266494750977 + ], + [ + 0.28478002548217773, + 1.2557291984558105, + 23.560270309448242 + ], + [ + 0.28477659821510315, + 1.2557201385498047, + 23.695297241210938 + ], + [ + 0.1349581778049469, + 1.2557563781738281, + 23.695293426513672 + ] + ] + } + } + }, + { + "objectId": "door|7|8", + "object_info": { + "name": "door|7|8", + "position": { + "x": 1.894249677658081, + "y": -0.0021260976791381836, + "z": 15.342000007629395 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 6.460227012634277, + "objectType": "Doorway", + "objectId": "door|7|8", + "assetId": "Doorway_Double_7", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.8638219833374023, + 2.0940732955932617, + 16.25693130493164 + ], + [ + 3.8638219833374023, + 2.0940732955932617, + 15.272378921508789 + ], + [ + 3.8638219833374023, + -0.0015277862548828125, + 16.25693130493164 + ], + [ + 3.8638219833374023, + -0.0015277862548828125, + 15.272378921508789 + ], + [ + 1.8591737747192383, + 2.0940732955932617, + 16.25693130493164 + ], + [ + 1.8591737747192383, + 2.0940732955932617, + 15.272378921508789 + ], + [ + 1.8591737747192383, + -0.0015277862548828125, + 16.25693130493164 + ], + [ + 1.8591737747192383, + -0.0015277862548828125, + 15.272378921508789 + ] + ], + "center": { + "x": 2.8614978790283203, + "y": 1.0462727546691895, + "z": 15.764655113220215 + }, + "size": { + "x": 2.004648208618164, + "y": 2.0956010818481445, + "z": 0.9845523834228516 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|8|9", + "object_info": { + "name": "door|8|9", + "position": { + "x": 5.837546348571777, + "y": -0.0006060600280761719, + "z": 17.53745460510254 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 8.19771957397461, + "objectType": "Doorway", + "objectId": "door|8|9", + "assetId": "Doorway_Double_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.774545669555664, + 2.0728206634521484, + 18.432395935058594 + ], + [ + 7.774545669555664, + 2.0728206634521484, + 17.460800170898438 + ], + [ + 7.774545669555664, + -2.384185791015625e-07, + 18.432395935058594 + ], + [ + 7.774545669555664, + -2.384185791015625e-07, + 17.460800170898438 + ], + [ + 5.816986083984375, + 2.0728206634521484, + 18.432395935058594 + ], + [ + 5.816986083984375, + 2.0728206634521484, + 17.460800170898438 + ], + [ + 5.816986083984375, + -2.384185791015625e-07, + 18.432395935058594 + ], + [ + 5.816986083984375, + -2.384185791015625e-07, + 17.460800170898438 + ] + ], + "center": { + "x": 6.7957658767700195, + "y": 1.0364102125167847, + "z": 17.946598052978516 + }, + "size": { + "x": 1.957559585571289, + "y": 2.0728209018707275, + "z": 0.9715957641601562 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|7|2___1", + "object_info": { + "name": "Drawer (1)", + "position": { + "x": 0.4861488342285156, + "y": 0.5718306303024292, + "z": 23.711669921875 + }, + "rotation": { + "x": -0.0, + "y": 90.00000762939453, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 14.771286964416504, + "objectType": "Drawer", + "objectId": "Dresser|7|2___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.6941410899162292, + 0.6487559080123901, + 24.065776824951172 + ], + [ + 0.6941410899162292, + 0.6487559080123901, + 23.357563018798828 + ], + [ + 0.6941410899162292, + 0.49490535259246826, + 24.065776824951172 + ], + [ + 0.6941410899162292, + 0.49490535259246826, + 23.357563018798828 + ], + [ + 0.2770354151725769, + 0.6487559080123901, + 24.065776824951172 + ], + [ + 0.2770354151725769, + 0.6487559080123901, + 23.357563018798828 + ], + [ + 0.2770354151725769, + 0.49490535259246826, + 24.065776824951172 + ], + [ + 0.2770354151725769, + 0.49490535259246826, + 23.357563018798828 + ] + ], + "center": { + "x": 0.4855882525444031, + "y": 0.5718306303024292, + "z": 23.711669921875 + }, + "size": { + "x": 0.41710567474365234, + "y": 0.15385055541992188, + "z": 0.7082138061523438 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "HousePlant|surface|7|31", + "object_info": { + "name": "HousePlant|surface|7|31", + "position": { + "x": 0.4622545838356018, + "y": 0.6722774505615234, + "z": 23.627731323242188 + }, + "rotation": { + "x": -0.00010344669863115996, + "y": 179.99942016601562, + "z": -4.683560291596223e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.0, + "salientMaterials": [ + "Ceramic", + "Organic" + ], + "receptacleObjectIds": null, + "distance": 14.695185661315918, + "objectType": "HousePlant", + "objectId": "HousePlant|surface|7|31", + "assetId": "Houseplant_20", + "parentReceptacles": [ + "Dresser|7|2", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.5727545022964478, + 1.3146774768829346, + 23.716632843017578 + ], + [ + 0.5727545022964478, + 1.3146774768829346, + 23.526134490966797 + ], + [ + 0.5727545022964478, + 0.6699312925338745, + 23.716632843017578 + ], + [ + 0.5727545022964478, + 0.6699312925338745, + 23.526134490966797 + ], + [ + 0.37245452404022217, + 1.3146774768829346, + 23.716632843017578 + ], + [ + 0.37245452404022217, + 1.3146774768829346, + 23.526134490966797 + ], + [ + 0.37245452404022217, + 0.6699312925338745, + 23.716632843017578 + ], + [ + 0.37245452404022217, + 0.6699312925338745, + 23.526134490966797 + ] + ], + "center": { + "x": 0.47260451316833496, + "y": 0.9923043847084045, + "z": 23.621383666992188 + }, + "size": { + "x": 0.20029997825622559, + "y": 0.6447461843490601, + "z": 0.19049835205078125 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.3724555969238281, + 0.6699312329292297, + 23.52613067626953 + ], + [ + 0.5727556347846985, + 0.6699312925338745, + 23.526132583618164 + ], + [ + 0.5727536678314209, + 0.6699309349060059, + 23.716632843017578 + ], + [ + 0.3724536895751953, + 0.6699309349060059, + 23.716630935668945 + ], + [ + 0.37245553731918335, + 1.3146777153015137, + 23.52613067626953 + ], + [ + 0.5727555751800537, + 1.3146777153015137, + 23.526134490966797 + ], + [ + 0.5727536678314209, + 1.3146772384643555, + 23.716632843017578 + ], + [ + 0.37245362997055054, + 1.3146772384643555, + 23.716630935668945 + ] + ] + } + } + }, + { + "objectId": "Chair|4|0|2", + "object_info": { + "name": "Chair|4|0|2", + "position": { + "x": 2.8319005966186523, + "y": 0.0008544623851776123, + "z": 10.763738632202148 + }, + "rotation": { + "x": 0.0, + "y": 284.9430847167969, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Metal", + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 2.2781248092651367, + "objectType": "Chair", + "objectId": "Chair|4|0|2", + "assetId": "Chair_210_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.1062493324279785, + 0.8322231769561768, + 11.102640151977539 + ], + [ + 3.1062493324279785, + 0.8322231769561768, + 10.450983047485352 + ], + [ + 3.1062493324279785, + -2.899765968322754e-05, + 11.102640151977539 + ], + [ + 3.1062493324279785, + -2.899765968322754e-05, + 10.450983047485352 + ], + [ + 2.540526866912842, + 0.8322231769561768, + 11.102640151977539 + ], + [ + 2.540526866912842, + 0.8322231769561768, + 10.450983047485352 + ], + [ + 2.540526866912842, + -2.899765968322754e-05, + 11.102640151977539 + ], + [ + 2.540526866912842, + -2.899765968322754e-05, + 10.450983047485352 + ] + ], + "center": { + "x": 2.82338809967041, + "y": 0.41609707474708557, + "z": 10.776811599731445 + }, + "size": { + "x": 0.5657224655151367, + "y": 0.8322521448135376, + "z": 0.6516571044921875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.6805906295776367, + -2.8878450393676758e-05, + 11.127667427062988 + ], + [ + 2.5192716121673584, + -2.8878450393676758e-05, + 10.523215293884277 + ], + [ + 2.9894392490386963, + -2.8878450393676758e-05, + 10.397734642028809 + ], + [ + 3.1507582664489746, + -2.8878450393676758e-05, + 11.00218677520752 + ], + [ + 2.6805906295776367, + 0.8322229385375977, + 11.127667427062988 + ], + [ + 2.5192716121673584, + 0.8322229385375977, + 10.523215293884277 + ], + [ + 2.9894392490386963, + 0.8322229385375977, + 10.397734642028809 + ], + [ + 3.1507582664489746, + 0.8322229385375977, + 11.00218677520752 + ] + ] + } + } + }, + { + "objectId": "Dresser|7|2___2", + "object_info": { + "name": "Drawer (2)", + "position": { + "x": 0.4861488342285156, + "y": 0.37566035985946655, + "z": 23.711669921875 + }, + "rotation": { + "x": -0.0, + "y": 90.00000762939453, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 14.776960372924805, + "objectType": "Drawer", + "objectId": "Dresser|7|2___2", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.6967809200286865, + 0.47996580600738525, + 24.065776824951172 + ], + [ + 0.6967809200286865, + 0.47996580600738525, + 23.357563018798828 + ], + [ + 0.6967809200286865, + 0.27135491371154785, + 24.065776824951172 + ], + [ + 0.6967809200286865, + 0.27135491371154785, + 23.357563018798828 + ], + [ + 0.2743954658508301, + 0.47996580600738525, + 24.065776824951172 + ], + [ + 0.2743954658508301, + 0.47996580600738525, + 23.357563018798828 + ], + [ + 0.2743954658508301, + 0.27135491371154785, + 24.065776824951172 + ], + [ + 0.2743954658508301, + 0.27135491371154785, + 23.357563018798828 + ] + ], + "center": { + "x": 0.4855881929397583, + "y": 0.37566035985946655, + "z": 23.711669921875 + }, + "size": { + "x": 0.42238545417785645, + "y": 0.2086108922958374, + "z": 0.7082138061523438 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|7|2", + "object_info": { + "name": "Dresser|7|2", + "position": { + "x": 0.37396442890167236, + "y": 0.0007619559764862061, + "z": 23.70840835571289 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Book|surface|7|37", + "HousePlant|surface|7|31", + "Statue|surface|7|33", + "Pencil|surface|7|34" + ], + "distance": 14.822734832763672, + "objectType": "Dresser", + "objectId": "Dresser|7|2", + "assetId": "Dresser_318_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.72369384765625, + 0.6699315309524536, + 24.083999633789062 + ], + [ + 0.72369384765625, + 0.6699315309524536, + 23.336891174316406 + ], + [ + 0.72369384765625, + 5.841255187988281e-06, + 24.083999633789062 + ], + [ + 0.72369384765625, + 5.841255187988281e-06, + 23.336891174316406 + ], + [ + 0.025024771690368652, + 0.6699315309524536, + 24.083999633789062 + ], + [ + 0.025024771690368652, + 0.6699315309524536, + 23.336891174316406 + ], + [ + 0.025024771690368652, + 5.841255187988281e-06, + 24.083999633789062 + ], + [ + 0.025024771690368652, + 5.841255187988281e-06, + 23.336891174316406 + ] + ], + "center": { + "x": 0.3743593096733093, + "y": 0.3349686861038208, + "z": 23.710445404052734 + }, + "size": { + "x": 0.6986690759658813, + "y": 0.6699256896972656, + "z": 0.7471084594726562 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.7236934304237366, + 5.930662155151367e-06, + 23.336891174316406 + ], + [ + 0.7236934900283813, + 5.930662155151367e-06, + 24.08399772644043 + ], + [ + 0.02502503991127014, + 5.930662155151367e-06, + 24.08399772644043 + ], + [ + 0.02502495050430298, + 5.930662155151367e-06, + 23.336891174316406 + ], + [ + 0.7236934304237366, + 0.669931173324585, + 23.336891174316406 + ], + [ + 0.7236934900283813, + 0.669931173324585, + 24.08399772644043 + ], + [ + 0.02502503991127014, + 0.669931173324585, + 24.08399772644043 + ], + [ + 0.02502495050430298, + 0.669931173324585, + 23.336891174316406 + ] + ] + } + } + }, + { + "objectId": "Sofa|4|3", + "object_info": { + "name": "Sofa|4|3", + "position": { + "x": 0.8639020919799805, + "y": 0.0023636221885681152, + "z": 12.79378604888916 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 103.99999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 4.987763404846191, + "objectType": "Sofa", + "objectId": "Sofa|4|3", + "assetId": "Sofa_221_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.7028003931045532, + 0.8951113224029541, + 13.124959945678711 + ], + [ + 1.7028003931045532, + 0.8951113224029541, + 12.445600509643555 + ], + [ + 1.7028003931045532, + -2.8908252716064453e-06, + 13.124959945678711 + ], + [ + 1.7028003931045532, + -2.8908252716064453e-06, + 12.445600509643555 + ], + [ + 0.025003790855407715, + 0.8951113224029541, + 13.124959945678711 + ], + [ + 0.025003790855407715, + 0.8951113224029541, + 12.445600509643555 + ], + [ + 0.025003790855407715, + -2.8908252716064453e-06, + 13.124959945678711 + ], + [ + 0.025003790855407715, + -2.8908252716064453e-06, + 12.445600509643555 + ] + ], + "center": { + "x": 0.8639020919799805, + "y": 0.44755420088768005, + "z": 12.785280227661133 + }, + "size": { + "x": 1.6777966022491455, + "y": 0.8951141834259033, + "z": 0.6793594360351562 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.02500373125076294, + -2.8014183044433594e-06, + 12.445600509643555 + ], + [ + 1.7028002738952637, + -2.8014183044433594e-06, + 12.445600509643555 + ], + [ + 1.7028003931045532, + -2.8014183044433594e-06, + 13.124958992004395 + ], + [ + 0.025003790855407715, + -2.8014183044433594e-06, + 13.124959945678711 + ], + [ + 0.02500373125076294, + 0.8951110243797302, + 12.445600509643555 + ], + [ + 1.7028002738952637, + 0.8951110243797302, + 12.445600509643555 + ], + [ + 1.7028003931045532, + 0.8951110243797302, + 13.124958992004395 + ], + [ + 0.025003790855407715, + 0.8951110243797302, + 13.124959945678711 + ] + ] + } + } + }, + { + "objectId": "Dresser|7|2___0", + "object_info": { + "name": "Drawer (3)", + "position": { + "x": 0.4861488342285156, + "y": 0.1548706591129303, + "z": 23.711669921875 + }, + "rotation": { + "x": -0.0, + "y": 90.00000762939453, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Book|surface|7|36" + ], + "distance": 14.786456108093262, + "objectType": "Drawer", + "objectId": "Dresser|7|2___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.6967809200286865, + 0.259176105260849, + 24.065776824951172 + ], + [ + 0.6967809200286865, + 0.259176105260849, + 23.357563018798828 + ], + [ + 0.6967809200286865, + 0.0505652129650116, + 24.065776824951172 + ], + [ + 0.6967809200286865, + 0.0505652129650116, + 23.357563018798828 + ], + [ + 0.2743954658508301, + 0.259176105260849, + 24.065776824951172 + ], + [ + 0.2743954658508301, + 0.259176105260849, + 23.357563018798828 + ], + [ + 0.2743954658508301, + 0.0505652129650116, + 24.065776824951172 + ], + [ + 0.2743954658508301, + 0.0505652129650116, + 23.357563018798828 + ] + ], + "center": { + "x": 0.4855881929397583, + "y": 0.1548706591129303, + "z": 23.711669921875 + }, + "size": { + "x": 0.42238545417785645, + "y": 0.2086108922958374, + "z": 0.7082138061523438 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Chair|4|0|3", + "object_info": { + "name": "Chair|4|0|3", + "position": { + "x": 2.173715591430664, + "y": 0.0008544623851776123, + "z": 11.254435539245605 + }, + "rotation": { + "x": 0.0, + "y": 184.4626922607422, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Metal", + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 3.049574613571167, + "objectType": "Chair", + "objectId": "Chair|4|0|3", + "assetId": "Chair_210_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.488889694213867, + 0.8322231769561768, + 11.511161804199219 + ], + [ + 2.488889694213867, + 0.8322231769561768, + 11.002986907958984 + ], + [ + 2.488889694213867, + -2.9027462005615234e-05, + 11.511161804199219 + ], + [ + 2.488889694213867, + -2.9027462005615234e-05, + 11.002986907958984 + ], + [ + 1.864943027496338, + 0.8322231769561768, + 11.511161804199219 + ], + [ + 1.864943027496338, + 0.8322231769561768, + 11.002986907958984 + ], + [ + 1.864943027496338, + -2.9027462005615234e-05, + 11.511161804199219 + ], + [ + 1.864943027496338, + -2.9027462005615234e-05, + 11.002986907958984 + ] + ], + "center": { + "x": 2.1769163608551025, + "y": 0.41609707474708557, + "z": 11.257074356079102 + }, + "size": { + "x": 0.6239466667175293, + "y": 0.8322522044181824, + "z": 0.5081748962402344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.843381404876709, + -2.8878450393676758e-05, + 11.039451599121094 + ], + [ + 2.4670932292938232, + -2.8878450393676758e-05, + 10.99077320098877 + ], + [ + 2.504957437515259, + -2.8878450393676758e-05, + 11.475921630859375 + ], + [ + 1.8812456130981445, + -2.8878450393676758e-05, + 11.5246000289917 + ], + [ + 1.843381404876709, + 0.8322229385375977, + 11.039451599121094 + ], + [ + 2.4670932292938232, + 0.8322229385375977, + 10.99077320098877 + ], + [ + 2.504957437515259, + 0.8322229385375977, + 11.475921630859375 + ], + [ + 1.8812456130981445, + 0.8322229385375977, + 11.5246000289917 + ] + ] + } + } + }, + { + "objectId": "DogBed|4|2", + "object_info": { + "name": "DogBed|4|2", + "position": { + "x": 4.638265609741211, + "y": 0.003950253129005432, + "z": 10.796929359436035 + }, + "rotation": { + "x": -0.0002660128811839968, + "y": -0.00015079793229233474, + "z": -2.7592546757659875e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.9800000190734863, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 1.5829848051071167, + "objectType": "DogBed", + "objectId": "DogBed|4|2", + "assetId": "Dog_Bed_2_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.138455390930176, + 0.31595391035079956, + 11.211904525756836 + ], + [ + 5.138455390930176, + 0.31595391035079956, + 10.377124786376953 + ], + [ + 5.138455390930176, + 5.960464477539063e-08, + 11.211904525756836 + ], + [ + 5.138455390930176, + 5.960464477539063e-08, + 10.377124786376953 + ], + [ + 4.146076202392578, + 0.31595391035079956, + 11.211904525756836 + ], + [ + 4.146076202392578, + 0.31595391035079956, + 10.377124786376953 + ], + [ + 4.146076202392578, + 5.960464477539063e-08, + 11.211904525756836 + ], + [ + 4.146076202392578, + 5.960464477539063e-08, + 10.377124786376953 + ] + ], + "center": { + "x": 4.642265796661377, + "y": 0.15797698497772217, + "z": 10.794514656066895 + }, + "size": { + "x": 0.9923791885375977, + "y": 0.3159538507461548, + "z": 0.8347797393798828 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.138454437255859, + 2.3562461137771606e-06, + 11.211907386779785 + ], + [ + 4.1460747718811035, + 2.834014594554901e-06, + 11.211904525756836 + ], + [ + 4.1460771560668945, + -1.0416842997074127e-06, + 10.377123832702637 + ], + [ + 5.138456344604492, + -1.5194527804851532e-06, + 10.377126693725586 + ], + [ + 5.138454437255859, + 0.31595462560653687, + 11.211905479431152 + ], + [ + 4.146075248718262, + 0.31595510244369507, + 11.211902618408203 + ], + [ + 4.1460771560668945, + 0.31595122814178467, + 10.37712287902832 + ], + [ + 5.138456344604492, + 0.31595075130462646, + 10.377124786376953 + ] + ] + } + } + }, + { + "objectId": "Book|surface|7|37", + "object_info": { + "name": "Book|surface|7|37", + "position": { + "x": 0.6358760595321655, + "y": 0.6706335544586182, + "z": 23.902313232421875 + }, + "rotation": { + "x": -0.0006307400180958211, + "y": 180.0025177001953, + "z": 0.8507397770881653 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 14.91345500946045, + "objectType": "Book", + "objectId": "Book|surface|7|37", + "assetId": "Book_9", + "parentReceptacles": [ + "Dresser|7|2", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.717914342880249, + 0.6903614401817322, + 24.01418685913086 + ], + [ + 0.717914342880249, + 0.6903614401817322, + 23.79043960571289 + ], + [ + 0.717914342880249, + 0.6699296832084656, + 24.01418685913086 + ], + [ + 0.717914342880249, + 0.6699296832084656, + 23.79043960571289 + ], + [ + 0.5537756681442261, + 0.6903614401817322, + 24.01418685913086 + ], + [ + 0.5537756681442261, + 0.6903614401817322, + 23.79043960571289 + ], + [ + 0.5537756681442261, + 0.6699296832084656, + 24.01418685913086 + ], + [ + 0.5537756681442261, + 0.6699296832084656, + 23.79043960571289 + ] + ], + "center": { + "x": 0.6358450055122375, + "y": 0.6801455616950989, + "z": 23.902313232421875 + }, + "size": { + "x": 0.16413867473602295, + "y": 0.0204317569732666, + "z": 0.22374725341796875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.553746223449707, + 0.6703810691833496, + 23.790447235107422 + ], + [ + 0.7176308631896973, + 0.6679474711418152, + 23.79043960571289 + ], + [ + 0.71764075756073, + 0.6679450273513794, + 24.014179229736328 + ], + [ + 0.5537561178207397, + 0.6703786253929138, + 24.01418685913086 + ], + [ + 0.554049551486969, + 0.6908048987388611, + 23.790447235107422 + ], + [ + 0.7179341316223145, + 0.6883713006973267, + 23.79043960571289 + ], + [ + 0.7179440259933472, + 0.6883688569068909, + 24.014179229736328 + ], + [ + 0.5540593862533569, + 0.6908023953437805, + 24.01418685913086 + ] + ] + } + } + }, + { + "objectId": "Chair|8|2|1", + "object_info": { + "name": "Chair|8|2|1", + "position": { + "x": 5.542760372161865, + "y": 0.0007779300212860107, + "z": 14.911334037780762 + }, + "rotation": { + "x": -0.0, + "y": 104.4024887084961, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Metal", + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 5.583930969238281, + "objectType": "Chair", + "objectId": "Chair|8|2|1", + "assetId": "Chair_210_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.832303047180176, + 0.8321467041969299, + 15.224472045898438 + ], + [ + 5.832303047180176, + 0.8321467041969299, + 14.573719024658203 + ], + [ + 5.832303047180176, + -0.0001055598258972168, + 15.224472045898438 + ], + [ + 5.832303047180176, + -0.0001055598258972168, + 14.573719024658203 + ], + [ + 5.269101142883301, + 0.8321467041969299, + 15.224472045898438 + ], + [ + 5.269101142883301, + 0.8321467041969299, + 14.573719024658203 + ], + [ + 5.269101142883301, + -0.0001055598258972168, + 15.224472045898438 + ], + [ + 5.269101142883301, + -0.0001055598258972168, + 14.573719024658203 + ] + ], + "center": { + "x": 5.550702095031738, + "y": 0.41602057218551636, + "z": 14.89909553527832 + }, + "size": { + "x": 0.563201904296875, + "y": 0.8322522640228271, + "z": 0.6507530212402344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.697497367858887, + -0.00010541081428527832, + 14.548849105834961 + ], + [ + 5.8531060218811035, + -0.00010541081428527832, + 15.154796600341797 + ], + [ + 5.381775379180908, + -0.00010541081428527832, + 15.275835037231445 + ], + [ + 5.226166725158691, + -0.00010541081428527832, + 14.669888496398926 + ], + [ + 5.697497367858887, + 0.832146406173706, + 14.548849105834961 + ], + [ + 5.8531060218811035, + 0.832146406173706, + 15.154796600341797 + ], + [ + 5.381775379180908, + 0.832146406173706, + 15.275835037231445 + ], + [ + 5.226166725158691, + 0.832146406173706, + 14.669888496398926 + ] + ] + } + } + }, + { + "objectId": "DiningTable|4|0|0", + "object_info": { + "name": "DiningTable|4|0|0", + "position": { + "x": 1.7819786071777344, + "y": 0.0024788379669189453, + "z": 10.762722969055176 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Statue|surface|4|19", + "Statue|surface|4|20", + "DeskLamp|surface|4|21" + ], + "distance": 3.128809690475464, + "objectType": "DiningTable", + "objectId": "DiningTable|4|0|0", + "assetId": "Dining_Table_221_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.674949884414673, + 0.7820817232131958, + 11.157618522644043 + ], + [ + 2.674949884414673, + 0.7820817232131958, + 10.367827415466309 + ], + [ + 2.674949884414673, + -1.430511474609375e-06, + 11.157618522644043 + ], + [ + 2.674949884414673, + -1.430511474609375e-06, + 10.367827415466309 + ], + [ + 0.8890073299407959, + 0.7820817232131958, + 11.157618522644043 + ], + [ + 0.8890073299407959, + 0.7820817232131958, + 10.367827415466309 + ], + [ + 0.8890073299407959, + -1.430511474609375e-06, + 11.157618522644043 + ], + [ + 0.8890073299407959, + -1.430511474609375e-06, + 10.367827415466309 + ] + ], + "center": { + "x": 1.7819786071777344, + "y": 0.3910401463508606, + "z": 10.762722969055176 + }, + "size": { + "x": 1.785942554473877, + "y": 0.7820831537246704, + "z": 0.7897911071777344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.8890072703361511, + -1.430511474609375e-06, + 10.367827415466309 + ], + [ + 2.674949884414673, + -1.430511474609375e-06, + 10.367827415466309 + ], + [ + 2.674949884414673, + -1.430511474609375e-06, + 11.157618522644043 + ], + [ + 0.8890073895454407, + -1.430511474609375e-06, + 11.157618522644043 + ], + [ + 0.8890072703361511, + 0.7820817232131958, + 10.367827415466309 + ], + [ + 2.674949884414673, + 0.7820817232131958, + 10.367827415466309 + ], + [ + 2.674949884414673, + 0.7820817232131958, + 11.157618522644043 + ], + [ + 0.8890073895454407, + 0.7820817232131958, + 11.157618522644043 + ] + ] + } + } + }, + { + "objectId": "Chair|4|0|4", + "object_info": { + "name": "Chair|4|0|4", + "position": { + "x": 1.41483473777771, + "y": 0.0008544623851776123, + "z": 11.254436492919922 + }, + "rotation": { + "x": -0.0, + "y": 168.38992309570312, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Metal", + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 3.661496162414551, + "objectType": "Chair", + "objectId": "Chair|4|0|4", + "assetId": "Chair_210_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.7414209842681885, + 0.8322232961654663, + 11.524728775024414 + ], + [ + 1.7414209842681885, + 0.8322232961654663, + 10.97458267211914 + ], + [ + 1.7414209842681885, + -2.8908252716064453e-05, + 11.524728775024414 + ], + [ + 1.7414209842681885, + -2.8908252716064453e-05, + 10.97458267211914 + ], + [ + 1.0976619720458984, + 0.8322232961654663, + 11.524728775024414 + ], + [ + 1.0976619720458984, + 0.8322232961654663, + 10.97458267211914 + ], + [ + 1.0976619720458984, + -2.8908252716064453e-05, + 11.524728775024414 + ], + [ + 1.0976619720458984, + -2.8908252716064453e-05, + 10.97458267211914 + ] + ], + "center": { + "x": 1.4195414781570435, + "y": 0.4160971939563751, + "z": 11.249655723571777 + }, + "size": { + "x": 0.64375901222229, + "y": 0.8322522044181824, + "z": 0.5501461029052734 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.156933069229126, + -2.8878450393676758e-05, + 10.956400871276855 + ], + [ + 1.7697416543960571, + -2.8878450393676758e-05, + 11.082304000854492 + ], + [ + 1.6718084812164307, + -2.8878450393676758e-05, + 11.558972358703613 + ], + [ + 1.0589998960494995, + -2.8878450393676758e-05, + 11.43306827545166 + ], + [ + 1.156933069229126, + 0.8322229385375977, + 10.956400871276855 + ], + [ + 1.7697416543960571, + 0.8322229385375977, + 11.082304000854492 + ], + [ + 1.6718084812164307, + 0.8322229385375977, + 11.558972358703613 + ], + [ + 1.0589998960494995, + 0.8322229385375977, + 11.43306827545166 + ] + ] + } + } + }, + { + "objectId": "Television|4|4", + "object_info": { + "name": "Television|4|4", + "position": { + "x": 6.566450119018555, + "y": 1.5633933544158936, + "z": 12.288293838500977 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.5332086086273193, + "objectType": "Television", + "objectId": "Television|4|4", + "assetId": "Television_14", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.569999694824219, + 1.8883934020996094, + 12.943236351013184 + ], + [ + 6.569999694824219, + 1.8883934020996094, + 11.63335132598877 + ], + [ + 6.569999694824219, + 1.2383933067321777, + 12.943236351013184 + ], + [ + 6.569999694824219, + 1.2383933067321777, + 11.63335132598877 + ], + [ + 6.401250839233398, + 1.8883934020996094, + 12.943236351013184 + ], + [ + 6.401250839233398, + 1.8883934020996094, + 11.63335132598877 + ], + [ + 6.401250839233398, + 1.2383933067321777, + 12.943236351013184 + ], + [ + 6.401250839233398, + 1.2383933067321777, + 11.63335132598877 + ] + ], + "center": { + "x": 6.485625267028809, + "y": 1.5633933544158936, + "z": 12.288293838500977 + }, + "size": { + "x": 0.1687488555908203, + "y": 0.6500000953674316, + "z": 1.309885025024414 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 4.400000095367432, + "y": 0.9009997844696045, + "z": 9.399999618530273 + }, + "agent_rotation": { + "x": -0.0, + "y": 9.659346687840298e-06, + "z": 0.0 + }, + "agent_cameraHorizon": 30.000003814697266, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 4.400000095367432, + "y": 1.5759997367858887, + "z": 9.399999618530273 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Chair|4|0|4", + "DiningTable|4|0|0", + "Chair|4|0|3", + "Statue|surface|4|19", + "DogBed|4|2", + "Chair|4|0|2", + "Sofa|4|3" + ], + "different_object": [ + "BasketBall|7|0", + "ArmChair|7|4|0", + "Dresser|7|2", + "Chair|8|2|1", + "Book|surface|7|37", + "FloorLamp|7|4|1", + "Painting|8|8", + "Dresser|7|2___2", + "Television|4|4", + "door|7|8", + "door|4|5", + "Statue|surface|7|33", + "HousePlant|surface|7|31", + "door|4|8", + "Dresser|7|2___1", + "Television|8|6", + "Dresser|7|2___0", + "door|8|9" + ] +} \ No newline at end of file diff --git a/train/train1875/2/1_depth_npy.npy b/train/train1875/2/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..c88908b9b746e017efcd89a3263277b86e7eaf5d --- /dev/null +++ b/train/train1875/2/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:64d9c9759c1c326e5806056d1be511b6f8150c93dbd80db1c483da1a71f7ebf0 +size 3145856 diff --git a/train/train1875/2/1_semantic_sensor_npy.npy b/train/train1875/2/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..aae36ca57f8dd6f59053965ad487112b37d5975c --- /dev/null +++ b/train/train1875/2/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:61888599929969bc4031de6362f905b6acee87ee4b096a5c5160d80fb8ba31fa +size 2359424 diff --git a/train/train1875/2/depth_0.png b/train/train1875/2/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..2e1eb3210be8007e4572dbf1455f39c58e5e57fe Binary files /dev/null and b/train/train1875/2/depth_0.png differ diff --git a/train/train1875/2/depth_1.png b/train/train1875/2/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..fa53ff3ccc8358a32522d56ea751496d25062206 Binary files /dev/null and b/train/train1875/2/depth_1.png differ diff --git a/train/train1875/2/mask_questions.jsonl b/train/train1875/2/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..24ec1f2a4096392f528f079fbf97cb1b87e65858 --- /dev/null +++ b/train/train1875/2/mask_questions.jsonl @@ -0,0 +1,4 @@ +{"id": 11170, "folder_dir": "train1875/2", "pair_name": "0-1:Chair|4|0|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. DeskLamp\nB. Chair\nC. DiningTable\nD. Chair", "answer": "B", "object_name": "Chair", "image_1": "train1875/2/rgb_0.png", "image_2": "train1875/2/rgb_1.png", "mask_image": "train1875/2/rgb_1_mask_Chair|4|0|3.png", "options": ["DeskLamp", "Chair", "DiningTable", "Chair"]} +{"id": 11171, "folder_dir": "train1875/2", "pair_name": "0-1:DogBed|4|2", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. DeskLamp\nB. SideTable\nC. DogBed\nD. Chair", "answer": "C", "object_name": "DogBed", "image_1": "train1875/2/rgb_0.png", "image_2": "train1875/2/rgb_1.png", "mask_image": "train1875/2/rgb_1_mask_DogBed|4|2.png", "options": ["DeskLamp", "SideTable", "DogBed", "Chair"]} +{"id": 11172, "folder_dir": "train1875/2", "pair_name": "1-0:DogBed|4|2", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Doorway\nB. Chair\nC. DogBed\nD. Drawer", "answer": "C", "object_name": "DogBed", "image_1": "train1875/2/rgb_1.png", "image_2": "train1875/2/rgb_0.png", "mask_image": "train1875/2/rgb_0_mask_DogBed|4|2.png", "options": ["Doorway", "Chair", "DogBed", "Drawer"]} +{"id": 11173, "folder_dir": "train1875/2", "pair_name": "1-0:Chair|4|0|2", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Television\nB. Chair\nC. Chair\nD. Painting", "answer": "B", "object_name": "Chair", "image_1": "train1875/2/rgb_1.png", "image_2": "train1875/2/rgb_0.png", "mask_image": "train1875/2/rgb_0_mask_Chair|4|0|2.png", "options": ["Television", "Chair", "Chair", "Painting"]} diff --git a/train/train1875/2/questions_distance.jsonl b/train/train1875/2/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..607c12f3e2790be9f485f1e95e7135893d5248d8 --- /dev/null +++ b/train/train1875/2/questions_distance.jsonl @@ -0,0 +1,2 @@ +{"id": 4545, "folder_dir": "train1875/2", "query": "Which of the following objects is closest to DogBed in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. SideTable\nB. DeskLamp\nC. Sofa\nD. Other\n", "answer": "B", "src_object": "DogBed", "target_object": "DeskLamp", "question": "Which of the following objects is closest to DogBed in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "SideTable", "semantic_id": "SideTable|4|1", "distance": 3.014026918647965, "com": {"x": 2.302966833114624, "y": 0.40533360838890076, "z": 8.910143852233887}}, {"text": "DeskLamp", "semantic_id": "DeskLamp|surface|4|21", "distance": 2.587466993941255, "com": {"x": 2.225973129272461, "y": 1.0548040866851807, "z": 10.56600570678711}}, {"text": "Sofa", "semantic_id": "Sofa|4|3", "distance": 4.280541415507251, "com": {"x": 0.8639020919799805, "y": 0.44755420088768005, "z": 12.785280227661133}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1875/2/rgb_0.png", "image_2": "train1875/2/rgb_1.png"} +{"id": 4546, "folder_dir": "train1875/2", "query": "Which of the following objects is closest to Sofa in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. DeskLamp\nB. DogBed\nC. SideTable\nD. Other\n", "answer": "A", "src_object": "Sofa", "target_object": "DeskLamp", "question": "Which of the following objects is closest to Sofa in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "DeskLamp", "semantic_id": "DeskLamp|surface|4|21", "distance": 2.6737930610712413, "com": {"x": 2.225973129272461, "y": 1.0548040866851807, "z": 10.56600570678711}}, {"text": "DogBed", "semantic_id": "DogBed|4|2", "distance": 4.280541415507251, "com": {"x": 4.642265796661377, "y": 0.15797698497772217, "z": 10.794514656066895}}, {"text": "SideTable", "semantic_id": "SideTable|4|1", "distance": 4.1339293457638195, "com": {"x": 2.302966833114624, "y": 0.40533360838890076, "z": 8.910143852233887}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1875/2/rgb_0.png", "image_2": "train1875/2/rgb_1.png"} diff --git a/train/train1875/2/rgb_0.png b/train/train1875/2/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..9077448b675a8e82324a60d051f1ebe985823548 --- /dev/null +++ b/train/train1875/2/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fee08c91ec80243e392644233c04f34f2665c4ce3a2af602dc1644e1c7d155e8 +size 575239 diff --git a/train/train1875/2/rgb_0_mask_Chair|4|0|2.png b/train/train1875/2/rgb_0_mask_Chair|4|0|2.png new file mode 100644 index 0000000000000000000000000000000000000000..7edb97f25a441e92193ab675ef21e24e161b9906 --- /dev/null +++ b/train/train1875/2/rgb_0_mask_Chair|4|0|2.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ada6f8a5794e1041aebc52ac4f79526823d007f8c1ab47ec786261e63eb232d9 +size 455768 diff --git a/train/train1875/2/rgb_0_mask_DogBed|4|2.png b/train/train1875/2/rgb_0_mask_DogBed|4|2.png new file mode 100644 index 0000000000000000000000000000000000000000..537853212c64372a37ee4035e21e28e41838e934 --- /dev/null +++ b/train/train1875/2/rgb_0_mask_DogBed|4|2.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a1413614be809e6e5b167344a116ca3b3d34aae7129b65454aea0673b59fc4f5 +size 425848 diff --git a/train/train1875/2/rgb_1.png b/train/train1875/2/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..bd8009fcd4b1fad1d42b8414d309852bb3c936c2 --- /dev/null +++ b/train/train1875/2/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d9b46a2118d190de8acbc2e48999d00a0abe686956355bb12ea611b919f12227 +size 565405 diff --git a/train/train1875/2/rgb_1_mask_Chair|4|0|3.png b/train/train1875/2/rgb_1_mask_Chair|4|0|3.png new file mode 100644 index 0000000000000000000000000000000000000000..1dc1207fc3595585e64b654f8e7ccfd37d28f81d --- /dev/null +++ b/train/train1875/2/rgb_1_mask_Chair|4|0|3.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:91f364c4150693fb0921a173caabd339e0ae0f8833f87d14b810b803973f3f29 +size 473079 diff --git a/train/train1875/2/rgb_1_mask_DogBed|4|2.png b/train/train1875/2/rgb_1_mask_DogBed|4|2.png new file mode 100644 index 0000000000000000000000000000000000000000..913d5d3255cb9a2ad43c81aee486711b7f704cdd --- /dev/null +++ b/train/train1875/2/rgb_1_mask_DogBed|4|2.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a0ed13b4b60cbf2bca10247b60fbf0967a899e605984bc831c16fb824d0efafc +size 458259 diff --git a/train/train1875/2/semantic_0.png b/train/train1875/2/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..ee2944df7734c15cc49c2d140f09f2c8503be064 Binary files /dev/null and b/train/train1875/2/semantic_0.png differ diff --git a/train/train1875/2/semantic_1.png b/train/train1875/2/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..a6bcb3a65e577cd09c4aa8af4307078cb902670e Binary files /dev/null and b/train/train1875/2/semantic_1.png differ diff --git a/train/train1875/3/0.json b/train/train1875/3/0.json new file mode 100644 index 0000000000000000000000000000000000000000..d9ec4752b7046547d8e26d9f0a1a7a3c0ddedb85 --- /dev/null +++ b/train/train1875/3/0.json @@ -0,0 +1,1870 @@ +{ + "object": [ + { + "objectId": "Statue|surface|4|19", + "object_info": { + "name": "Statue|surface|4|19", + "position": { + "x": 2.2257962226867676, + "y": 0.7808696627616882, + "z": 11.057782173156738 + }, + "rotation": { + "x": -7.705308235017583e-05, + "y": 179.99993896484375, + "z": -2.3478729417547584e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 2.759188175201416, + "objectType": "Statue", + "objectId": "Statue|surface|4|19", + "assetId": "Waving_Statue_1", + "parentReceptacles": [ + "DiningTable|4|0|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.3249969482421875, + 1.140368103981018, + 11.155679702758789 + ], + [ + 2.3249969482421875, + 1.140368103981018, + 10.959884643554688 + ], + [ + 2.3249969482421875, + 0.7820816040039062, + 11.155679702758789 + ], + [ + 2.3249969482421875, + 0.7820816040039062, + 10.959884643554688 + ], + [ + 2.1169772148132324, + 1.140368103981018, + 11.155679702758789 + ], + [ + 2.1169772148132324, + 1.140368103981018, + 10.959884643554688 + ], + [ + 2.1169772148132324, + 0.7820816040039062, + 11.155679702758789 + ], + [ + 2.1169772148132324, + 0.7820816040039062, + 10.959884643554688 + ] + ], + "center": { + "x": 2.22098708152771, + "y": 0.9612248539924622, + "z": 11.057782173156738 + }, + "size": { + "x": 0.20801973342895508, + "y": 0.3582864999771118, + "z": 0.19579505920410156 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.116975784301758, + 0.7820812463760376, + 10.959884643554688 + ], + [ + 2.324995517730713, + 0.7820813059806824, + 10.959884643554688 + ], + [ + 2.324995517730713, + 0.7820810675621033, + 11.155679702758789 + ], + [ + 2.1169755458831787, + 0.7820810079574585, + 11.155678749084473 + ], + [ + 2.116975784301758, + 1.1403690576553345, + 10.959885597229004 + ], + [ + 2.324995517730713, + 1.140369176864624, + 10.959885597229004 + ], + [ + 2.324995279312134, + 1.140368938446045, + 11.155679702758789 + ], + [ + 2.1169755458831787, + 1.1403688192367554, + 11.155679702758789 + ] + ] + } + } + }, + { + "objectId": "Chair|4|0|1", + "object_info": { + "name": "Chair|4|0|1", + "position": { + "x": 0.7321906685829163, + "y": 0.0008544623851776123, + "z": 10.763168334960938 + }, + "rotation": { + "x": -0.0, + "y": 78.55499267578125, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Metal", + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 4.0745849609375, + "objectType": "Chair", + "objectId": "Chair|4|0|1", + "assetId": "Chair_210_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.0114384889602661, + 0.8322234153747559, + 11.089305877685547 + ], + [ + 1.0114384889602661, + 0.8322234153747559, + 10.445968627929688 + ], + [ + 1.0114384889602661, + -2.9087066650390625e-05, + 11.089305877685547 + ], + [ + 1.0114384889602661, + -2.9087066650390625e-05, + 10.445968627929688 + ], + [ + 0.46215927600860596, + 0.8322234153747559, + 11.089305877685547 + ], + [ + 0.46215927600860596, + 0.8322234153747559, + 10.445968627929688 + ], + [ + 0.46215927600860596, + -2.9087066650390625e-05, + 11.089305877685547 + ], + [ + 0.46215927600860596, + -2.9087066650390625e-05, + 10.445968627929688 + ] + ], + "center": { + "x": 0.736798882484436, + "y": 0.41609716415405273, + "z": 10.767637252807617 + }, + "size": { + "x": 0.5492792129516602, + "y": 0.8322525024414062, + "z": 0.6433372497558594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.029482364654541, + -2.8878450393676758e-05, + 10.504408836364746 + ], + [ + 0.9053446054458618, + -2.8878450393676758e-05, + 11.11757755279541 + ], + [ + 0.42839670181274414, + -2.8878450393676758e-05, + 11.021018028259277 + ], + [ + 0.5525345206260681, + -2.8878450393676758e-05, + 10.407849311828613 + ], + [ + 1.029482364654541, + 0.8322229385375977, + 10.504408836364746 + ], + [ + 0.9053446054458618, + 0.8322229385375977, + 11.11757755279541 + ], + [ + 0.42839670181274414, + 0.8322229385375977, + 11.021018028259277 + ], + [ + 0.5525345206260681, + 0.8322229385375977, + 10.407849311828613 + ] + ] + } + } + }, + { + "objectId": "Painting|4|5", + "object_info": { + "name": "Painting|4|5", + "position": { + "x": 0.6075762510299683, + "y": 0.7746534943580627, + "z": 8.771995544433594 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 3.9619333744049072, + "objectType": "Painting", + "objectId": "Painting|4|5", + "assetId": "Wall_Decor_Photo_3V", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.0380332469940186, + 1.0626155138015747, + 8.803740501403809 + ], + [ + 1.0380332469940186, + 1.0626155138015747, + 8.772000312805176 + ], + [ + 1.0380332469940186, + 0.4866914749145508, + 8.803740501403809 + ], + [ + 1.0380332469940186, + 0.4866914749145508, + 8.772000312805176 + ], + [ + 0.17711925506591797, + 1.0626155138015747, + 8.803740501403809 + ], + [ + 0.17711925506591797, + 1.0626155138015747, + 8.772000312805176 + ], + [ + 0.17711925506591797, + 0.4866914749145508, + 8.803740501403809 + ], + [ + 0.17711925506591797, + 0.4866914749145508, + 8.772000312805176 + ] + ], + "center": { + "x": 0.6075762510299683, + "y": 0.7746534943580627, + "z": 8.787870407104492 + }, + "size": { + "x": 0.8609139919281006, + "y": 0.5759240388870239, + "z": 0.03174018859863281 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Chair|4|0|2", + "object_info": { + "name": "Chair|4|0|2", + "position": { + "x": 2.8319005966186523, + "y": 0.0008544623851776123, + "z": 10.763738632202148 + }, + "rotation": { + "x": 0.0, + "y": 284.9430847167969, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Metal", + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 2.2781248092651367, + "objectType": "Chair", + "objectId": "Chair|4|0|2", + "assetId": "Chair_210_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.1062493324279785, + 0.8322231769561768, + 11.102640151977539 + ], + [ + 3.1062493324279785, + 0.8322231769561768, + 10.450983047485352 + ], + [ + 3.1062493324279785, + -2.899765968322754e-05, + 11.102640151977539 + ], + [ + 3.1062493324279785, + -2.899765968322754e-05, + 10.450983047485352 + ], + [ + 2.540526866912842, + 0.8322231769561768, + 11.102640151977539 + ], + [ + 2.540526866912842, + 0.8322231769561768, + 10.450983047485352 + ], + [ + 2.540526866912842, + -2.899765968322754e-05, + 11.102640151977539 + ], + [ + 2.540526866912842, + -2.899765968322754e-05, + 10.450983047485352 + ] + ], + "center": { + "x": 2.82338809967041, + "y": 0.41609707474708557, + "z": 10.776811599731445 + }, + "size": { + "x": 0.5657224655151367, + "y": 0.8322521448135376, + "z": 0.6516571044921875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.6805906295776367, + -2.8878450393676758e-05, + 11.127667427062988 + ], + [ + 2.5192716121673584, + -2.8878450393676758e-05, + 10.523215293884277 + ], + [ + 2.9894392490386963, + -2.8878450393676758e-05, + 10.397734642028809 + ], + [ + 3.1507582664489746, + -2.8878450393676758e-05, + 11.00218677520752 + ], + [ + 2.6805906295776367, + 0.8322229385375977, + 11.127667427062988 + ], + [ + 2.5192716121673584, + 0.8322229385375977, + 10.523215293884277 + ], + [ + 2.9894392490386963, + 0.8322229385375977, + 10.397734642028809 + ], + [ + 3.1507582664489746, + 0.8322229385375977, + 11.00218677520752 + ] + ] + } + } + }, + { + "objectId": "Statue|surface|4|20", + "object_info": { + "name": "Statue|surface|4|20", + "position": { + "x": 1.3381917476654053, + "y": 0.8720796704292297, + "z": 10.95944595336914 + }, + "rotation": { + "x": -0.0038027348928153515, + "y": 179.99876403808594, + "z": 0.013844622299075127 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Stone" + ], + "receptacleObjectIds": null, + "distance": 3.482506275177002, + "objectType": "Statue", + "objectId": "Statue|surface|4|20", + "assetId": "Stone_Statue_1", + "parentReceptacles": [ + "DiningTable|4|0|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.421018123626709, + 1.367896556854248, + 11.026971817016602 + ], + [ + 1.421018123626709, + 1.367896556854248, + 10.891925811767578 + ], + [ + 1.421018123626709, + 0.7820501327514648, + 11.026971817016602 + ], + [ + 1.421018123626709, + 0.7820501327514648, + 10.891925811767578 + ], + [ + 1.271106481552124, + 1.367896556854248, + 11.026971817016602 + ], + [ + 1.271106481552124, + 1.367896556854248, + 10.891925811767578 + ], + [ + 1.271106481552124, + 0.7820501327514648, + 11.026971817016602 + ], + [ + 1.271106481552124, + 0.7820501327514648, + 10.891925811767578 + ] + ], + "center": { + "x": 1.3460623025894165, + "y": 1.0749733448028564, + "z": 10.95944881439209 + }, + "size": { + "x": 0.14991164207458496, + "y": 0.5858464241027832, + "z": 0.13504600524902344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.271109700202942, + 0.7820906639099121, + 10.891925811767578 + ], + [ + 1.4209281206130981, + 0.7820544838905334, + 10.891928672790527 + ], + [ + 1.420925259590149, + 0.7820454835891724, + 11.026954650878906 + ], + [ + 1.2711068391799927, + 0.7820817232131958, + 11.026951789855957 + ], + [ + 1.2712513208389282, + 1.367915391921997, + 10.89196491241455 + ], + [ + 1.4210697412490845, + 1.3678792715072632, + 10.8919677734375 + ], + [ + 1.4210667610168457, + 1.3678703308105469, + 11.026993751525879 + ], + [ + 1.2712483406066895, + 1.3679064512252808, + 11.026989936828613 + ] + ] + } + } + }, + { + "objectId": "Sofa|4|3", + "object_info": { + "name": "Sofa|4|3", + "position": { + "x": 0.8639020919799805, + "y": 0.0023636221885681152, + "z": 12.79378604888916 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 103.99999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 4.987763404846191, + "objectType": "Sofa", + "objectId": "Sofa|4|3", + "assetId": "Sofa_221_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.7028003931045532, + 0.8951113224029541, + 13.124959945678711 + ], + [ + 1.7028003931045532, + 0.8951113224029541, + 12.445600509643555 + ], + [ + 1.7028003931045532, + -2.8908252716064453e-06, + 13.124959945678711 + ], + [ + 1.7028003931045532, + -2.8908252716064453e-06, + 12.445600509643555 + ], + [ + 0.025003790855407715, + 0.8951113224029541, + 13.124959945678711 + ], + [ + 0.025003790855407715, + 0.8951113224029541, + 12.445600509643555 + ], + [ + 0.025003790855407715, + -2.8908252716064453e-06, + 13.124959945678711 + ], + [ + 0.025003790855407715, + -2.8908252716064453e-06, + 12.445600509643555 + ] + ], + "center": { + "x": 0.8639020919799805, + "y": 0.44755420088768005, + "z": 12.785280227661133 + }, + "size": { + "x": 1.6777966022491455, + "y": 0.8951141834259033, + "z": 0.6793594360351562 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.02500373125076294, + -2.8014183044433594e-06, + 12.445600509643555 + ], + [ + 1.7028002738952637, + -2.8014183044433594e-06, + 12.445600509643555 + ], + [ + 1.7028003931045532, + -2.8014183044433594e-06, + 13.124958992004395 + ], + [ + 0.025003790855407715, + -2.8014183044433594e-06, + 13.124959945678711 + ], + [ + 0.02500373125076294, + 0.8951110243797302, + 12.445600509643555 + ], + [ + 1.7028002738952637, + 0.8951110243797302, + 12.445600509643555 + ], + [ + 1.7028003931045532, + 0.8951110243797302, + 13.124958992004395 + ], + [ + 0.025003790855407715, + 0.8951110243797302, + 13.124959945678711 + ] + ] + } + } + }, + { + "objectId": "DeskLamp|surface|4|21", + "object_info": { + "name": "DeskLamp|surface|4|21", + "position": { + "x": 2.2257964611053467, + "y": 0.7821089029312134, + "z": 10.566015243530273 + }, + "rotation": { + "x": 0.0013408676022663713, + "y": 180.0013885498047, + "z": 0.023090684786438942 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 2.059999942779541, + "salientMaterials": [ + "Metal", + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 2.514463186264038, + "objectType": "DeskLamp", + "objectId": "DeskLamp|surface|4|21", + "assetId": "RoboTHOR_desk_lamp_arstid_v", + "parentReceptacles": [ + "DiningTable|4|0|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.3331634998321533, + 1.3275303840637207, + 10.68081283569336 + ], + [ + 2.3331634998321533, + 1.3275303840637207, + 10.45119857788086 + ], + [ + 2.3331634998321533, + 0.7820777893066406, + 10.68081283569336 + ], + [ + 2.3331634998321533, + 0.7820777893066406, + 10.45119857788086 + ], + [ + 2.1187827587127686, + 1.3275303840637207, + 10.68081283569336 + ], + [ + 2.1187827587127686, + 1.3275303840637207, + 10.45119857788086 + ], + [ + 2.1187827587127686, + 0.7820777893066406, + 10.68081283569336 + ], + [ + 2.1187827587127686, + 0.7820777893066406, + 10.45119857788086 + ] + ], + "center": { + "x": 2.225973129272461, + "y": 1.0548040866851807, + "z": 10.56600570678711 + }, + "size": { + "x": 0.21438074111938477, + "y": 0.5454525947570801, + "z": 0.2296142578125 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.1186490058898926, + 0.7821493744850159, + 10.451215744018555 + ], + [ + 2.3329381942749023, + 0.7820630073547363, + 10.451210975646973 + ], + [ + 2.332943916320801, + 0.7820684313774109, + 10.680814743041992 + ], + [ + 2.118654727935791, + 0.7821547985076904, + 10.680819511413574 + ], + [ + 2.118868827819824, + 1.327525019645691, + 10.451203346252441 + ], + [ + 2.333158016204834, + 1.3274387121200562, + 10.451197624206543 + ], + [ + 2.3331634998321533, + 1.327444076538086, + 10.680801391601562 + ], + [ + 2.1188745498657227, + 1.3275303840637207, + 10.680807113647461 + ] + ] + } + } + }, + { + "objectId": "SideTable|4|1", + "object_info": { + "name": "SideTable|4|1", + "position": { + "x": 2.302966833114624, + "y": 0.0017558932304382324, + "z": 8.910143852233887 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 2.446124315261841, + "objectType": "SideTable", + "objectId": "SideTable|4|1", + "assetId": "Side_Table_307_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.716496706008911, + 0.8106672167778015, + 9.028287887573242 + ], + [ + 2.716496706008911, + 0.8106672167778015, + 8.791999816894531 + ], + [ + 2.716496706008911, + 0.0, + 9.028287887573242 + ], + [ + 2.716496706008911, + 0.0, + 8.791999816894531 + ], + [ + 1.889436960220337, + 0.8106672167778015, + 9.028287887573242 + ], + [ + 1.889436960220337, + 0.8106672167778015, + 8.791999816894531 + ], + [ + 1.889436960220337, + 0.0, + 9.028287887573242 + ], + [ + 1.889436960220337, + 0.0, + 8.791999816894531 + ] + ], + "center": { + "x": 2.302966833114624, + "y": 0.40533360838890076, + "z": 8.910143852233887 + }, + "size": { + "x": 0.8270597457885742, + "y": 0.8106672167778015, + "z": 0.23628807067871094 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.716496706008911, + 0.0, + 9.028287887573242 + ], + [ + 1.889436960220337, + 0.0, + 9.028287887573242 + ], + [ + 1.889436960220337, + 0.0, + 8.791999816894531 + ], + [ + 2.716496706008911, + 0.0, + 8.791999816894531 + ], + [ + 2.716496706008911, + 0.8106672167778015, + 9.028287887573242 + ], + [ + 1.889436960220337, + 0.8106672167778015, + 9.028287887573242 + ], + [ + 1.889436960220337, + 0.8106672167778015, + 8.791999816894531 + ], + [ + 2.716496706008911, + 0.8106672167778015, + 8.791999816894531 + ] + ] + } + } + }, + { + "objectId": "Chair|4|0|3", + "object_info": { + "name": "Chair|4|0|3", + "position": { + "x": 2.173715591430664, + "y": 0.0008544623851776123, + "z": 11.254435539245605 + }, + "rotation": { + "x": 0.0, + "y": 184.4626922607422, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Metal", + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 3.049574613571167, + "objectType": "Chair", + "objectId": "Chair|4|0|3", + "assetId": "Chair_210_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.488889694213867, + 0.8322231769561768, + 11.511161804199219 + ], + [ + 2.488889694213867, + 0.8322231769561768, + 11.002986907958984 + ], + [ + 2.488889694213867, + -2.9027462005615234e-05, + 11.511161804199219 + ], + [ + 2.488889694213867, + -2.9027462005615234e-05, + 11.002986907958984 + ], + [ + 1.864943027496338, + 0.8322231769561768, + 11.511161804199219 + ], + [ + 1.864943027496338, + 0.8322231769561768, + 11.002986907958984 + ], + [ + 1.864943027496338, + -2.9027462005615234e-05, + 11.511161804199219 + ], + [ + 1.864943027496338, + -2.9027462005615234e-05, + 11.002986907958984 + ] + ], + "center": { + "x": 2.1769163608551025, + "y": 0.41609707474708557, + "z": 11.257074356079102 + }, + "size": { + "x": 0.6239466667175293, + "y": 0.8322522044181824, + "z": 0.5081748962402344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.843381404876709, + -2.8878450393676758e-05, + 11.039451599121094 + ], + [ + 2.4670932292938232, + -2.8878450393676758e-05, + 10.99077320098877 + ], + [ + 2.504957437515259, + -2.8878450393676758e-05, + 11.475921630859375 + ], + [ + 1.8812456130981445, + -2.8878450393676758e-05, + 11.5246000289917 + ], + [ + 1.843381404876709, + 0.8322229385375977, + 11.039451599121094 + ], + [ + 2.4670932292938232, + 0.8322229385375977, + 10.99077320098877 + ], + [ + 2.504957437515259, + 0.8322229385375977, + 11.475921630859375 + ], + [ + 1.8812456130981445, + 0.8322229385375977, + 11.5246000289917 + ] + ] + } + } + }, + { + "objectId": "DogBed|4|2", + "object_info": { + "name": "DogBed|4|2", + "position": { + "x": 4.638265609741211, + "y": 0.003950253129005432, + "z": 10.796929359436035 + }, + "rotation": { + "x": -0.0002660128811839968, + "y": -0.00015079793229233474, + "z": -2.7592546757659875e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.9800000190734863, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 1.5829848051071167, + "objectType": "DogBed", + "objectId": "DogBed|4|2", + "assetId": "Dog_Bed_2_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.138455390930176, + 0.31595391035079956, + 11.211904525756836 + ], + [ + 5.138455390930176, + 0.31595391035079956, + 10.377124786376953 + ], + [ + 5.138455390930176, + 5.960464477539063e-08, + 11.211904525756836 + ], + [ + 5.138455390930176, + 5.960464477539063e-08, + 10.377124786376953 + ], + [ + 4.146076202392578, + 0.31595391035079956, + 11.211904525756836 + ], + [ + 4.146076202392578, + 0.31595391035079956, + 10.377124786376953 + ], + [ + 4.146076202392578, + 5.960464477539063e-08, + 11.211904525756836 + ], + [ + 4.146076202392578, + 5.960464477539063e-08, + 10.377124786376953 + ] + ], + "center": { + "x": 4.642265796661377, + "y": 0.15797698497772217, + "z": 10.794514656066895 + }, + "size": { + "x": 0.9923791885375977, + "y": 0.3159538507461548, + "z": 0.8347797393798828 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.138454437255859, + 2.3562461137771606e-06, + 11.211907386779785 + ], + [ + 4.1460747718811035, + 2.834014594554901e-06, + 11.211904525756836 + ], + [ + 4.1460771560668945, + -1.0416842997074127e-06, + 10.377123832702637 + ], + [ + 5.138456344604492, + -1.5194527804851532e-06, + 10.377126693725586 + ], + [ + 5.138454437255859, + 0.31595462560653687, + 11.211905479431152 + ], + [ + 4.146075248718262, + 0.31595510244369507, + 11.211902618408203 + ], + [ + 4.1460771560668945, + 0.31595122814178467, + 10.37712287902832 + ], + [ + 5.138456344604492, + 0.31595075130462646, + 10.377124786376953 + ] + ] + } + } + }, + { + "objectId": "DiningTable|4|0|0", + "object_info": { + "name": "DiningTable|4|0|0", + "position": { + "x": 1.7819786071777344, + "y": 0.0024788379669189453, + "z": 10.762722969055176 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Statue|surface|4|19", + "Statue|surface|4|20", + "DeskLamp|surface|4|21" + ], + "distance": 3.128809690475464, + "objectType": "DiningTable", + "objectId": "DiningTable|4|0|0", + "assetId": "Dining_Table_221_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.674949884414673, + 0.7820817232131958, + 11.157618522644043 + ], + [ + 2.674949884414673, + 0.7820817232131958, + 10.367827415466309 + ], + [ + 2.674949884414673, + -1.430511474609375e-06, + 11.157618522644043 + ], + [ + 2.674949884414673, + -1.430511474609375e-06, + 10.367827415466309 + ], + [ + 0.8890073299407959, + 0.7820817232131958, + 11.157618522644043 + ], + [ + 0.8890073299407959, + 0.7820817232131958, + 10.367827415466309 + ], + [ + 0.8890073299407959, + -1.430511474609375e-06, + 11.157618522644043 + ], + [ + 0.8890073299407959, + -1.430511474609375e-06, + 10.367827415466309 + ] + ], + "center": { + "x": 1.7819786071777344, + "y": 0.3910401463508606, + "z": 10.762722969055176 + }, + "size": { + "x": 1.785942554473877, + "y": 0.7820831537246704, + "z": 0.7897911071777344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.8890072703361511, + -1.430511474609375e-06, + 10.367827415466309 + ], + [ + 2.674949884414673, + -1.430511474609375e-06, + 10.367827415466309 + ], + [ + 2.674949884414673, + -1.430511474609375e-06, + 11.157618522644043 + ], + [ + 0.8890073895454407, + -1.430511474609375e-06, + 11.157618522644043 + ], + [ + 0.8890072703361511, + 0.7820817232131958, + 10.367827415466309 + ], + [ + 2.674949884414673, + 0.7820817232131958, + 10.367827415466309 + ], + [ + 2.674949884414673, + 0.7820817232131958, + 11.157618522644043 + ], + [ + 0.8890073895454407, + 0.7820817232131958, + 11.157618522644043 + ] + ] + } + } + }, + { + "objectId": "Chair|4|0|4", + "object_info": { + "name": "Chair|4|0|4", + "position": { + "x": 1.41483473777771, + "y": 0.0008544623851776123, + "z": 11.254436492919922 + }, + "rotation": { + "x": -0.0, + "y": 168.38992309570312, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Metal", + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 3.661496162414551, + "objectType": "Chair", + "objectId": "Chair|4|0|4", + "assetId": "Chair_210_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.7414209842681885, + 0.8322232961654663, + 11.524728775024414 + ], + [ + 1.7414209842681885, + 0.8322232961654663, + 10.97458267211914 + ], + [ + 1.7414209842681885, + -2.8908252716064453e-05, + 11.524728775024414 + ], + [ + 1.7414209842681885, + -2.8908252716064453e-05, + 10.97458267211914 + ], + [ + 1.0976619720458984, + 0.8322232961654663, + 11.524728775024414 + ], + [ + 1.0976619720458984, + 0.8322232961654663, + 10.97458267211914 + ], + [ + 1.0976619720458984, + -2.8908252716064453e-05, + 11.524728775024414 + ], + [ + 1.0976619720458984, + -2.8908252716064453e-05, + 10.97458267211914 + ] + ], + "center": { + "x": 1.4195414781570435, + "y": 0.4160971939563751, + "z": 11.249655723571777 + }, + "size": { + "x": 0.64375901222229, + "y": 0.8322522044181824, + "z": 0.5501461029052734 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.156933069229126, + -2.8878450393676758e-05, + 10.956400871276855 + ], + [ + 1.7697416543960571, + -2.8878450393676758e-05, + 11.082304000854492 + ], + [ + 1.6718084812164307, + -2.8878450393676758e-05, + 11.558972358703613 + ], + [ + 1.0589998960494995, + -2.8878450393676758e-05, + 11.43306827545166 + ], + [ + 1.156933069229126, + 0.8322229385375977, + 10.956400871276855 + ], + [ + 1.7697416543960571, + 0.8322229385375977, + 11.082304000854492 + ], + [ + 1.6718084812164307, + 0.8322229385375977, + 11.558972358703613 + ], + [ + 1.0589998960494995, + 0.8322229385375977, + 11.43306827545166 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 4.199999809265137, + "y": 0.9009997844696045, + "z": 9.699999809265137 + }, + "agent_rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "agent_cameraHorizon": 60.000003814697266, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 4.199999809265137, + "y": 1.5759997367858887, + "z": 9.699999809265137 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Chair|4|0|4", + "DiningTable|4|0|0", + "Chair|4|0|3", + "Statue|surface|4|19", + "DogBed|4|2", + "Chair|4|0|2", + "Sofa|4|3" + ], + "different_object": [ + "Chair|4|0|1", + "SideTable|4|1", + "Statue|surface|4|20", + "Painting|4|5", + "DeskLamp|surface|4|21" + ] +} \ No newline at end of file diff --git a/train/train1875/3/0_depth_npy.npy b/train/train1875/3/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..36350318585fe522ce3fae46f728f5703a01aa86 --- /dev/null +++ b/train/train1875/3/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7eb1a9f771161c3a5c4f55732c946674ddcc4b7117611dde4107ad8ac03fcfb3 +size 3145856 diff --git a/train/train1875/3/0_semantic_sensor_npy.npy b/train/train1875/3/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..2618c83b7a61c51c2a2148cdaab9208e0585daea --- /dev/null +++ b/train/train1875/3/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2c99d9fa65d050545f16ed2583ddb800d28cd3cf99fecc165d1e703debd2c5e2 +size 2359424 diff --git a/train/train1875/3/1.json b/train/train1875/3/1.json new file mode 100644 index 0000000000000000000000000000000000000000..4cf21af5c5a37b570077a49aa8f623213caf9948 --- /dev/null +++ b/train/train1875/3/1.json @@ -0,0 +1,1621 @@ +{ + "object": [ + { + "objectId": "Statue|surface|4|19", + "object_info": { + "name": "Statue|surface|4|19", + "position": { + "x": 2.2257962226867676, + "y": 0.7808696627616882, + "z": 11.057782173156738 + }, + "rotation": { + "x": -7.705308235017583e-05, + "y": 179.99993896484375, + "z": -2.3478729417547584e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 2.759188175201416, + "objectType": "Statue", + "objectId": "Statue|surface|4|19", + "assetId": "Waving_Statue_1", + "parentReceptacles": [ + "DiningTable|4|0|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.3249969482421875, + 1.140368103981018, + 11.155679702758789 + ], + [ + 2.3249969482421875, + 1.140368103981018, + 10.959884643554688 + ], + [ + 2.3249969482421875, + 0.7820816040039062, + 11.155679702758789 + ], + [ + 2.3249969482421875, + 0.7820816040039062, + 10.959884643554688 + ], + [ + 2.1169772148132324, + 1.140368103981018, + 11.155679702758789 + ], + [ + 2.1169772148132324, + 1.140368103981018, + 10.959884643554688 + ], + [ + 2.1169772148132324, + 0.7820816040039062, + 11.155679702758789 + ], + [ + 2.1169772148132324, + 0.7820816040039062, + 10.959884643554688 + ] + ], + "center": { + "x": 2.22098708152771, + "y": 0.9612248539924622, + "z": 11.057782173156738 + }, + "size": { + "x": 0.20801973342895508, + "y": 0.3582864999771118, + "z": 0.19579505920410156 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.116975784301758, + 0.7820812463760376, + 10.959884643554688 + ], + [ + 2.324995517730713, + 0.7820813059806824, + 10.959884643554688 + ], + [ + 2.324995517730713, + 0.7820810675621033, + 11.155679702758789 + ], + [ + 2.1169755458831787, + 0.7820810079574585, + 11.155678749084473 + ], + [ + 2.116975784301758, + 1.1403690576553345, + 10.959885597229004 + ], + [ + 2.324995517730713, + 1.140369176864624, + 10.959885597229004 + ], + [ + 2.324995279312134, + 1.140368938446045, + 11.155679702758789 + ], + [ + 2.1169755458831787, + 1.1403688192367554, + 11.155679702758789 + ] + ] + } + } + }, + { + "objectId": "door|4|8", + "object_info": { + "name": "door|4|8", + "position": { + "x": 5.176477432250977, + "y": -0.0005984306335449219, + "z": 13.150002479553223 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.8200809955596924, + "objectType": "Doorway", + "objectId": "door|4|8", + "assetId": "Doorway_Double_4", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.200747489929199, + 2.1049132347106934, + 13.220573425292969 + ], + [ + 5.200747489929199, + 2.1049132347106934, + 12.231983184814453 + ], + [ + 5.200747489929199, + -2.384185791015625e-07, + 13.220573425292969 + ], + [ + 5.200747489929199, + -2.384185791015625e-07, + 12.231983184814453 + ], + [ + 3.1618261337280273, + 2.1049132347106934, + 13.220573425292969 + ], + [ + 3.1618261337280273, + 2.1049132347106934, + 12.231983184814453 + ], + [ + 3.1618261337280273, + -2.384185791015625e-07, + 13.220573425292969 + ], + [ + 3.1618261337280273, + -2.384185791015625e-07, + 12.231983184814453 + ] + ], + "center": { + "x": 4.181286811828613, + "y": 1.0524564981460571, + "z": 12.726278305053711 + }, + "size": { + "x": 2.038921356201172, + "y": 2.1049134731292725, + "z": 0.9885902404785156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|4|5", + "object_info": { + "name": "door|4|5", + "position": { + "x": 6.574704170227051, + "y": -0.0022848844528198242, + "z": 10.628036499023438 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.5283961296081543, + "objectType": "Doorway", + "objectId": "door|4|5", + "assetId": "Doorway_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.490900039672852, + 2.0939149856567383, + 10.64681625366211 + ], + [ + 7.490900039672852, + 2.0939149856567383, + 9.593067169189453 + ], + [ + 7.490900039672852, + -0.002017974853515625, + 10.64681625366211 + ], + [ + 7.490900039672852, + -0.002017974853515625, + 9.593067169189453 + ], + [ + 6.52313232421875, + 2.0939149856567383, + 10.64681625366211 + ], + [ + 6.52313232421875, + 2.0939149856567383, + 9.593067169189453 + ], + [ + 6.52313232421875, + -0.002017974853515625, + 10.64681625366211 + ], + [ + 6.52313232421875, + -0.002017974853515625, + 9.593067169189453 + ] + ], + "center": { + "x": 7.007016181945801, + "y": 1.0459485054016113, + "z": 10.119941711425781 + }, + "size": { + "x": 0.9677677154541016, + "y": 2.095932960510254, + "z": 1.0537490844726562 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|7|8", + "object_info": { + "name": "door|7|8", + "position": { + "x": 1.894249677658081, + "y": -0.0021260976791381836, + "z": 15.342000007629395 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 6.460227012634277, + "objectType": "Doorway", + "objectId": "door|7|8", + "assetId": "Doorway_Double_7", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.8638219833374023, + 2.0940732955932617, + 16.25693130493164 + ], + [ + 3.8638219833374023, + 2.0940732955932617, + 15.272378921508789 + ], + [ + 3.8638219833374023, + -0.0015277862548828125, + 16.25693130493164 + ], + [ + 3.8638219833374023, + -0.0015277862548828125, + 15.272378921508789 + ], + [ + 1.8591737747192383, + 2.0940732955932617, + 16.25693130493164 + ], + [ + 1.8591737747192383, + 2.0940732955932617, + 15.272378921508789 + ], + [ + 1.8591737747192383, + -0.0015277862548828125, + 16.25693130493164 + ], + [ + 1.8591737747192383, + -0.0015277862548828125, + 15.272378921508789 + ] + ], + "center": { + "x": 2.8614978790283203, + "y": 1.0462727546691895, + "z": 15.764655113220215 + }, + "size": { + "x": 2.004648208618164, + "y": 2.0956010818481445, + "z": 0.9845523834228516 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Chair|4|0|2", + "object_info": { + "name": "Chair|4|0|2", + "position": { + "x": 2.8319005966186523, + "y": 0.0008544623851776123, + "z": 10.763738632202148 + }, + "rotation": { + "x": 0.0, + "y": 284.9430847167969, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Metal", + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 2.2781248092651367, + "objectType": "Chair", + "objectId": "Chair|4|0|2", + "assetId": "Chair_210_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.1062493324279785, + 0.8322231769561768, + 11.102640151977539 + ], + [ + 3.1062493324279785, + 0.8322231769561768, + 10.450983047485352 + ], + [ + 3.1062493324279785, + -2.899765968322754e-05, + 11.102640151977539 + ], + [ + 3.1062493324279785, + -2.899765968322754e-05, + 10.450983047485352 + ], + [ + 2.540526866912842, + 0.8322231769561768, + 11.102640151977539 + ], + [ + 2.540526866912842, + 0.8322231769561768, + 10.450983047485352 + ], + [ + 2.540526866912842, + -2.899765968322754e-05, + 11.102640151977539 + ], + [ + 2.540526866912842, + -2.899765968322754e-05, + 10.450983047485352 + ] + ], + "center": { + "x": 2.82338809967041, + "y": 0.41609707474708557, + "z": 10.776811599731445 + }, + "size": { + "x": 0.5657224655151367, + "y": 0.8322521448135376, + "z": 0.6516571044921875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.6805906295776367, + -2.8878450393676758e-05, + 11.127667427062988 + ], + [ + 2.5192716121673584, + -2.8878450393676758e-05, + 10.523215293884277 + ], + [ + 2.9894392490386963, + -2.8878450393676758e-05, + 10.397734642028809 + ], + [ + 3.1507582664489746, + -2.8878450393676758e-05, + 11.00218677520752 + ], + [ + 2.6805906295776367, + 0.8322229385375977, + 11.127667427062988 + ], + [ + 2.5192716121673584, + 0.8322229385375977, + 10.523215293884277 + ], + [ + 2.9894392490386963, + 0.8322229385375977, + 10.397734642028809 + ], + [ + 3.1507582664489746, + 0.8322229385375977, + 11.00218677520752 + ] + ] + } + } + }, + { + "objectId": "Sofa|4|3", + "object_info": { + "name": "Sofa|4|3", + "position": { + "x": 0.8639020919799805, + "y": 0.0023636221885681152, + "z": 12.79378604888916 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 103.99999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 4.987763404846191, + "objectType": "Sofa", + "objectId": "Sofa|4|3", + "assetId": "Sofa_221_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.7028003931045532, + 0.8951113224029541, + 13.124959945678711 + ], + [ + 1.7028003931045532, + 0.8951113224029541, + 12.445600509643555 + ], + [ + 1.7028003931045532, + -2.8908252716064453e-06, + 13.124959945678711 + ], + [ + 1.7028003931045532, + -2.8908252716064453e-06, + 12.445600509643555 + ], + [ + 0.025003790855407715, + 0.8951113224029541, + 13.124959945678711 + ], + [ + 0.025003790855407715, + 0.8951113224029541, + 12.445600509643555 + ], + [ + 0.025003790855407715, + -2.8908252716064453e-06, + 13.124959945678711 + ], + [ + 0.025003790855407715, + -2.8908252716064453e-06, + 12.445600509643555 + ] + ], + "center": { + "x": 0.8639020919799805, + "y": 0.44755420088768005, + "z": 12.785280227661133 + }, + "size": { + "x": 1.6777966022491455, + "y": 0.8951141834259033, + "z": 0.6793594360351562 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.02500373125076294, + -2.8014183044433594e-06, + 12.445600509643555 + ], + [ + 1.7028002738952637, + -2.8014183044433594e-06, + 12.445600509643555 + ], + [ + 1.7028003931045532, + -2.8014183044433594e-06, + 13.124958992004395 + ], + [ + 0.025003790855407715, + -2.8014183044433594e-06, + 13.124959945678711 + ], + [ + 0.02500373125076294, + 0.8951110243797302, + 12.445600509643555 + ], + [ + 1.7028002738952637, + 0.8951110243797302, + 12.445600509643555 + ], + [ + 1.7028003931045532, + 0.8951110243797302, + 13.124958992004395 + ], + [ + 0.025003790855407715, + 0.8951110243797302, + 13.124959945678711 + ] + ] + } + } + }, + { + "objectId": "Chair|4|0|3", + "object_info": { + "name": "Chair|4|0|3", + "position": { + "x": 2.173715591430664, + "y": 0.0008544623851776123, + "z": 11.254435539245605 + }, + "rotation": { + "x": 0.0, + "y": 184.4626922607422, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Metal", + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 3.049574613571167, + "objectType": "Chair", + "objectId": "Chair|4|0|3", + "assetId": "Chair_210_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.488889694213867, + 0.8322231769561768, + 11.511161804199219 + ], + [ + 2.488889694213867, + 0.8322231769561768, + 11.002986907958984 + ], + [ + 2.488889694213867, + -2.9027462005615234e-05, + 11.511161804199219 + ], + [ + 2.488889694213867, + -2.9027462005615234e-05, + 11.002986907958984 + ], + [ + 1.864943027496338, + 0.8322231769561768, + 11.511161804199219 + ], + [ + 1.864943027496338, + 0.8322231769561768, + 11.002986907958984 + ], + [ + 1.864943027496338, + -2.9027462005615234e-05, + 11.511161804199219 + ], + [ + 1.864943027496338, + -2.9027462005615234e-05, + 11.002986907958984 + ] + ], + "center": { + "x": 2.1769163608551025, + "y": 0.41609707474708557, + "z": 11.257074356079102 + }, + "size": { + "x": 0.6239466667175293, + "y": 0.8322522044181824, + "z": 0.5081748962402344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.843381404876709, + -2.8878450393676758e-05, + 11.039451599121094 + ], + [ + 2.4670932292938232, + -2.8878450393676758e-05, + 10.99077320098877 + ], + [ + 2.504957437515259, + -2.8878450393676758e-05, + 11.475921630859375 + ], + [ + 1.8812456130981445, + -2.8878450393676758e-05, + 11.5246000289917 + ], + [ + 1.843381404876709, + 0.8322229385375977, + 11.039451599121094 + ], + [ + 2.4670932292938232, + 0.8322229385375977, + 10.99077320098877 + ], + [ + 2.504957437515259, + 0.8322229385375977, + 11.475921630859375 + ], + [ + 1.8812456130981445, + 0.8322229385375977, + 11.5246000289917 + ] + ] + } + } + }, + { + "objectId": "DogBed|4|2", + "object_info": { + "name": "DogBed|4|2", + "position": { + "x": 4.638265609741211, + "y": 0.003950253129005432, + "z": 10.796929359436035 + }, + "rotation": { + "x": -0.0002660128811839968, + "y": -0.00015079793229233474, + "z": -2.7592546757659875e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.9800000190734863, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 1.5829848051071167, + "objectType": "DogBed", + "objectId": "DogBed|4|2", + "assetId": "Dog_Bed_2_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.138455390930176, + 0.31595391035079956, + 11.211904525756836 + ], + [ + 5.138455390930176, + 0.31595391035079956, + 10.377124786376953 + ], + [ + 5.138455390930176, + 5.960464477539063e-08, + 11.211904525756836 + ], + [ + 5.138455390930176, + 5.960464477539063e-08, + 10.377124786376953 + ], + [ + 4.146076202392578, + 0.31595391035079956, + 11.211904525756836 + ], + [ + 4.146076202392578, + 0.31595391035079956, + 10.377124786376953 + ], + [ + 4.146076202392578, + 5.960464477539063e-08, + 11.211904525756836 + ], + [ + 4.146076202392578, + 5.960464477539063e-08, + 10.377124786376953 + ] + ], + "center": { + "x": 4.642265796661377, + "y": 0.15797698497772217, + "z": 10.794514656066895 + }, + "size": { + "x": 0.9923791885375977, + "y": 0.3159538507461548, + "z": 0.8347797393798828 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.138454437255859, + 2.3562461137771606e-06, + 11.211907386779785 + ], + [ + 4.1460747718811035, + 2.834014594554901e-06, + 11.211904525756836 + ], + [ + 4.1460771560668945, + -1.0416842997074127e-06, + 10.377123832702637 + ], + [ + 5.138456344604492, + -1.5194527804851532e-06, + 10.377126693725586 + ], + [ + 5.138454437255859, + 0.31595462560653687, + 11.211905479431152 + ], + [ + 4.146075248718262, + 0.31595510244369507, + 11.211902618408203 + ], + [ + 4.1460771560668945, + 0.31595122814178467, + 10.37712287902832 + ], + [ + 5.138456344604492, + 0.31595075130462646, + 10.377124786376953 + ] + ] + } + } + }, + { + "objectId": "Chair|8|2|1", + "object_info": { + "name": "Chair|8|2|1", + "position": { + "x": 5.542760372161865, + "y": 0.0007779300212860107, + "z": 14.911334037780762 + }, + "rotation": { + "x": -0.0, + "y": 104.4024887084961, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Metal", + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 5.583930969238281, + "objectType": "Chair", + "objectId": "Chair|8|2|1", + "assetId": "Chair_210_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.832303047180176, + 0.8321467041969299, + 15.224472045898438 + ], + [ + 5.832303047180176, + 0.8321467041969299, + 14.573719024658203 + ], + [ + 5.832303047180176, + -0.0001055598258972168, + 15.224472045898438 + ], + [ + 5.832303047180176, + -0.0001055598258972168, + 14.573719024658203 + ], + [ + 5.269101142883301, + 0.8321467041969299, + 15.224472045898438 + ], + [ + 5.269101142883301, + 0.8321467041969299, + 14.573719024658203 + ], + [ + 5.269101142883301, + -0.0001055598258972168, + 15.224472045898438 + ], + [ + 5.269101142883301, + -0.0001055598258972168, + 14.573719024658203 + ] + ], + "center": { + "x": 5.550702095031738, + "y": 0.41602057218551636, + "z": 14.89909553527832 + }, + "size": { + "x": 0.563201904296875, + "y": 0.8322522640228271, + "z": 0.6507530212402344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.697497367858887, + -0.00010541081428527832, + 14.548849105834961 + ], + [ + 5.8531060218811035, + -0.00010541081428527832, + 15.154796600341797 + ], + [ + 5.381775379180908, + -0.00010541081428527832, + 15.275835037231445 + ], + [ + 5.226166725158691, + -0.00010541081428527832, + 14.669888496398926 + ], + [ + 5.697497367858887, + 0.832146406173706, + 14.548849105834961 + ], + [ + 5.8531060218811035, + 0.832146406173706, + 15.154796600341797 + ], + [ + 5.381775379180908, + 0.832146406173706, + 15.275835037231445 + ], + [ + 5.226166725158691, + 0.832146406173706, + 14.669888496398926 + ] + ] + } + } + }, + { + "objectId": "DiningTable|4|0|0", + "object_info": { + "name": "DiningTable|4|0|0", + "position": { + "x": 1.7819786071777344, + "y": 0.0024788379669189453, + "z": 10.762722969055176 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Statue|surface|4|19", + "Statue|surface|4|20", + "DeskLamp|surface|4|21" + ], + "distance": 3.128809690475464, + "objectType": "DiningTable", + "objectId": "DiningTable|4|0|0", + "assetId": "Dining_Table_221_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.674949884414673, + 0.7820817232131958, + 11.157618522644043 + ], + [ + 2.674949884414673, + 0.7820817232131958, + 10.367827415466309 + ], + [ + 2.674949884414673, + -1.430511474609375e-06, + 11.157618522644043 + ], + [ + 2.674949884414673, + -1.430511474609375e-06, + 10.367827415466309 + ], + [ + 0.8890073299407959, + 0.7820817232131958, + 11.157618522644043 + ], + [ + 0.8890073299407959, + 0.7820817232131958, + 10.367827415466309 + ], + [ + 0.8890073299407959, + -1.430511474609375e-06, + 11.157618522644043 + ], + [ + 0.8890073299407959, + -1.430511474609375e-06, + 10.367827415466309 + ] + ], + "center": { + "x": 1.7819786071777344, + "y": 0.3910401463508606, + "z": 10.762722969055176 + }, + "size": { + "x": 1.785942554473877, + "y": 0.7820831537246704, + "z": 0.7897911071777344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.8890072703361511, + -1.430511474609375e-06, + 10.367827415466309 + ], + [ + 2.674949884414673, + -1.430511474609375e-06, + 10.367827415466309 + ], + [ + 2.674949884414673, + -1.430511474609375e-06, + 11.157618522644043 + ], + [ + 0.8890073895454407, + -1.430511474609375e-06, + 11.157618522644043 + ], + [ + 0.8890072703361511, + 0.7820817232131958, + 10.367827415466309 + ], + [ + 2.674949884414673, + 0.7820817232131958, + 10.367827415466309 + ], + [ + 2.674949884414673, + 0.7820817232131958, + 11.157618522644043 + ], + [ + 0.8890073895454407, + 0.7820817232131958, + 11.157618522644043 + ] + ] + } + } + }, + { + "objectId": "Chair|4|0|4", + "object_info": { + "name": "Chair|4|0|4", + "position": { + "x": 1.41483473777771, + "y": 0.0008544623851776123, + "z": 11.254436492919922 + }, + "rotation": { + "x": -0.0, + "y": 168.38992309570312, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Metal", + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 3.661496162414551, + "objectType": "Chair", + "objectId": "Chair|4|0|4", + "assetId": "Chair_210_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.7414209842681885, + 0.8322232961654663, + 11.524728775024414 + ], + [ + 1.7414209842681885, + 0.8322232961654663, + 10.97458267211914 + ], + [ + 1.7414209842681885, + -2.8908252716064453e-05, + 11.524728775024414 + ], + [ + 1.7414209842681885, + -2.8908252716064453e-05, + 10.97458267211914 + ], + [ + 1.0976619720458984, + 0.8322232961654663, + 11.524728775024414 + ], + [ + 1.0976619720458984, + 0.8322232961654663, + 10.97458267211914 + ], + [ + 1.0976619720458984, + -2.8908252716064453e-05, + 11.524728775024414 + ], + [ + 1.0976619720458984, + -2.8908252716064453e-05, + 10.97458267211914 + ] + ], + "center": { + "x": 1.4195414781570435, + "y": 0.4160971939563751, + "z": 11.249655723571777 + }, + "size": { + "x": 0.64375901222229, + "y": 0.8322522044181824, + "z": 0.5501461029052734 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.156933069229126, + -2.8878450393676758e-05, + 10.956400871276855 + ], + [ + 1.7697416543960571, + -2.8878450393676758e-05, + 11.082304000854492 + ], + [ + 1.6718084812164307, + -2.8878450393676758e-05, + 11.558972358703613 + ], + [ + 1.0589998960494995, + -2.8878450393676758e-05, + 11.43306827545166 + ], + [ + 1.156933069229126, + 0.8322229385375977, + 10.956400871276855 + ], + [ + 1.7697416543960571, + 0.8322229385375977, + 11.082304000854492 + ], + [ + 1.6718084812164307, + 0.8322229385375977, + 11.558972358703613 + ], + [ + 1.0589998960494995, + 0.8322229385375977, + 11.43306827545166 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 4.099999904632568, + "y": 0.9009997844696045, + "z": 9.699999809265137 + }, + "agent_rotation": { + "x": -0.0, + "y": 9.659346687840298e-06, + "z": 0.0 + }, + "agent_cameraHorizon": 60.00001525878906, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 4.099999904632568, + "y": 1.5759997367858887, + "z": 9.699999809265137 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Chair|4|0|4", + "DiningTable|4|0|0", + "Chair|4|0|3", + "Statue|surface|4|19", + "DogBed|4|2", + "Chair|4|0|2", + "Sofa|4|3" + ], + "different_object": [ + "door|4|5", + "door|7|8", + "Chair|8|2|1", + "door|4|8" + ] +} \ No newline at end of file diff --git a/train/train1875/3/1_depth_npy.npy b/train/train1875/3/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..cccbc557499ff8d7a2a72222dc20f07e5797c3e8 --- /dev/null +++ b/train/train1875/3/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:77796fd2580c8d072b58592d60df1be5aec10e0227de776e12e5ed8851db1a3e +size 3145856 diff --git a/train/train1875/3/1_semantic_sensor_npy.npy b/train/train1875/3/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..062e924387908011c5c6481189a83a1f261bb31d --- /dev/null +++ b/train/train1875/3/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f833f6b4ad5f51c22d5e0cb7f3a87455583b8c33ac97622897b34d372ecf2303 +size 2359424 diff --git a/train/train1875/3/depth_0.png b/train/train1875/3/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..19d8aa5d887d7c711dd21599d97382e6a41e99ec Binary files /dev/null and b/train/train1875/3/depth_0.png differ diff --git a/train/train1875/3/depth_1.png b/train/train1875/3/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..0c384629929b838187f35fb0b077058e78e6e1ae Binary files /dev/null and b/train/train1875/3/depth_1.png differ diff --git a/train/train1875/3/mask_questions.jsonl b/train/train1875/3/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..385678c831b22173dab0f9abc4d0629ee8b0f078 --- /dev/null +++ b/train/train1875/3/mask_questions.jsonl @@ -0,0 +1,2 @@ +{"id": 11159, "folder_dir": "train1875/3", "pair_name": "0-1:DogBed|4|2", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. SideTable\nB. Painting\nC. DogBed\nD. Chair", "answer": "C", "object_name": "DogBed", "image_1": "train1875/3/rgb_0.png", "image_2": "train1875/3/rgb_1.png", "mask_image": "train1875/3/rgb_1_mask_DogBed|4|2.png", "options": ["SideTable", "Painting", "DogBed", "Chair"]} +{"id": 11160, "folder_dir": "train1875/3", "pair_name": "0-1:Sofa|4|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. SideTable\nB. Chair\nC. Painting\nD. Sofa", "answer": "D", "object_name": "Sofa", "image_1": "train1875/3/rgb_0.png", "image_2": "train1875/3/rgb_1.png", "mask_image": "train1875/3/rgb_1_mask_Sofa|4|3.png", "options": ["SideTable", "Chair", "Painting", "Sofa"]} diff --git a/train/train1875/3/rgb_0.png b/train/train1875/3/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..e6c6c458f55bac290123366dc6123911532ab7ca --- /dev/null +++ b/train/train1875/3/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:736e70c169d5a158f30a22116c88a9e2abc02a3019fc0eddef1f3f340cc4dcd9 +size 621857 diff --git a/train/train1875/3/rgb_1.png b/train/train1875/3/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..af73bdf2284d704706adf3706a68acecc545ae1b --- /dev/null +++ b/train/train1875/3/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:955390688a6d9c40fb4b8a56f9c040056b0671c6138dcac87778d39f48550c90 +size 697851 diff --git a/train/train1875/3/rgb_1_mask_DogBed|4|2.png b/train/train1875/3/rgb_1_mask_DogBed|4|2.png new file mode 100644 index 0000000000000000000000000000000000000000..4c28fa66f8756e269a9258ca8145e0bac443875a --- /dev/null +++ b/train/train1875/3/rgb_1_mask_DogBed|4|2.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4b3f0ec0758b379d2a8b30e9b6d9293dadb62869cc74f3d77d4969c7a082961f +size 563804 diff --git a/train/train1875/3/rgb_1_mask_Sofa|4|3.png b/train/train1875/3/rgb_1_mask_Sofa|4|3.png new file mode 100644 index 0000000000000000000000000000000000000000..03a1ed183040bb9c5c671fe8a4fb03ca8f04750d --- /dev/null +++ b/train/train1875/3/rgb_1_mask_Sofa|4|3.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:863955d7af76296b7f4275632ef654c479950fed85da1d69bd479e70938b7e1e +size 581088 diff --git a/train/train1875/3/semantic_0.png b/train/train1875/3/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..c7e9dff1eaa7f2b61f983b99a301c83d4b951507 Binary files /dev/null and b/train/train1875/3/semantic_0.png differ diff --git a/train/train1875/3/semantic_1.png b/train/train1875/3/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..b16a5facabe420d1df449670aa6dd895a72dfa21 Binary files /dev/null and b/train/train1875/3/semantic_1.png differ diff --git a/train/train1875/4/0.json b/train/train1875/4/0.json new file mode 100644 index 0000000000000000000000000000000000000000..e225925a5323cc21c49d809a43c0b9ad6e1e086a --- /dev/null +++ b/train/train1875/4/0.json @@ -0,0 +1,1465 @@ +{ + "object": [ + { + "objectId": "door|4|8", + "object_info": { + "name": "door|4|8", + "position": { + "x": 5.176477432250977, + "y": -0.0005984306335449219, + "z": 13.150002479553223 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.8200809955596924, + "objectType": "Doorway", + "objectId": "door|4|8", + "assetId": "Doorway_Double_4", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.200747489929199, + 2.1049132347106934, + 13.220573425292969 + ], + [ + 5.200747489929199, + 2.1049132347106934, + 12.231983184814453 + ], + [ + 5.200747489929199, + -2.384185791015625e-07, + 13.220573425292969 + ], + [ + 5.200747489929199, + -2.384185791015625e-07, + 12.231983184814453 + ], + [ + 3.1618261337280273, + 2.1049132347106934, + 13.220573425292969 + ], + [ + 3.1618261337280273, + 2.1049132347106934, + 12.231983184814453 + ], + [ + 3.1618261337280273, + -2.384185791015625e-07, + 13.220573425292969 + ], + [ + 3.1618261337280273, + -2.384185791015625e-07, + 12.231983184814453 + ] + ], + "center": { + "x": 4.181286811828613, + "y": 1.0524564981460571, + "z": 12.726278305053711 + }, + "size": { + "x": 2.038921356201172, + "y": 2.1049134731292725, + "z": 0.9885902404785156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|4|5", + "object_info": { + "name": "door|4|5", + "position": { + "x": 6.574704170227051, + "y": -0.0022848844528198242, + "z": 10.628036499023438 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.5283961296081543, + "objectType": "Doorway", + "objectId": "door|4|5", + "assetId": "Doorway_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.490900039672852, + 2.0939149856567383, + 10.64681625366211 + ], + [ + 7.490900039672852, + 2.0939149856567383, + 9.593067169189453 + ], + [ + 7.490900039672852, + -0.002017974853515625, + 10.64681625366211 + ], + [ + 7.490900039672852, + -0.002017974853515625, + 9.593067169189453 + ], + [ + 6.52313232421875, + 2.0939149856567383, + 10.64681625366211 + ], + [ + 6.52313232421875, + 2.0939149856567383, + 9.593067169189453 + ], + [ + 6.52313232421875, + -0.002017974853515625, + 10.64681625366211 + ], + [ + 6.52313232421875, + -0.002017974853515625, + 9.593067169189453 + ] + ], + "center": { + "x": 7.007016181945801, + "y": 1.0459485054016113, + "z": 10.119941711425781 + }, + "size": { + "x": 0.9677677154541016, + "y": 2.095932960510254, + "z": 1.0537490844726562 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|7|8", + "object_info": { + "name": "door|7|8", + "position": { + "x": 1.894249677658081, + "y": -0.0021260976791381836, + "z": 15.342000007629395 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 6.460227012634277, + "objectType": "Doorway", + "objectId": "door|7|8", + "assetId": "Doorway_Double_7", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.8638219833374023, + 2.0940732955932617, + 16.25693130493164 + ], + [ + 3.8638219833374023, + 2.0940732955932617, + 15.272378921508789 + ], + [ + 3.8638219833374023, + -0.0015277862548828125, + 16.25693130493164 + ], + [ + 3.8638219833374023, + -0.0015277862548828125, + 15.272378921508789 + ], + [ + 1.8591737747192383, + 2.0940732955932617, + 16.25693130493164 + ], + [ + 1.8591737747192383, + 2.0940732955932617, + 15.272378921508789 + ], + [ + 1.8591737747192383, + -0.0015277862548828125, + 16.25693130493164 + ], + [ + 1.8591737747192383, + -0.0015277862548828125, + 15.272378921508789 + ] + ], + "center": { + "x": 2.8614978790283203, + "y": 1.0462727546691895, + "z": 15.764655113220215 + }, + "size": { + "x": 2.004648208618164, + "y": 2.0956010818481445, + "z": 0.9845523834228516 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Chair|4|0|2", + "object_info": { + "name": "Chair|4|0|2", + "position": { + "x": 2.8319005966186523, + "y": 0.0008544623851776123, + "z": 10.763738632202148 + }, + "rotation": { + "x": 0.0, + "y": 284.9430847167969, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Metal", + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 2.2781248092651367, + "objectType": "Chair", + "objectId": "Chair|4|0|2", + "assetId": "Chair_210_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.1062493324279785, + 0.8322231769561768, + 11.102640151977539 + ], + [ + 3.1062493324279785, + 0.8322231769561768, + 10.450983047485352 + ], + [ + 3.1062493324279785, + -2.899765968322754e-05, + 11.102640151977539 + ], + [ + 3.1062493324279785, + -2.899765968322754e-05, + 10.450983047485352 + ], + [ + 2.540526866912842, + 0.8322231769561768, + 11.102640151977539 + ], + [ + 2.540526866912842, + 0.8322231769561768, + 10.450983047485352 + ], + [ + 2.540526866912842, + -2.899765968322754e-05, + 11.102640151977539 + ], + [ + 2.540526866912842, + -2.899765968322754e-05, + 10.450983047485352 + ] + ], + "center": { + "x": 2.82338809967041, + "y": 0.41609707474708557, + "z": 10.776811599731445 + }, + "size": { + "x": 0.5657224655151367, + "y": 0.8322521448135376, + "z": 0.6516571044921875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.6805906295776367, + -2.8878450393676758e-05, + 11.127667427062988 + ], + [ + 2.5192716121673584, + -2.8878450393676758e-05, + 10.523215293884277 + ], + [ + 2.9894392490386963, + -2.8878450393676758e-05, + 10.397734642028809 + ], + [ + 3.1507582664489746, + -2.8878450393676758e-05, + 11.00218677520752 + ], + [ + 2.6805906295776367, + 0.8322229385375977, + 11.127667427062988 + ], + [ + 2.5192716121673584, + 0.8322229385375977, + 10.523215293884277 + ], + [ + 2.9894392490386963, + 0.8322229385375977, + 10.397734642028809 + ], + [ + 3.1507582664489746, + 0.8322229385375977, + 11.00218677520752 + ] + ] + } + } + }, + { + "objectId": "Sofa|4|3", + "object_info": { + "name": "Sofa|4|3", + "position": { + "x": 0.8639020919799805, + "y": 0.0023636221885681152, + "z": 12.79378604888916 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 103.99999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 4.987763404846191, + "objectType": "Sofa", + "objectId": "Sofa|4|3", + "assetId": "Sofa_221_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.7028003931045532, + 0.8951113224029541, + 13.124959945678711 + ], + [ + 1.7028003931045532, + 0.8951113224029541, + 12.445600509643555 + ], + [ + 1.7028003931045532, + -2.8908252716064453e-06, + 13.124959945678711 + ], + [ + 1.7028003931045532, + -2.8908252716064453e-06, + 12.445600509643555 + ], + [ + 0.025003790855407715, + 0.8951113224029541, + 13.124959945678711 + ], + [ + 0.025003790855407715, + 0.8951113224029541, + 12.445600509643555 + ], + [ + 0.025003790855407715, + -2.8908252716064453e-06, + 13.124959945678711 + ], + [ + 0.025003790855407715, + -2.8908252716064453e-06, + 12.445600509643555 + ] + ], + "center": { + "x": 0.8639020919799805, + "y": 0.44755420088768005, + "z": 12.785280227661133 + }, + "size": { + "x": 1.6777966022491455, + "y": 0.8951141834259033, + "z": 0.6793594360351562 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.02500373125076294, + -2.8014183044433594e-06, + 12.445600509643555 + ], + [ + 1.7028002738952637, + -2.8014183044433594e-06, + 12.445600509643555 + ], + [ + 1.7028003931045532, + -2.8014183044433594e-06, + 13.124958992004395 + ], + [ + 0.025003790855407715, + -2.8014183044433594e-06, + 13.124959945678711 + ], + [ + 0.02500373125076294, + 0.8951110243797302, + 12.445600509643555 + ], + [ + 1.7028002738952637, + 0.8951110243797302, + 12.445600509643555 + ], + [ + 1.7028003931045532, + 0.8951110243797302, + 13.124958992004395 + ], + [ + 0.025003790855407715, + 0.8951110243797302, + 13.124959945678711 + ] + ] + } + } + }, + { + "objectId": "Chair|4|0|3", + "object_info": { + "name": "Chair|4|0|3", + "position": { + "x": 2.173715591430664, + "y": 0.0008544623851776123, + "z": 11.254435539245605 + }, + "rotation": { + "x": 0.0, + "y": 184.4626922607422, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Metal", + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 3.049574613571167, + "objectType": "Chair", + "objectId": "Chair|4|0|3", + "assetId": "Chair_210_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.488889694213867, + 0.8322231769561768, + 11.511161804199219 + ], + [ + 2.488889694213867, + 0.8322231769561768, + 11.002986907958984 + ], + [ + 2.488889694213867, + -2.9027462005615234e-05, + 11.511161804199219 + ], + [ + 2.488889694213867, + -2.9027462005615234e-05, + 11.002986907958984 + ], + [ + 1.864943027496338, + 0.8322231769561768, + 11.511161804199219 + ], + [ + 1.864943027496338, + 0.8322231769561768, + 11.002986907958984 + ], + [ + 1.864943027496338, + -2.9027462005615234e-05, + 11.511161804199219 + ], + [ + 1.864943027496338, + -2.9027462005615234e-05, + 11.002986907958984 + ] + ], + "center": { + "x": 2.1769163608551025, + "y": 0.41609707474708557, + "z": 11.257074356079102 + }, + "size": { + "x": 0.6239466667175293, + "y": 0.8322522044181824, + "z": 0.5081748962402344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.843381404876709, + -2.8878450393676758e-05, + 11.039451599121094 + ], + [ + 2.4670932292938232, + -2.8878450393676758e-05, + 10.99077320098877 + ], + [ + 2.504957437515259, + -2.8878450393676758e-05, + 11.475921630859375 + ], + [ + 1.8812456130981445, + -2.8878450393676758e-05, + 11.5246000289917 + ], + [ + 1.843381404876709, + 0.8322229385375977, + 11.039451599121094 + ], + [ + 2.4670932292938232, + 0.8322229385375977, + 10.99077320098877 + ], + [ + 2.504957437515259, + 0.8322229385375977, + 11.475921630859375 + ], + [ + 1.8812456130981445, + 0.8322229385375977, + 11.5246000289917 + ] + ] + } + } + }, + { + "objectId": "DogBed|4|2", + "object_info": { + "name": "DogBed|4|2", + "position": { + "x": 4.638265609741211, + "y": 0.003950253129005432, + "z": 10.796929359436035 + }, + "rotation": { + "x": -0.0002660128811839968, + "y": -0.00015079793229233474, + "z": -2.7592546757659875e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.9800000190734863, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 1.5829848051071167, + "objectType": "DogBed", + "objectId": "DogBed|4|2", + "assetId": "Dog_Bed_2_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.138455390930176, + 0.31595391035079956, + 11.211904525756836 + ], + [ + 5.138455390930176, + 0.31595391035079956, + 10.377124786376953 + ], + [ + 5.138455390930176, + 5.960464477539063e-08, + 11.211904525756836 + ], + [ + 5.138455390930176, + 5.960464477539063e-08, + 10.377124786376953 + ], + [ + 4.146076202392578, + 0.31595391035079956, + 11.211904525756836 + ], + [ + 4.146076202392578, + 0.31595391035079956, + 10.377124786376953 + ], + [ + 4.146076202392578, + 5.960464477539063e-08, + 11.211904525756836 + ], + [ + 4.146076202392578, + 5.960464477539063e-08, + 10.377124786376953 + ] + ], + "center": { + "x": 4.642265796661377, + "y": 0.15797698497772217, + "z": 10.794514656066895 + }, + "size": { + "x": 0.9923791885375977, + "y": 0.3159538507461548, + "z": 0.8347797393798828 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.138454437255859, + 2.3562461137771606e-06, + 11.211907386779785 + ], + [ + 4.1460747718811035, + 2.834014594554901e-06, + 11.211904525756836 + ], + [ + 4.1460771560668945, + -1.0416842997074127e-06, + 10.377123832702637 + ], + [ + 5.138456344604492, + -1.5194527804851532e-06, + 10.377126693725586 + ], + [ + 5.138454437255859, + 0.31595462560653687, + 11.211905479431152 + ], + [ + 4.146075248718262, + 0.31595510244369507, + 11.211902618408203 + ], + [ + 4.1460771560668945, + 0.31595122814178467, + 10.37712287902832 + ], + [ + 5.138456344604492, + 0.31595075130462646, + 10.377124786376953 + ] + ] + } + } + }, + { + "objectId": "Chair|8|2|1", + "object_info": { + "name": "Chair|8|2|1", + "position": { + "x": 5.542760372161865, + "y": 0.0007779300212860107, + "z": 14.911334037780762 + }, + "rotation": { + "x": -0.0, + "y": 104.4024887084961, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Metal", + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 5.583930969238281, + "objectType": "Chair", + "objectId": "Chair|8|2|1", + "assetId": "Chair_210_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.832303047180176, + 0.8321467041969299, + 15.224472045898438 + ], + [ + 5.832303047180176, + 0.8321467041969299, + 14.573719024658203 + ], + [ + 5.832303047180176, + -0.0001055598258972168, + 15.224472045898438 + ], + [ + 5.832303047180176, + -0.0001055598258972168, + 14.573719024658203 + ], + [ + 5.269101142883301, + 0.8321467041969299, + 15.224472045898438 + ], + [ + 5.269101142883301, + 0.8321467041969299, + 14.573719024658203 + ], + [ + 5.269101142883301, + -0.0001055598258972168, + 15.224472045898438 + ], + [ + 5.269101142883301, + -0.0001055598258972168, + 14.573719024658203 + ] + ], + "center": { + "x": 5.550702095031738, + "y": 0.41602057218551636, + "z": 14.89909553527832 + }, + "size": { + "x": 0.563201904296875, + "y": 0.8322522640228271, + "z": 0.6507530212402344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.697497367858887, + -0.00010541081428527832, + 14.548849105834961 + ], + [ + 5.8531060218811035, + -0.00010541081428527832, + 15.154796600341797 + ], + [ + 5.381775379180908, + -0.00010541081428527832, + 15.275835037231445 + ], + [ + 5.226166725158691, + -0.00010541081428527832, + 14.669888496398926 + ], + [ + 5.697497367858887, + 0.832146406173706, + 14.548849105834961 + ], + [ + 5.8531060218811035, + 0.832146406173706, + 15.154796600341797 + ], + [ + 5.381775379180908, + 0.832146406173706, + 15.275835037231445 + ], + [ + 5.226166725158691, + 0.832146406173706, + 14.669888496398926 + ] + ] + } + } + }, + { + "objectId": "DiningTable|4|0|0", + "object_info": { + "name": "DiningTable|4|0|0", + "position": { + "x": 1.7819786071777344, + "y": 0.0024788379669189453, + "z": 10.762722969055176 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Statue|surface|4|19", + "Statue|surface|4|20", + "DeskLamp|surface|4|21" + ], + "distance": 3.128809690475464, + "objectType": "DiningTable", + "objectId": "DiningTable|4|0|0", + "assetId": "Dining_Table_221_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.674949884414673, + 0.7820817232131958, + 11.157618522644043 + ], + [ + 2.674949884414673, + 0.7820817232131958, + 10.367827415466309 + ], + [ + 2.674949884414673, + -1.430511474609375e-06, + 11.157618522644043 + ], + [ + 2.674949884414673, + -1.430511474609375e-06, + 10.367827415466309 + ], + [ + 0.8890073299407959, + 0.7820817232131958, + 11.157618522644043 + ], + [ + 0.8890073299407959, + 0.7820817232131958, + 10.367827415466309 + ], + [ + 0.8890073299407959, + -1.430511474609375e-06, + 11.157618522644043 + ], + [ + 0.8890073299407959, + -1.430511474609375e-06, + 10.367827415466309 + ] + ], + "center": { + "x": 1.7819786071777344, + "y": 0.3910401463508606, + "z": 10.762722969055176 + }, + "size": { + "x": 1.785942554473877, + "y": 0.7820831537246704, + "z": 0.7897911071777344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.8890072703361511, + -1.430511474609375e-06, + 10.367827415466309 + ], + [ + 2.674949884414673, + -1.430511474609375e-06, + 10.367827415466309 + ], + [ + 2.674949884414673, + -1.430511474609375e-06, + 11.157618522644043 + ], + [ + 0.8890073895454407, + -1.430511474609375e-06, + 11.157618522644043 + ], + [ + 0.8890072703361511, + 0.7820817232131958, + 10.367827415466309 + ], + [ + 2.674949884414673, + 0.7820817232131958, + 10.367827415466309 + ], + [ + 2.674949884414673, + 0.7820817232131958, + 11.157618522644043 + ], + [ + 0.8890073895454407, + 0.7820817232131958, + 11.157618522644043 + ] + ] + } + } + }, + { + "objectId": "Chair|4|0|4", + "object_info": { + "name": "Chair|4|0|4", + "position": { + "x": 1.41483473777771, + "y": 0.0008544623851776123, + "z": 11.254436492919922 + }, + "rotation": { + "x": -0.0, + "y": 168.38992309570312, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Metal", + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 3.661496162414551, + "objectType": "Chair", + "objectId": "Chair|4|0|4", + "assetId": "Chair_210_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.7414209842681885, + 0.8322232961654663, + 11.524728775024414 + ], + [ + 1.7414209842681885, + 0.8322232961654663, + 10.97458267211914 + ], + [ + 1.7414209842681885, + -2.8908252716064453e-05, + 11.524728775024414 + ], + [ + 1.7414209842681885, + -2.8908252716064453e-05, + 10.97458267211914 + ], + [ + 1.0976619720458984, + 0.8322232961654663, + 11.524728775024414 + ], + [ + 1.0976619720458984, + 0.8322232961654663, + 10.97458267211914 + ], + [ + 1.0976619720458984, + -2.8908252716064453e-05, + 11.524728775024414 + ], + [ + 1.0976619720458984, + -2.8908252716064453e-05, + 10.97458267211914 + ] + ], + "center": { + "x": 1.4195414781570435, + "y": 0.4160971939563751, + "z": 11.249655723571777 + }, + "size": { + "x": 0.64375901222229, + "y": 0.8322522044181824, + "z": 0.5501461029052734 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.156933069229126, + -2.8878450393676758e-05, + 10.956400871276855 + ], + [ + 1.7697416543960571, + -2.8878450393676758e-05, + 11.082304000854492 + ], + [ + 1.6718084812164307, + -2.8878450393676758e-05, + 11.558972358703613 + ], + [ + 1.0589998960494995, + -2.8878450393676758e-05, + 11.43306827545166 + ], + [ + 1.156933069229126, + 0.8322229385375977, + 10.956400871276855 + ], + [ + 1.7697416543960571, + 0.8322229385375977, + 11.082304000854492 + ], + [ + 1.6718084812164307, + 0.8322229385375977, + 11.558972358703613 + ], + [ + 1.0589998960494995, + 0.8322229385375977, + 11.43306827545166 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 4.300000190734863, + "y": 0.9009997844696045, + "z": 9.800000190734863 + }, + "agent_rotation": { + "x": -0.0, + "y": 9.659346687840298e-06, + "z": 0.0 + }, + "agent_cameraHorizon": 60.00001525878906, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 4.300000190734863, + "y": 1.5759997367858887, + "z": 9.800000190734863 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "door|4|5", + "DogBed|4|2" + ], + "different_object": [ + "Chair|4|0|4", + "DiningTable|4|0|0", + "Chair|8|2|1", + "Chair|4|0|3", + "door|7|8", + "door|4|8", + "Chair|4|0|2", + "Sofa|4|3" + ] +} \ No newline at end of file diff --git a/train/train1875/4/0_depth_npy.npy b/train/train1875/4/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..c3c7e17c9f8c43989636b0e0a1082dfefa49eb2f --- /dev/null +++ b/train/train1875/4/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aa7eac99aaffd93550240224e1efb84197f92cc8f8baa4a04e61166717ea5a3a +size 3145856 diff --git a/train/train1875/4/0_semantic_sensor_npy.npy b/train/train1875/4/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..9f41a511c13c50721906992b90900aedbb121216 --- /dev/null +++ b/train/train1875/4/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:07205683cfcccf5a87a6b0556996cf848cd71e78d3c87446b0ad0be1d96a7fc0 +size 2359424 diff --git a/train/train1875/4/1.json b/train/train1875/4/1.json new file mode 100644 index 0000000000000000000000000000000000000000..e7ae86af786815a81684c1e8eb6ea8855d093282 --- /dev/null +++ b/train/train1875/4/1.json @@ -0,0 +1,613 @@ +{ + "object": [ + { + "objectId": "Sofa|3|1|1", + "object_info": { + "name": "Sofa|3|1|1", + "position": { + "x": 8.158638000488281, + "y": 0.004032701253890991, + "z": 4.664748668670654 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 103.99999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 6.129424095153809, + "objectType": "Sofa", + "objectId": "Sofa|3|1|1", + "assetId": "Sofa_223_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.555356979370117, + 0.9045586585998535, + 5.914248466491699 + ], + [ + 8.555356979370117, + 0.9045586585998535, + 3.4152488708496094 + ], + [ + 8.555356979370117, + -2.205371856689453e-06, + 5.914248466491699 + ], + [ + 8.555356979370117, + -2.205371856689453e-06, + 3.4152488708496094 + ], + [ + 7.758047103881836, + 0.9045586585998535, + 5.914248466491699 + ], + [ + 7.758047103881836, + 0.9045586585998535, + 3.4152488708496094 + ], + [ + 7.758047103881836, + -2.205371856689453e-06, + 5.914248466491699 + ], + [ + 7.758047103881836, + -2.205371856689453e-06, + 3.4152488708496094 + ] + ], + "center": { + "x": 8.156702041625977, + "y": 0.4522782266139984, + "z": 4.664748668670654 + }, + "size": { + "x": 0.7973098754882812, + "y": 0.9045608639717102, + "z": 2.49899959564209 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 8.555357933044434, + -2.2351741790771484e-06, + 3.415248394012451 + ], + [ + 8.555357933044434, + -2.2351741790771484e-06, + 5.914248943328857 + ], + [ + 7.758047103881836, + -2.2351741790771484e-06, + 5.914248943328857 + ], + [ + 7.758047103881836, + -2.2351741790771484e-06, + 3.4152486324310303 + ], + [ + 8.555357933044434, + 0.904558539390564, + 3.415248394012451 + ], + [ + 8.555357933044434, + 0.904558539390564, + 5.914248943328857 + ], + [ + 7.758047103881836, + 0.904558539390564, + 5.914248943328857 + ], + [ + 7.758047103881836, + 0.904558539390564, + 3.4152486324310303 + ] + ] + } + } + }, + { + "objectId": "door|4|5", + "object_info": { + "name": "door|4|5", + "position": { + "x": 6.574704170227051, + "y": -0.0022848844528198242, + "z": 10.628036499023438 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.5283961296081543, + "objectType": "Doorway", + "objectId": "door|4|5", + "assetId": "Doorway_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.490900039672852, + 2.0939149856567383, + 10.64681625366211 + ], + [ + 7.490900039672852, + 2.0939149856567383, + 9.593067169189453 + ], + [ + 7.490900039672852, + -0.002017974853515625, + 10.64681625366211 + ], + [ + 7.490900039672852, + -0.002017974853515625, + 9.593067169189453 + ], + [ + 6.52313232421875, + 2.0939149856567383, + 10.64681625366211 + ], + [ + 6.52313232421875, + 2.0939149856567383, + 9.593067169189453 + ], + [ + 6.52313232421875, + -0.002017974853515625, + 10.64681625366211 + ], + [ + 6.52313232421875, + -0.002017974853515625, + 9.593067169189453 + ] + ], + "center": { + "x": 7.007016181945801, + "y": 1.0459485054016113, + "z": 10.119941711425781 + }, + "size": { + "x": 0.9677677154541016, + "y": 2.095932960510254, + "z": 1.0537490844726562 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DiningTable|3|0", + "object_info": { + "name": "DiningTable|3|0", + "position": { + "x": 4.79160737991333, + "y": -0.00013914704322814941, + "z": 7.714365005493164 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Plate|surface|3|18" + ], + "distance": 2.0212814807891846, + "objectType": "DiningTable", + "objectId": "DiningTable|3|0", + "assetId": "RoboTHOR_dining_table_jokkmokk_v", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.175214767456055, + 0.7417037487030029, + 8.316061019897461 + ], + [ + 5.175214767456055, + 0.7417037487030029, + 7.112668991088867 + ], + [ + 5.175214767456055, + 7.748603820800781e-06, + 8.316061019897461 + ], + [ + 5.175214767456055, + 7.748603820800781e-06, + 7.112668991088867 + ], + [ + 4.4079999923706055, + 0.7417037487030029, + 8.316061019897461 + ], + [ + 4.4079999923706055, + 0.7417037487030029, + 7.112668991088867 + ], + [ + 4.4079999923706055, + 7.748603820800781e-06, + 8.316061019897461 + ], + [ + 4.4079999923706055, + 7.748603820800781e-06, + 7.112668991088867 + ] + ], + "center": { + "x": 4.79160737991333, + "y": 0.37085574865341187, + "z": 7.714365005493164 + }, + "size": { + "x": 0.7672147750854492, + "y": 0.7416960000991821, + "z": 1.2033920288085938 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.1752142906188965, + 8.195638656616211e-06, + 7.112668991088867 + ], + [ + 5.1752142906188965, + 8.195638656616211e-06, + 8.316061019897461 + ], + [ + 4.408000469207764, + 8.195638656616211e-06, + 8.316061019897461 + ], + [ + 4.408000469207764, + 8.195638656616211e-06, + 7.112669467926025 + ], + [ + 5.1752142906188965, + 0.7417033910751343, + 7.112668991088867 + ], + [ + 5.1752142906188965, + 0.7417033910751343, + 8.316061019897461 + ], + [ + 4.408000469207764, + 0.7417033910751343, + 8.316061019897461 + ], + [ + 4.408000469207764, + 0.7417033910751343, + 7.112669467926025 + ] + ] + } + } + }, + { + "objectId": "DogBed|4|2", + "object_info": { + "name": "DogBed|4|2", + "position": { + "x": 4.638265609741211, + "y": 0.003950253129005432, + "z": 10.796929359436035 + }, + "rotation": { + "x": -0.0002660128811839968, + "y": -0.00015079793229233474, + "z": -2.7592546757659875e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.9800000190734863, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 1.5829848051071167, + "objectType": "DogBed", + "objectId": "DogBed|4|2", + "assetId": "Dog_Bed_2_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.138455390930176, + 0.31595391035079956, + 11.211904525756836 + ], + [ + 5.138455390930176, + 0.31595391035079956, + 10.377124786376953 + ], + [ + 5.138455390930176, + 5.960464477539063e-08, + 11.211904525756836 + ], + [ + 5.138455390930176, + 5.960464477539063e-08, + 10.377124786376953 + ], + [ + 4.146076202392578, + 0.31595391035079956, + 11.211904525756836 + ], + [ + 4.146076202392578, + 0.31595391035079956, + 10.377124786376953 + ], + [ + 4.146076202392578, + 5.960464477539063e-08, + 11.211904525756836 + ], + [ + 4.146076202392578, + 5.960464477539063e-08, + 10.377124786376953 + ] + ], + "center": { + "x": 4.642265796661377, + "y": 0.15797698497772217, + "z": 10.794514656066895 + }, + "size": { + "x": 0.9923791885375977, + "y": 0.3159538507461548, + "z": 0.8347797393798828 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.138454437255859, + 2.3562461137771606e-06, + 11.211907386779785 + ], + [ + 4.1460747718811035, + 2.834014594554901e-06, + 11.211904525756836 + ], + [ + 4.1460771560668945, + -1.0416842997074127e-06, + 10.377123832702637 + ], + [ + 5.138456344604492, + -1.5194527804851532e-06, + 10.377126693725586 + ], + [ + 5.138454437255859, + 0.31595462560653687, + 11.211905479431152 + ], + [ + 4.146075248718262, + 0.31595510244369507, + 11.211902618408203 + ], + [ + 4.1460771560668945, + 0.31595122814178467, + 10.37712287902832 + ], + [ + 5.138456344604492, + 0.31595075130462646, + 10.377124786376953 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 4.300000190734863, + "y": 0.9009997844696045, + "z": 9.800000190734863 + }, + "agent_rotation": { + "x": -0.0, + "y": 90.00000762939453, + "z": 0.0 + }, + "agent_cameraHorizon": 60.000003814697266, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 4.300000190734863, + "y": 1.5759997367858887, + "z": 9.800000190734863 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "door|4|5", + "DogBed|4|2" + ], + "different_object": [ + "DiningTable|3|0", + "Sofa|3|1|1" + ] +} \ No newline at end of file diff --git a/train/train1875/4/1_depth_npy.npy b/train/train1875/4/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..38ab2a176faaa85a5c0285f19a0741b9dfd9b77d --- /dev/null +++ b/train/train1875/4/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c5d13cb452e1f9aae999c29e70764f32681112f1db3ca4ce0ae2dfbd2228b0d2 +size 3145856 diff --git a/train/train1875/4/1_semantic_sensor_npy.npy b/train/train1875/4/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..adfc47e7353cb89fdcdbe7c9660238e653887782 --- /dev/null +++ b/train/train1875/4/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8f5e1a871111a305ae2f7a29070822770c1bcaabe9b51cc8b0ddb9b6f5ee528d +size 2359424 diff --git a/train/train1875/4/depth_0.png b/train/train1875/4/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..f4e951ac51942dfa93a45a368a38d905676745f7 Binary files /dev/null and b/train/train1875/4/depth_0.png differ diff --git a/train/train1875/4/depth_1.png b/train/train1875/4/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..5a220e6e698dce8cb98f69f1aa9bc5cc9b0c5954 Binary files /dev/null and b/train/train1875/4/depth_1.png differ diff --git a/train/train1875/4/mask_questions.jsonl b/train/train1875/4/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d4413b9b60fb27dbfdfdd5097836e596230a533c --- /dev/null +++ b/train/train1875/4/mask_questions.jsonl @@ -0,0 +1 @@ +{"id": 11161, "folder_dir": "train1875/4", "pair_name": "1-0:DogBed|4|2", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Doorway\nB. DogBed\nC. Sofa\nD. DiningTable", "answer": "B", "object_name": "DogBed", "image_1": "train1875/4/rgb_1.png", "image_2": "train1875/4/rgb_0.png", "mask_image": "train1875/4/rgb_0_mask_DogBed|4|2.png", "options": ["Doorway", "DogBed", "Sofa", "DiningTable"]} diff --git a/train/train1875/4/rgb_0.png b/train/train1875/4/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..028793599d9759cdfb9b6da088302d60d830dd2e --- /dev/null +++ b/train/train1875/4/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5cdcc3beb4a117e09c533ba90402a00b2d96f38f901a1609370527d4993ea8a3 +size 695427 diff --git a/train/train1875/4/rgb_0_mask_DogBed|4|2.png b/train/train1875/4/rgb_0_mask_DogBed|4|2.png new file mode 100644 index 0000000000000000000000000000000000000000..34b1cbf59e6549d36791412528b634847c5dbb76 --- /dev/null +++ b/train/train1875/4/rgb_0_mask_DogBed|4|2.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0520a64f6b43cb12afcc24e407def09bbfa40f28f32cdaff583e9ca4b339f24d +size 559659 diff --git a/train/train1875/4/rgb_1.png b/train/train1875/4/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..7c00f09446536763dc1f256a8f4d37e1f8ac9695 --- /dev/null +++ b/train/train1875/4/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f143c1238f2fcb2ce7bb00eae168d859f55b9efa5cfb3c7c5f545a72d6079dc7 +size 616362 diff --git a/train/train1875/4/semantic_0.png b/train/train1875/4/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..d31121661013c66346e9d82bf34f55f42adb97c6 Binary files /dev/null and b/train/train1875/4/semantic_0.png differ diff --git a/train/train1875/4/semantic_1.png b/train/train1875/4/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..37c20af140a6a2560f9705f68487777f69eefba5 Binary files /dev/null and b/train/train1875/4/semantic_1.png differ diff --git a/train/train1875/color_to_object_id.json b/train/train1875/color_to_object_id.json new file mode 100644 index 0000000000000000000000000000000000000000..9a0d1f572505c845508f5821510669d81bd59b93 --- /dev/null +++ b/train/train1875/color_to_object_id.json @@ -0,0 +1,2459 @@ +[ + { + "window|6|0": [ + 43, + 165, + 91 + ] + }, + { + "Window": [ + 200, + 150, + 134 + ] + }, + { + "window|3|0": [ + 82, + 231, + 137 + ] + }, + { + "window|7|0": [ + 75, + 237, + 134 + ] + }, + { + "window|8|0": [ + 164, + 200, + 127 + ] + }, + { + "window|4|0": [ + 148, + 40, + 210 + ] + }, + { + "window|2|0": [ + 226, + 232, + 42 + ] + }, + { + "door|1|2": [ + 41, + 237, + 95 + ] + }, + { + "Doorway": [ + 163, + 222, + 124 + ] + }, + { + "door|4|8": [ + 34, + 34, + 220 + ] + }, + { + "door|7|8": [ + 74, + 168, + 102 + ] + }, + { + "door|6|7": [ + 203, + 131, + 110 + ] + }, + { + "door|8|9": [ + 86, + 210, + 209 + ] + }, + { + "door|4|5": [ + 50, + 233, + 221 + ] + }, + { + "door|2|3": [ + 144, + 182, + 201 + ] + }, + { + "Doorframe": [ + 191, + 139, + 21 + ] + }, + { + "Painting|5|5": [ + 137, + 50, + 249 + ] + }, + { + "Painting": [ + 40, + 117, + 236 + ] + }, + { + "Painting|6|7": [ + 153, + 91, + 237 + ] + }, + { + "Painting|6|6": [ + 136, + 191, + 27 + ] + }, + { + "Painting|9|7": [ + 153, + 94, + 210 + ] + }, + { + "Painting|9|6": [ + 100, + 75, + 133 + ] + }, + { + "Painting|9|5": [ + 167, + 93, + 31 + ] + }, + { + "Painting|9|4": [ + 243, + 118, + 231 + ] + }, + { + "Painting|3|6": [ + 105, + 78, + 198 + ] + }, + { + "Painting|3|5": [ + 156, + 50, + 198 + ] + }, + { + "Painting|3|4": [ + 215, + 188, + 149 + ] + }, + { + "Painting|7|7": [ + 191, + 175, + 252 + ] + }, + { + "Painting|7|6": [ + 172, + 235, + 250 + ] + }, + { + "Painting|8|9": [ + 165, + 48, + 246 + ] + }, + { + "Painting|8|8": [ + 46, + 160, + 217 + ] + }, + { + "Painting|8|7": [ + 188, + 189, + 223 + ] + }, + { + "Painting|4|5": [ + 53, + 66, + 101 + ] + }, + { + "Painting|2|7": [ + 86, + 38, + 34 + ] + }, + { + "Television|7|5": [ + 146, + 214, + 75 + ] + }, + { + "Television": [ + 27, + 245, + 217 + ] + }, + { + "Television|8|6": [ + 43, + 148, + 146 + ] + }, + { + "Television|4|4": [ + 237, + 194, + 238 + ] + }, + { + "Television|2|6": [ + 200, + 36, + 114 + ] + }, + { + "GarbageCan|9|3": [ + 41, + 142, + 223 + ] + }, + { + "GarbageCan": [ + 225, + 40, + 55 + ] + }, + { + "Plunger|9|2": [ + 24, + 214, + 221 + ] + }, + { + "Plunger": [ + 74, + 209, + 56 + ] + }, + { + "Faucet|9|1|1": [ + 177, + 61, + 169 + ] + }, + { + "Faucet": [ + 21, + 38, + 98 + ] + }, + { + "Sink|9|1|0___0": [ + 228, + 53, + 70 + ] + }, + { + "SinkBasin": [ + 80, + 192, + 81 + ] + }, + { + "Sink|9|1|0": [ + 228, + 199, + 126 + ] + }, + { + "Sink": [ + 30, + 181, + 88 + ] + }, + { + "SprayBottle|surface|9|47": [ + 141, + 106, + 137 + ] + }, + { + "SprayBottle": [ + 89, + 126, + 121 + ] + }, + { + "ToiletPaper|surface|9|46": [ + 171, + 122, + 183 + ] + }, + { + "ToiletPaper": [ + 162, + 204, + 152 + ] + }, + { + "Toilet|9|0": [ + 156, + 227, + 40 + ] + }, + { + "Toilet": [ + 21, + 27, + 163 + ] + }, + { + "Box|8|5": [ + 78, + 75, + 48 + ] + }, + { + "Box": [ + 60, + 252, + 230 + ] + }, + { + "SideTable|8|4": [ + 5, + 146, + 29 + ] + }, + { + "SideTable": [ + 202, + 45, + 114 + ] + }, + { + "Box|8|3": [ + 53, + 156, + 66 + ] + }, + { + "Chair|8|2|4": [ + 123, + 161, + 62 + ] + }, + { + "Chair": [ + 166, + 13, + 176 + ] + }, + { + "Chair|8|2|3": [ + 173, + 201, + 111 + ] + }, + { + "Chair|8|2|2": [ + 147, + 86, + 222 + ] + }, + { + "Chair|8|2|1": [ + 193, + 37, + 161 + ] + }, + { + "Bowl|surface|8|43": [ + 18, + 54, + 21 + ] + }, + { + "Bowl": [ + 209, + 182, + 193 + ] + }, + { + "Mug|surface|8|42": [ + 16, + 29, + 189 + ] + }, + { + "Mug": [ + 8, + 94, + 186 + ] + }, + { + "RemoteControl|surface|8|40": [ + 184, + 125, + 84 + ] + }, + { + "RemoteControl": [ + 187, + 19, + 208 + ] + }, + { + "DiningTable|8|2|0": [ + 109, + 18, + 253 + ] + }, + { + "DiningTable": [ + 83, + 33, + 33 + ] + }, + { + "AlarmClock|surface|8|45": [ + 145, + 211, + 23 + ] + }, + { + "AlarmClock": [ + 184, + 20, + 170 + ] + }, + { + "Vase|surface|8|44": [ + 2, + 24, + 243 + ] + }, + { + "Vase": [ + 83, + 152, + 69 + ] + }, + { + "HousePlant|surface|8|41": [ + 191, + 105, + 205 + ] + }, + { + "HousePlant": [ + 73, + 144, + 213 + ] + }, + { + "Dresser|8|1___3": [ + 17, + 1, + 40 + ] + }, + { + "Drawer": [ + 155, + 30, + 210 + ] + }, + { + "Dresser|8|1___2": [ + 155, + 148, + 44 + ] + }, + { + "Dresser|8|1___1": [ + 166, + 82, + 211 + ] + }, + { + "Dresser|8|1___0": [ + 158, + 238, + 155 + ] + }, + { + "Dresser|8|1": [ + 215, + 51, + 35 + ] + }, + { + "Dresser": [ + 51, + 128, + 146 + ] + }, + { + "Laptop|surface|8|39": [ + 112, + 193, + 176 + ] + }, + { + "Laptop": [ + 20, + 107, + 222 + ] + }, + { + "Pillow|surface|8|38": [ + 79, + 113, + 44 + ] + }, + { + "Pillow": [ + 217, + 193, + 130 + ] + }, + { + "Bed|8|0": [ + 158, + 151, + 216 + ] + }, + { + "Bed": [ + 209, + 156, + 101 + ] + }, + { + "FloorLamp|7|4|1": [ + 44, + 151, + 92 + ] + }, + { + "FloorLamp": [ + 253, + 73, + 35 + ] + }, + { + "ArmChair|7|4|0": [ + 48, + 253, + 158 + ] + }, + { + "ArmChair": [ + 96, + 52, + 68 + ] + }, + { + "Boots|7|3": [ + 189, + 173, + 218 + ] + }, + { + "Boots": [ + 121, + 126, + 101 + ] + }, + { + "Book|surface|7|37": [ + 192, + 125, + 75 + ] + }, + { + "Book": [ + 43, + 31, + 148 + ] + }, + { + "Book|surface|7|36": [ + 186, + 9, + 182 + ] + }, + { + "Pencil|surface|7|34": [ + 196, + 46, + 84 + ] + }, + { + "Pencil": [ + 177, + 226, + 23 + ] + }, + { + "Statue|surface|7|33": [ + 71, + 37, + 76 + ] + }, + { + "Statue": [ + 243, + 75, + 41 + ] + }, + { + "HousePlant|surface|7|31": [ + 91, + 32, + 198 + ] + }, + { + "Dresser|7|2___2": [ + 130, + 33, + 81 + ] + }, + { + "Dresser|7|2___1": [ + 87, + 153, + 246 + ] + }, + { + "Dresser|7|2___0": [ + 153, + 173, + 46 + ] + }, + { + "Dresser|7|2": [ + 142, + 218, + 147 + ] + }, + { + "Pillow|surface|7|35": [ + 42, + 251, + 173 + ] + }, + { + "Book|surface|7|32": [ + 211, + 47, + 48 + ] + }, + { + "Bed|7|1": [ + 102, + 46, + 91 + ] + }, + { + "BasketBall|7|0": [ + 3, + 33, + 141 + ] + }, + { + "BasketBall": [ + 97, + 58, + 36 + ] + }, + { + "Television|6|5|1": [ + 47, + 109, + 154 + ] + }, + { + "TVStand|6|5|0___1": [ + 198, + 83, + 33 + ] + }, + { + "Shelf": [ + 39, + 54, + 158 + ] + }, + { + "TVStand|6|5|0___0": [ + 32, + 165, + 164 + ] + }, + { + "TVStand|6|5|0": [ + 54, + 214, + 184 + ] + }, + { + "TVStand": [ + 94, + 234, + 136 + ] + }, + { + "BaseballBat|6|4": [ + 184, + 214, + 114 + ] + }, + { + "BaseballBat": [ + 171, + 20, + 38 + ] + }, + { + "BasketBall|6|3": [ + 111, + 220, + 2 + ] + }, + { + "Chair|6|2|1": [ + 69, + 104, + 223 + ] + }, + { + "Laptop|surface|6|27": [ + 106, + 32, + 49 + ] + }, + { + "RemoteControl|surface|6|26": [ + 229, + 129, + 241 + ] + }, + { + "DiningTable|6|2|0": [ + 145, + 197, + 100 + ] + }, + { + "Bowl|surface|6|30": [ + 73, + 94, + 90 + ] + }, + { + "RemoteControl|surface|6|29": [ + 141, + 222, + 83 + ] + }, + { + "RemoteControl|surface|6|28": [ + 146, + 88, + 208 + ] + }, + { + "HousePlant|surface|6|25": [ + 202, + 198, + 157 + ] + }, + { + "Statue|surface|6|24": [ + 220, + 142, + 179 + ] + }, + { + "Statue|surface|6|23": [ + 82, + 203, + 38 + ] + }, + { + "Dresser|6|1___11": [ + 58, + 5, + 144 + ] + }, + { + "Dresser|6|1___10": [ + 200, + 47, + 57 + ] + }, + { + "Dresser|6|1___9": [ + 40, + 39, + 29 + ] + }, + { + "Dresser|6|1___8": [ + 167, + 13, + 64 + ] + }, + { + "Dresser|6|1___7": [ + 86, + 58, + 190 + ] + }, + { + "Dresser|6|1___6": [ + 170, + 115, + 145 + ] + }, + { + "Dresser|6|1___5": [ + 236, + 75, + 198 + ] + }, + { + "Dresser|6|1___4": [ + 14, + 116, + 187 + ] + }, + { + "Dresser|6|1___3": [ + 125, + 169, + 154 + ] + }, + { + "Dresser|6|1___2": [ + 219, + 86, + 133 + ] + }, + { + "Dresser|6|1___1": [ + 91, + 55, + 231 + ] + }, + { + "Dresser|6|1___0": [ + 86, + 178, + 164 + ] + }, + { + "Dresser|6|1": [ + 74, + 74, + 184 + ] + }, + { + "Pillow|6|0|1": [ + 251, + 108, + 89 + ] + }, + { + "Pillow|6|0|2": [ + 245, + 111, + 126 + ] + }, + { + "Bed|6|0|0": [ + 243, + 55, + 136 + ] + }, + { + "LaundryHamper|5|4": [ + 170, + 174, + 192 + ] + }, + { + "LaundryHamper": [ + 35, + 109, + 26 + ] + }, + { + "GarbageCan|5|3": [ + 105, + 56, + 81 + ] + }, + { + "Plunger|5|2": [ + 132, + 15, + 154 + ] + }, + { + "Faucet|5|1|1": [ + 65, + 42, + 255 + ] + }, + { + "Sink|5|1|0___0": [ + 245, + 52, + 66 + ] + }, + { + "Sink|5|1|0": [ + 201, + 233, + 65 + ] + }, + { + "Candle|surface|5|22": [ + 166, + 6, + 98 + ] + }, + { + "Candle": [ + 233, + 102, + 178 + ] + }, + { + "Toilet|5|0": [ + 241, + 253, + 188 + ] + }, + { + "Sofa|4|3": [ + 149, + 86, + 33 + ] + }, + { + "Sofa": [ + 82, + 143, + 39 + ] + }, + { + "DogBed|4|2": [ + 190, + 237, + 34 + ] + }, + { + "DogBed": [ + 106, + 193, + 45 + ] + }, + { + "SideTable|4|1": [ + 186, + 47, + 66 + ] + }, + { + "Chair|4|0|4": [ + 231, + 21, + 2 + ] + }, + { + "Chair|4|0|3": [ + 186, + 87, + 198 + ] + }, + { + "Chair|4|0|2": [ + 92, + 138, + 189 + ] + }, + { + "Chair|4|0|1": [ + 50, + 180, + 219 + ] + }, + { + "DeskLamp|surface|4|21": [ + 161, + 3, + 9 + ] + }, + { + "DeskLamp": [ + 99, + 164, + 25 + ] + }, + { + "Statue|surface|4|20": [ + 141, + 226, + 116 + ] + }, + { + "Statue|surface|4|19": [ + 10, + 215, + 235 + ] + }, + { + "DiningTable|4|0|0": [ + 214, + 210, + 180 + ] + }, + { + "FloorLamp|3|3|1": [ + 150, + 164, + 175 + ] + }, + { + "ArmChair|3|3|0": [ + 35, + 228, + 164 + ] + }, + { + "FloorLamp|3|2|1": [ + 209, + 146, + 76 + ] + }, + { + "ArmChair|3|2|0": [ + 201, + 90, + 9 + ] + }, + { + "ArmChair|3|1|2": [ + 97, + 112, + 137 + ] + }, + { + "Sofa|3|1|1": [ + 2, + 241, + 231 + ] + }, + { + "RemoteControl|surface|3|17": [ + 76, + 190, + 92 + ] + }, + { + "Television|3|1|3": [ + 113, + 123, + 72 + ] + }, + { + "TVStand|3|1|0___1": [ + 95, + 186, + 74 + ] + }, + { + "TVStand|3|1|0___0": [ + 69, + 143, + 98 + ] + }, + { + "TVStand|3|1|0": [ + 82, + 5, + 253 + ] + }, + { + "Plate|surface|3|18": [ + 174, + 246, + 51 + ] + }, + { + "Plate": [ + 188, + 154, + 128 + ] + }, + { + "DiningTable|3|0": [ + 72, + 38, + 49 + ] + }, + { + "Chair|2|5": [ + 65, + 203, + 28 + ] + }, + { + "Stool|2|4": [ + 39, + 172, + 20 + ] + }, + { + "Stool": [ + 13, + 54, + 156 + ] + }, + { + "GarbageBag|2|3": [ + 205, + 81, + 238 + ] + }, + { + "GarbageBag": [ + 250, + 186, + 207 + ] + }, + { + "Egg|surface|2|15": [ + 190, + 182, + 193 + ] + }, + { + "Egg": [ + 240, + 75, + 163 + ] + }, + { + "Apple|surface|2|11": [ + 123, + 141, + 246 + ] + }, + { + "Apple": [ + 159, + 98, + 144 + ] + }, + { + "Lettuce|surface|2|7": [ + 53, + 150, + 102 + ] + }, + { + "Lettuce": [ + 203, + 156, + 88 + ] + }, + { + "Fridge|2|2": [ + 178, + 79, + 61 + ] + }, + { + "Fridge": [ + 91, + 156, + 207 + ] + }, + { + "Chair|2|1|2": [ + 137, + 218, + 193 + ] + }, + { + "Chair|2|1|1": [ + 1, + 50, + 41 + ] + }, + { + "Cup|surface|2|16": [ + 26, + 146, + 0 + ] + }, + { + "Cup": [ + 35, + 71, + 130 + ] + }, + { + "Lettuce|surface|2|12": [ + 212, + 201, + 212 + ] + }, + { + "Pot|surface|2|8": [ + 190, + 43, + 81 + ] + }, + { + "Pot": [ + 132, + 237, + 87 + ] + }, + { + "Pencil|surface|2|5": [ + 170, + 198, + 104 + ] + }, + { + "DiningTable|2|1|0": [ + 130, + 199, + 107 + ] + }, + { + "Bowl|surface|2|14": [ + 32, + 43, + 181 + ] + }, + { + "Toaster|surface|2|13": [ + 200, + 19, + 15 + ] + }, + { + "Toaster": [ + 55, + 33, + 114 + ] + }, + { + "Plate|surface|2|10": [ + 0, + 253, + 212 + ] + }, + { + "SoapBottle|surface|2|9": [ + 161, + 207, + 198 + ] + }, + { + "SoapBottle": [ + 168, + 222, + 137 + ] + }, + { + "PaperTowelRoll|surface|2|6": [ + 253, + 236, + 88 + ] + }, + { + "PaperTowelRoll": [ + 144, + 173, + 28 + ] + }, + { + "Spoon|surface|2|4": [ + 224, + 8, + 29 + ] + }, + { + "Spoon": [ + 235, + 57, + 90 + ] + }, + { + "Spoon|surface|2|3": [ + 230, + 28, + 65 + ] + }, + { + "Kettle|surface|2|2": [ + 191, + 190, + 11 + ] + }, + { + "Kettle": [ + 7, + 83, + 48 + ] + }, + { + "Kettle|surface|2|1": [ + 104, + 136, + 227 + ] + }, + { + "Kettle|surface|2|0": [ + 65, + 148, + 30 + ] + }, + { + "CounterTop|2|0": [ + 213, + 254, + 98 + ] + }, + { + "CounterTop": [ + 103, + 209, + 30 + ] + }, + { + "Ceiling_room|9|0|4.074448|0": [ + 75, + 194, + 48 + ] + }, + { + "Ceiling": [ + 50, + 55, + 251 + ] + }, + { + "Ceiling_room|8|0|4.074448|0": [ + 68, + 125, + 155 + ] + }, + { + "Ceiling_room|7|0|4.074448|0": [ + 110, + 82, + 22 + ] + }, + { + "Ceiling_room|6|0|4.074448|0": [ + 215, + 216, + 127 + ] + }, + { + "Ceiling_room|5|0|4.074448|0": [ + 176, + 135, + 107 + ] + }, + { + "Ceiling_room|4|0|4.074448|0": [ + 204, + 112, + 26 + ] + }, + { + "Ceiling_room|3|0|4.074448|0": [ + 81, + 100, + 155 + ] + }, + { + "Ceiling_room|2|0|4.074448|0": [ + 57, + 49, + 191 + ] + }, + { + "wall|exterior|10.96|17.53|10.96|21.92": [ + 85, + 136, + 23 + ] + }, + { + "Wall": [ + 148, + 232, + 164 + ] + }, + { + "wall|exterior|10.96|8.77|10.96|13.15": [ + 169, + 74, + 134 + ] + }, + { + "wall|exterior|6.58|24.11|6.58|28.49": [ + 236, + 144, + 107 + ] + }, + { + "wall|exterior|10.96|21.92|10.96|28.49": [ + 176, + 179, + 145 + ] + }, + { + "wall|exterior|4.38|24.11|6.58|24.11": [ + 155, + 190, + 55 + ] + }, + { + "wall|exterior|6.58|28.49|10.96|28.49": [ + 244, + 105, + 197 + ] + }, + { + "wall|exterior|4.38|2.19|10.96|2.19": [ + 232, + 72, + 197 + ] + }, + { + "wall|exterior|10.96|2.19|10.96|8.77": [ + 189, + 215, + 229 + ] + }, + { + "wall|exterior|0.00|24.11|4.38|24.11": [ + 53, + 40, + 208 + ] + }, + { + "wall|exterior|0.00|15.34|0.00|24.11": [ + 36, + 233, + 129 + ] + }, + { + "wall|exterior|10.96|13.15|10.96|17.53": [ + 183, + 162, + 213 + ] + }, + { + "wall|exterior|0.00|13.15|0.00|15.34": [ + 16, + 219, + 148 + ] + }, + { + "wall|exterior|0.00|8.77|0.00|13.15": [ + 107, + 169, + 107 + ] + }, + { + "wall|exterior|0.00|2.19|4.38|2.19": [ + 96, + 84, + 223 + ] + }, + { + "wall|exterior|0.00|2.19|0.00|8.77": [ + 160, + 125, + 116 + ] + }, + { + "wall|9|4.38|17.53|10.96|17.53": [ + 10, + 161, + 242 + ] + }, + { + "wall|9|10.96|17.53|10.96|21.92": [ + 171, + 74, + 242 + ] + }, + { + "wall|9|4.38|21.92|10.96|21.92": [ + 243, + 234, + 102 + ] + }, + { + "wall|9|4.38|17.53|4.38|21.92": [ + 195, + 249, + 236 + ] + }, + { + "wall|8|0.00|13.15|6.58|13.15": [ + 251, + 211, + 6 + ] + }, + { + "wall|8|6.58|13.15|10.96|13.15": [ + 190, + 25, + 120 + ] + }, + { + "wall|8|10.96|13.15|10.96|17.53": [ + 161, + 109, + 200 + ] + }, + { + "wall|8|4.38|17.53|10.96|17.53": [ + 156, + 192, + 252 + ] + }, + { + "wall|8|4.38|15.34|4.38|17.53": [ + 101, + 165, + 199 + ] + }, + { + "wall|8|0.00|15.34|4.38|15.34": [ + 172, + 122, + 193 + ] + }, + { + "wall|8|0.00|13.15|0.00|15.34": [ + 62, + 145, + 143 + ] + }, + { + "wall|7|0.00|15.34|4.38|15.34": [ + 16, + 166, + 222 + ] + }, + { + "wall|7|4.38|15.34|4.38|17.53": [ + 157, + 32, + 47 + ] + }, + { + "wall|7|4.38|17.53|4.38|21.92": [ + 185, + 6, + 16 + ] + }, + { + "wall|7|4.38|21.92|4.38|24.11": [ + 213, + 69, + 138 + ] + }, + { + "wall|7|0.00|24.11|4.38|24.11": [ + 232, + 150, + 9 + ] + }, + { + "wall|7|0.00|15.34|0.00|24.11": [ + 131, + 1, + 214 + ] + }, + { + "wall|6|4.38|21.92|10.96|21.92": [ + 208, + 153, + 30 + ] + }, + { + "wall|6|10.96|21.92|10.96|28.49": [ + 193, + 138, + 26 + ] + }, + { + "wall|6|6.58|28.49|10.96|28.49": [ + 39, + 212, + 239 + ] + }, + { + "wall|6|6.58|24.11|6.58|28.49": [ + 72, + 141, + 93 + ] + }, + { + "wall|6|4.38|24.11|6.58|24.11": [ + 31, + 255, + 5 + ] + }, + { + "wall|6|4.38|21.92|4.38|24.11": [ + 23, + 30, + 235 + ] + }, + { + "wall|5|6.58|8.77|10.96|8.77": [ + 253, + 193, + 79 + ] + }, + { + "wall|5|10.96|8.77|10.96|13.15": [ + 209, + 79, + 77 + ] + }, + { + "wall|5|6.58|13.15|10.96|13.15": [ + 29, + 52, + 126 + ] + }, + { + "wall|5|6.58|8.77|6.58|13.15": [ + 27, + 5, + 90 + ] + }, + { + "wall|4|0.00|8.77|4.38|8.77": [ + 47, + 241, + 26 + ] + }, + { + "wall|4|6.58|8.77|6.58|13.15": [ + 231, + 82, + 45 + ] + }, + { + "wall|4|0.00|13.15|6.58|13.15": [ + 177, + 197, + 250 + ] + }, + { + "wall|4|0.00|8.77|0.00|13.15": [ + 232, + 234, + 101 + ] + }, + { + "wall|3|4.38|2.19|10.96|2.19": [ + 148, + 34, + 124 + ] + }, + { + "wall|3|10.96|2.19|10.96|8.77": [ + 98, + 29, + 175 + ] + }, + { + "wall|3|6.58|8.77|10.96|8.77": [ + 28, + 87, + 34 + ] + }, + { + "wall|3|4.38|2.19|4.38|8.77": [ + 113, + 66, + 215 + ] + }, + { + "wall|2|0.00|2.19|4.38|2.19": [ + 244, + 213, + 188 + ] + }, + { + "wall|2|4.38|2.19|4.38|8.77": [ + 207, + 70, + 105 + ] + }, + { + "wall|2|0.00|8.77|4.38|8.77": [ + 233, + 76, + 17 + ] + }, + { + "wall|2|0.00|2.19|0.00|8.77": [ + 213, + 63, + 116 + ] + }, + { + "room|9": [ + 153, + 76, + 155 + ] + }, + { + "Floor": [ + 243, + 246, + 208 + ] + }, + { + "room|8": [ + 95, + 202, + 245 + ] + }, + { + "room|7": [ + 183, + 155, + 144 + ] + }, + { + "room|6": [ + 217, + 194, + 196 + ] + }, + { + "room|5": [ + 190, + 121, + 70 + ] + }, + { + "room|4": [ + 60, + 42, + 179 + ] + }, + { + "room|3": [ + 28, + 62, + 16 + ] + }, + { + "room|2": [ + 188, + 125, + 135 + ] + }, + { + "TheHand": [ + 255, + 136, + 237 + ] + }, + { + "agent_neck_1": [ + 30, + 64, + 67 + ] + }, + { + "agent_body_1 (shadows)": [ + 134, + 158, + 226 + ] + }, + { + "agent_collarbone_1 (shadows)": [ + 217, + 96, + 80 + ] + }, + { + "agent_head_1 (shadows)": [ + 140, + 210, + 177 + ] + }, + { + "stretch_robot_base_code": [ + 101, + 30, + 126 + ] + }, + { + "agent_head_1": [ + 1, + 149, + 209 + ] + }, + { + "stretch_robot_laser": [ + 140, + 24, + 249 + ] + }, + { + "stretch_robot_mast": [ + 136, + 63, + 93 + ] + }, + { + "stretch_robot_head_1": [ + 0, + 57, + 255 + ] + }, + { + "agent_neck_3": [ + 209, + 228, + 37 + ] + }, + { + "robot_tilt_link_n (shadows)": [ + 202, + 16, + 52 + ] + }, + { + "agent_head_2 (shadows)": [ + 156, + 59, + 238 + ] + }, + { + "stretch_robot_head_3 (shadows)": [ + 83, + 209, + 138 + ] + }, + { + "agent_collarbone_2": [ + 152, + 152, + 185 + ] + }, + { + "agent_neck_2 (shadows)": [ + 244, + 240, + 196 + ] + }, + { + "agent_head_2": [ + 14, + 66, + 230 + ] + }, + { + "stretch_robot_head_2": [ + 73, + 58, + 96 + ] + }, + { + "agent_neck_3 (shadows)": [ + 239, + 35, + 232 + ] + }, + { + "stretch_robot_omniwheel": [ + 227, + 166, + 104 + ] + }, + { + "robot_elbow_link": [ + 231, + 128, + 58 + ] + }, + { + "robot_camera_link_n": [ + 140, + 65, + 197 + ] + }, + { + "robot_finger_r": [ + 122, + 202, + 170 + ] + }, + { + "robot_finger_l": [ + 178, + 169, + 157 + ] + }, + { + "robot_ar_tag": [ + 46, + 234, + 150 + ] + }, + { + "robot_cam_mount_n": [ + 54, + 221, + 114 + ] + }, + { + "robot_battery_n": [ + 165, + 68, + 55 + ] + }, + { + "robot_plate": [ + 211, + 118, + 132 + ] + }, + { + "robot_main_wheel_r_n": [ + 36, + 84, + 49 + ] + }, + { + "robot_shoulder_link": [ + 92, + 95, + 127 + ] + }, + { + "robot_roll_link_n": [ + 135, + 154, + 116 + ] + }, + { + "robot_gripper_link": [ + 241, + 136, + 173 + ] + }, + { + "robot_forearm_link": [ + 149, + 185, + 52 + ] + }, + { + "robot_main_wheel_l_n": [ + 139, + 151, + 200 + ] + }, + { + "robot_main_body": [ + 27, + 62, + 251 + ] + }, + { + "robot_wrist_link": [ + 3, + 195, + 0 + ] + }, + { + "robot_tilt_link_n": [ + 251, + 182, + 71 + ] + }, + { + "agent_collarbone_2 (shadows)": [ + 27, + 29, + 156 + ] + }, + { + "stretch_robot_head_2 (shadows)": [ + 167, + 106, + 44 + ] + }, + { + "stretch_robot_wheel_r": [ + 43, + 10, + 241 + ] + }, + { + "agent_collarbone_3": [ + 33, + 153, + 80 + ] + }, + { + "stretch_robot_wheel_l": [ + 209, + 121, + 111 + ] + }, + { + "agent_collarbone_3 (shadows)": [ + 12, + 185, + 24 + ] + }, + { + "agent_neck_1 (shadows)": [ + 5, + 106, + 127 + ] + }, + { + "agent_body_1": [ + 19, + 85, + 240 + ] + }, + { + "stretch_robot_base": [ + 18, + 223, + 56 + ] + }, + { + "robot_roll_link_n (shadows)": [ + 104, + 6, + 177 + ] + }, + { + "agent_neck_2": [ + 134, + 34, + 121 + ] + }, + { + "agent_collarbone_1": [ + 180, + 251, + 165 + ] + }, + { + "stretch_robot_head_3": [ + 175, + 244, + 187 + ] + }, + { + "robot_camera_link_n (shadows)": [ + 49, + 9, + 106 + ] + } +] \ No newline at end of file diff --git a/train/train1986/0/0.json b/train/train1986/0/0.json new file mode 100644 index 0000000000000000000000000000000000000000..bcb38afe3add06d3a94c87e4e137344595fb6d99 --- /dev/null +++ b/train/train1986/0/0.json @@ -0,0 +1,2926 @@ +{ + "object": [ + { + "objectId": "DiningTable|2|4|0", + "object_info": { + "name": "DiningTable|2|4|0", + "position": { + "x": 0.8056451082229614, + "y": 0.0024788379669189453, + "z": 3.372882604598999 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Mug|surface|2|1", + "Pencil|surface|2|0", + "CellPhone|surface|2|2" + ], + "distance": 2.6236233711242676, + "objectType": "DiningTable", + "objectId": "DiningTable|2|4|0", + "assetId": "Dining_Table_221_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.2005410194396973, + 0.7820819020271301, + 4.2658538818359375 + ], + [ + 1.2005410194396973, + 0.7820819020271301, + 2.4799108505249023 + ], + [ + 1.2005410194396973, + -1.430511474609375e-06, + 4.2658538818359375 + ], + [ + 1.2005410194396973, + -1.430511474609375e-06, + 2.4799108505249023 + ], + [ + 0.4107491970062256, + 0.7820819020271301, + 4.2658538818359375 + ], + [ + 0.4107491970062256, + 0.7820819020271301, + 2.4799108505249023 + ], + [ + 0.4107491970062256, + -1.430511474609375e-06, + 4.2658538818359375 + ], + [ + 0.4107491970062256, + -1.430511474609375e-06, + 2.4799108505249023 + ] + ], + "center": { + "x": 0.8056451082229614, + "y": 0.39104023575782776, + "z": 3.37288236618042 + }, + "size": { + "x": 0.7897918224334717, + "y": 0.7820833325386047, + "z": 1.7859430313110352 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.2005407810211182, + -1.430511474609375e-06, + 2.4799110889434814 + ], + [ + 1.2005410194396973, + -1.430511474609375e-06, + 4.2658538818359375 + ], + [ + 0.4107494354248047, + -1.430511474609375e-06, + 4.2658538818359375 + ], + [ + 0.4107491970062256, + -1.430511474609375e-06, + 2.4799113273620605 + ], + [ + 1.2005407810211182, + 0.7820817232131958, + 2.4799110889434814 + ], + [ + 1.2005410194396973, + 0.7820817232131958, + 4.2658538818359375 + ], + [ + 0.4107494354248047, + 0.7820817232131958, + 4.2658538818359375 + ], + [ + 0.4107491970062256, + 0.7820817232131958, + 2.4799113273620605 + ] + ] + } + } + }, + { + "objectId": "Chair|2|4|3", + "object_info": { + "name": "Chair|2|4|3", + "position": { + "x": 0.3177686035633087, + "y": -0.0016570687294006348, + "z": 3.8372137546539307 + }, + "rotation": { + "x": -0.0, + "y": 69.05911254882812, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 3.2447500228881836, + "objectType": "Chair", + "objectId": "Chair|2|4|3", + "assetId": "Chair_227_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.5964885950088501, + 0.7736940383911133, + 4.095849514007568 + ], + [ + 0.5964885950088501, + 0.7736940383911133, + 3.578577995300293 + ], + [ + 0.5964885950088501, + -2.9802322387695312e-06, + 4.095849514007568 + ], + [ + 0.5964885950088501, + -2.9802322387695312e-06, + 3.578577995300293 + ], + [ + 0.029250144958496094, + 0.7736940383911133, + 4.095849514007568 + ], + [ + 0.029250144958496094, + 0.7736940383911133, + 3.578577995300293 + ], + [ + 0.029250144958496094, + -2.9802322387695312e-06, + 4.095849514007568 + ], + [ + 0.029250144958496094, + -2.9802322387695312e-06, + 3.578577995300293 + ] + ], + "center": { + "x": 0.3128693699836731, + "y": 0.38684552907943726, + "z": 3.8372137546539307 + }, + "size": { + "x": 0.567238450050354, + "y": 0.773697018623352, + "z": 0.5172715187072754 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.5964887142181396, + -2.86102294921875e-06, + 3.739750862121582 + ], + [ + 0.46021661162376404, + -2.86102294921875e-06, + 4.095849514007568 + ], + [ + 0.024991601705551147, + -2.86102294921875e-06, + 3.9292972087860107 + ], + [ + 0.16126370429992676, + -2.86102294921875e-06, + 3.5731987953186035 + ], + [ + 0.5964887142181396, + 0.7736939191818237, + 3.739750862121582 + ], + [ + 0.46021661162376404, + 0.7736939191818237, + 4.095849514007568 + ], + [ + 0.024991601705551147, + 0.7736939191818237, + 3.9292972087860107 + ], + [ + 0.16126370429992676, + 0.7736939191818237, + 3.5731987953186035 + ] + ] + } + } + }, + { + "objectId": "Mug|surface|2|1", + "object_info": { + "name": "Mug|surface|2|1", + "position": { + "x": 0.8056451678276062, + "y": 0.7828440070152283, + "z": 3.1509768962860107 + }, + "rotation": { + "x": 8.209291877392388e-07, + "y": 89.99977111816406, + "z": -1.2760529898514505e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 2.375060558319092, + "objectType": "Mug", + "objectId": "Mug|surface|2|1", + "assetId": "RoboTHOR_mug_ai2_1_v", + "parentReceptacles": [ + "DiningTable|2|4|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.8616578578948975, + 0.866867184638977, + 3.238370418548584 + ], + [ + 0.8616578578948975, + 0.866867184638977, + 3.0960354804992676 + ], + [ + 0.8616578578948975, + 0.7820819616317749, + 3.238370418548584 + ], + [ + 0.8616578578948975, + 0.7820819616317749, + 3.0960354804992676 + ], + [ + 0.7496323585510254, + 0.866867184638977, + 3.238370418548584 + ], + [ + 0.7496323585510254, + 0.866867184638977, + 3.0960354804992676 + ], + [ + 0.7496323585510254, + 0.7820819616317749, + 3.238370418548584 + ], + [ + 0.7496323585510254, + 0.7820819616317749, + 3.0960354804992676 + ] + ], + "center": { + "x": 0.8056451082229614, + "y": 0.824474573135376, + "z": 3.167202949523926 + }, + "size": { + "x": 0.11202549934387207, + "y": 0.08478522300720215, + "z": 0.1423349380493164 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.8616582751274109, + 0.782081663608551, + 3.0960352420806885 + ], + [ + 0.8616577386856079, + 0.7820817232131958, + 3.238370656967163 + ], + [ + 0.7496318817138672, + 0.7820817232131958, + 3.238370180130005 + ], + [ + 0.7496324181556702, + 0.782081663608551, + 3.0960350036621094 + ], + [ + 0.8616582751274109, + 0.8668673038482666, + 3.0960352420806885 + ], + [ + 0.8616577386856079, + 0.8668673634529114, + 3.238370656967163 + ], + [ + 0.7496318817138672, + 0.8668673634529114, + 3.238370180130005 + ], + [ + 0.7496324181556702, + 0.8668673038482666, + 3.0960347652435303 + ] + ] + } + } + }, + { + "objectId": "Chair|2|4|4", + "object_info": { + "name": "Chair|2|4|4", + "position": { + "x": 1.2930253744125366, + "y": -0.0016570687294006348, + "z": 3.9049689769744873 + }, + "rotation": { + "x": 0.0, + "y": 269.9420471191406, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 2.5431230068206787, + "objectType": "Chair", + "objectId": "Chair|2|4|4", + "assetId": "Chair_227_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.5337339639663696, + 0.7736940383911133, + 4.0958380699157715 + ], + [ + 1.5337339639663696, + 0.7736940383911133, + 3.714099884033203 + ], + [ + 1.5337339639663696, + -2.9206275939941406e-06, + 4.0958380699157715 + ], + [ + 1.5337339639663696, + -2.9206275939941406e-06, + 3.714099884033203 + ], + [ + 1.067355751991272, + 0.7736940383911133, + 4.0958380699157715 + ], + [ + 1.067355751991272, + 0.7736940383911133, + 3.714099884033203 + ], + [ + 1.067355751991272, + -2.9206275939941406e-06, + 4.0958380699157715 + ], + [ + 1.067355751991272, + -2.9206275939941406e-06, + 3.714099884033203 + ] + ], + "center": { + "x": 1.3005448579788208, + "y": 0.38684555888175964, + "z": 3.9049689769744873 + }, + "size": { + "x": 0.46637821197509766, + "y": 0.7736969590187073, + "z": 0.38173818588256836 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.067355751991272, + -2.86102294921875e-06, + 4.095382213592529 + ], + [ + 1.0677413940429688, + -2.86102294921875e-06, + 3.714099884033203 + ], + [ + 1.5337460041046143, + -2.86102294921875e-06, + 3.714570999145508 + ], + [ + 1.5333603620529175, + -2.86102294921875e-06, + 4.095853328704834 + ], + [ + 1.067355751991272, + 0.7736939191818237, + 4.095382213592529 + ], + [ + 1.0677413940429688, + 0.7736939191818237, + 3.714099884033203 + ], + [ + 1.5337460041046143, + 0.7736939191818237, + 3.714570999145508 + ], + [ + 1.5333603620529175, + 0.7736939191818237, + 4.095853328704834 + ] + ] + } + } + }, + { + "objectId": "Pencil|surface|2|0", + "object_info": { + "name": "Pencil|surface|2|0", + "position": { + "x": 1.002353549003601, + "y": 0.7868094444274902, + "z": 3.8166956901550293 + }, + "rotation": { + "x": 0.00016600723029114306, + "y": 90.0002212524414, + "z": -0.0012770741013810039 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": null, + "distance": 2.541292190551758, + "objectType": "Pencil", + "objectId": "Pencil|surface|2|0", + "assetId": "Pencil_4", + "parentReceptacles": [ + "DiningTable|2|4|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.0509649515151978, + 0.7915370464324951, + 3.821423292160034 + ], + [ + 1.0509649515151978, + 0.7915370464324951, + 3.8119680881500244 + ], + [ + 1.0509649515151978, + 0.7820818424224854, + 3.821423292160034 + ], + [ + 1.0509649515151978, + 0.7820818424224854, + 3.8119680881500244 + ], + [ + 0.9607235193252563, + 0.7915370464324951, + 3.821423292160034 + ], + [ + 0.9607235193252563, + 0.7915370464324951, + 3.8119680881500244 + ], + [ + 0.9607235193252563, + 0.7820818424224854, + 3.821423292160034 + ], + [ + 0.9607235193252563, + 0.7820818424224854, + 3.8119680881500244 + ] + ], + "center": { + "x": 1.005844235420227, + "y": 0.7868094444274902, + "z": 3.8166956901550293 + }, + "size": { + "x": 0.0902414321899414, + "y": 0.009455204010009766, + "z": 0.009455204010009766 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.0509649515151978, + 0.7820814847946167, + 3.8119680881500244 + ], + [ + 1.0509649515151978, + 0.7820817232131958, + 3.821423292160034 + ], + [ + 0.9607234597206116, + 0.7820819616317749, + 3.8214235305786133 + ], + [ + 0.9607234001159668, + 0.7820817828178406, + 3.8119683265686035 + ], + [ + 1.0509649515151978, + 0.7915369272232056, + 3.8119678497314453 + ], + [ + 1.0509649515151978, + 0.7915371060371399, + 3.821423053741455 + ], + [ + 0.9607234597206116, + 0.791537344455719, + 3.821423292160034 + ], + [ + 0.9607234597206116, + 0.7915371656417847, + 3.8119680881500244 + ] + ] + } + } + }, + { + "objectId": "Chair|2|4|6", + "object_info": { + "name": "Chair|2|4|6", + "position": { + "x": 0.31802257895469666, + "y": -0.0016570687294006348, + "z": 2.8950002193450928 + }, + "rotation": { + "x": -0.0, + "y": 75.40757751464844, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 2.902381420135498, + "objectType": "Chair", + "objectId": "Chair|2|4|6", + "assetId": "Chair_227_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.5842564702033997, + 0.7736941576004028, + 3.1362991333007812 + ], + [ + 0.5842564702033997, + 0.7736941576004028, + 2.6537017822265625 + ], + [ + 0.5842564702033997, + -2.9206275939941406e-06, + 3.1362991333007812 + ], + [ + 0.5842564702033997, + -2.9206275939941406e-06, + 2.6537017822265625 + ], + [ + 0.04022496938705444, + 0.7736941576004028, + 3.1362991333007812 + ], + [ + 0.04022496938705444, + 0.7736941576004028, + 2.6537017822265625 + ], + [ + 0.04022496938705444, + -2.9206275939941406e-06, + 3.1362991333007812 + ], + [ + 0.04022496938705444, + -2.9206275939941406e-06, + 2.6537017822265625 + ] + ], + "center": { + "x": 0.31224071979522705, + "y": 0.3868456184864044, + "z": 2.895000457763672 + }, + "size": { + "x": 0.5440315008163452, + "y": 0.7736970782279968, + "z": 0.48259735107421875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.5842565298080444, + -2.86102294921875e-06, + 2.767315626144409 + ], + [ + 0.4881957173347473, + -2.86102294921875e-06, + 3.136298894882202 + ], + [ + 0.03722307085990906, + -2.86102294921875e-06, + 3.018893003463745 + ], + [ + 0.13328392803668976, + -2.86102294921875e-06, + 2.649909734725952 + ], + [ + 0.5842565298080444, + 0.7736939191818237, + 2.767315626144409 + ], + [ + 0.4881957173347473, + 0.7736939191818237, + 3.136298894882202 + ], + [ + 0.03722307085990906, + 0.7736939191818237, + 3.018893003463745 + ], + [ + 0.13328392803668976, + 0.7736939191818237, + 2.649909734725952 + ] + ] + } + } + }, + { + "objectId": "CellPhone|surface|2|2", + "object_info": { + "name": "CellPhone|surface|2|2", + "position": { + "x": 0.6089365482330322, + "y": 0.7827904224395752, + "z": 2.929068088531494 + }, + "rotation": { + "x": 0.00011366007674951106, + "y": 90.00006866455078, + "z": -0.0013308573979884386 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1599999964237213, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 2.488431453704834, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|2|2", + "assetId": "Cellphone_8", + "parentReceptacles": [ + "DiningTable|2|4|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.6818479895591736, + 0.7929642796516418, + 2.967306613922119 + ], + [ + 0.6818479895591736, + 0.7929642796516418, + 2.890829563140869 + ], + [ + 0.6818479895591736, + 0.7820808291435242, + 2.967306613922119 + ], + [ + 0.6818479895591736, + 0.7820808291435242, + 2.890829563140869 + ], + [ + 0.5360251069068909, + 0.7929642796516418, + 2.967306613922119 + ], + [ + 0.5360251069068909, + 0.7929642796516418, + 2.890829563140869 + ], + [ + 0.5360251069068909, + 0.7820808291435242, + 2.967306613922119 + ], + [ + 0.5360251069068909, + 0.7820808291435242, + 2.890829563140869 + ] + ], + "center": { + "x": 0.6089365482330322, + "y": 0.787522554397583, + "z": 2.929068088531494 + }, + "size": { + "x": 0.14582288265228271, + "y": 0.010883450508117676, + "z": 0.07647705078125 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.681847870349884, + 0.7820808291435242, + 2.890829563140869 + ], + [ + 0.6818479895591736, + 0.7820825576782227, + 2.96730637550354 + ], + [ + 0.5360252261161804, + 0.7820828557014465, + 2.967306613922119 + ], + [ + 0.5360251069068909, + 0.782081127166748, + 2.8908298015594482 + ], + [ + 0.6818479299545288, + 0.7929622530937195, + 2.89082932472229 + ], + [ + 0.6818480491638184, + 0.7929640412330627, + 2.967306137084961 + ], + [ + 0.5360252261161804, + 0.7929643392562866, + 2.96730637550354 + ], + [ + 0.5360251069068909, + 0.7929625511169434, + 2.890829563140869 + ] + ] + } + } + }, + { + "objectId": "Bed|2|0|0", + "object_info": { + "name": "Bed|2|0|0", + "position": { + "x": 0.8654646873474121, + "y": 3.606081008911133e-06, + "z": 5.90699577331543 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Fabric", + "Wood" + ], + "receptacleObjectIds": [ + "Pillow|2|0|1" + ], + "distance": 4.329163074493408, + "objectType": "Bed", + "objectId": "Bed|2|0|0", + "assetId": "RoboTHOR_bed_kritter", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.6761431694030762, + 0.6706647872924805, + 6.287994384765625 + ], + [ + 1.6761431694030762, + 0.6706647872924805, + 5.515429496765137 + ], + [ + 1.6761431694030762, + 3.337860107421875e-06, + 6.287994384765625 + ], + [ + 1.6761431694030762, + 3.337860107421875e-06, + 5.515429496765137 + ], + [ + 0.025004565715789795, + 0.6706647872924805, + 6.287994384765625 + ], + [ + 0.025004565715789795, + 0.6706647872924805, + 5.515429496765137 + ], + [ + 0.025004565715789795, + 3.337860107421875e-06, + 6.287994384765625 + ], + [ + 0.025004565715789795, + 3.337860107421875e-06, + 5.515429496765137 + ] + ], + "center": { + "x": 0.8505738377571106, + "y": 0.33533406257629395, + "z": 5.901711940765381 + }, + "size": { + "x": 1.6511385440826416, + "y": 0.670661449432373, + "z": 0.7725648880004883 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.6761422157287598, + 3.606081008911133e-06, + 5.515429973602295 + ], + [ + 1.6761422157287598, + 3.606081008911133e-06, + 6.287993431091309 + ], + [ + 0.02500540018081665, + 3.606081008911133e-06, + 6.287993431091309 + ], + [ + 0.0250052809715271, + 3.606081008911133e-06, + 5.515430450439453 + ], + [ + 1.6761422157287598, + 0.6706643104553223, + 5.515429973602295 + ], + [ + 1.6761422157287598, + 0.6706643104553223, + 6.287993431091309 + ], + [ + 0.02500540018081665, + 0.6706643104553223, + 6.287993431091309 + ], + [ + 0.0250052809715271, + 0.6706643104553223, + 5.515430450439453 + ] + ] + } + } + }, + { + "objectId": "Chair|2|4|5", + "object_info": { + "name": "Chair|2|4|5", + "position": { + "x": 1.293033480644226, + "y": -0.0016570687294006348, + "z": 2.850804090499878 + }, + "rotation": { + "x": 0.0, + "y": 267.34228515625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 2.0222487449645996, + "objectType": "Chair", + "objectId": "Chair|2|4|5", + "assetId": "Chair_227_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.5415899753570557, + 0.7736940979957581, + 3.0516953468322754 + ], + [ + 1.5415899753570557, + 0.7736940979957581, + 2.6499128341674805 + ], + [ + 1.5415899753570557, + -2.86102294921875e-06, + 3.0516953468322754 + ], + [ + 1.5415899753570557, + -2.86102294921875e-06, + 2.6499128341674805 + ], + [ + 1.0589592456817627, + 0.7736940979957581, + 3.0516953468322754 + ], + [ + 1.0589592456817627, + 0.7736940979957581, + 2.6499128341674805 + ], + [ + 1.0589592456817627, + -2.86102294921875e-06, + 3.0516953468322754 + ], + [ + 1.0589592456817627, + -2.86102294921875e-06, + 2.6499128341674805 + ] + ], + "center": { + "x": 1.3002746105194092, + "y": 0.3868456184864044, + "z": 2.850804090499878 + }, + "size": { + "x": 0.48263072967529297, + "y": 0.7736969590187073, + "z": 0.4017825126647949 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.0589592456817627, + -2.86102294921875e-06, + 3.030785083770752 + ], + [ + 1.07663893699646, + -2.86102294921875e-06, + 2.6499125957489014 + ], + [ + 1.5421425104141235, + -2.86102294921875e-06, + 2.671520948410034 + ], + [ + 1.5244628190994263, + -2.86102294921875e-06, + 3.0523934364318848 + ], + [ + 1.0589592456817627, + 0.7736939191818237, + 3.030785083770752 + ], + [ + 1.07663893699646, + 0.7736939191818237, + 2.6499125957489014 + ], + [ + 1.5421425104141235, + 0.7736939191818237, + 2.671520948410034 + ], + [ + 1.5244628190994263, + 0.7736939191818237, + 3.0523934364318848 + ] + ] + } + } + }, + { + "objectId": "Bed|2|5", + "object_info": { + "name": "Bed|2|5", + "position": { + "x": 2.861642599105835, + "y": -0.0018128156661987305, + "z": 5.273162841796875 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": true, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "Laptop|surface|2|4" + ], + "distance": 3.15812087059021, + "objectType": "Bed", + "objectId": "Bed|2|5", + "assetId": "Bed_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.486420154571533, + 0.916021466255188, + 6.288000106811523 + ], + [ + 3.486420154571533, + 0.916021466255188, + 4.207488059997559 + ], + [ + 3.486420154571533, + -1.1920928955078125e-07, + 6.288000106811523 + ], + [ + 3.486420154571533, + -1.1920928955078125e-07, + 4.207488059997559 + ], + [ + 2.237611770629883, + 0.916021466255188, + 6.288000106811523 + ], + [ + 2.237611770629883, + 0.916021466255188, + 4.207488059997559 + ], + [ + 2.237611770629883, + -1.1920928955078125e-07, + 6.288000106811523 + ], + [ + 2.237611770629883, + -1.1920928955078125e-07, + 4.207488059997559 + ] + ], + "center": { + "x": 2.862015962600708, + "y": 0.4580106735229492, + "z": 5.247744083404541 + }, + "size": { + "x": 1.2488083839416504, + "y": 0.9160215854644775, + "z": 2.080512046813965 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.237611770629883, + -1.1920928955078125e-07, + 4.207488536834717 + ], + [ + 3.486420154571533, + -1.1920928955078125e-07, + 4.207488536834717 + ], + [ + 3.486420154571533, + -1.1920928955078125e-07, + 6.288000106811523 + ], + [ + 2.237612009048462, + -1.1920928955078125e-07, + 6.288000106811523 + ], + [ + 2.237611770629883, + 0.916021466255188, + 4.207488536834717 + ], + [ + 3.486420154571533, + 0.916021466255188, + 4.207488536834717 + ], + [ + 3.486420154571533, + 0.916021466255188, + 6.288000106811523 + ], + [ + 2.237612009048462, + 0.916021466255188, + 6.288000106811523 + ] + ] + } + } + }, + { + "objectId": "Box|2|3", + "object_info": { + "name": "Box|2|3", + "position": { + "x": 2.3021206855773926, + "y": 0.22024010121822357, + "z": 0.22888527810573578 + }, + "rotation": { + "x": 0.0013102942612022161, + "y": 0.00023480883101001382, + "z": 0.0006789594190195203 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.30000001192092896, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": [], + "distance": 2.2439639568328857, + "objectType": "Box", + "objectId": "Box|2|3", + "assetId": "Box_19", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.5010645389556885, + 0.3011181652545929, + 0.3354398012161255 + ], + [ + 2.5010645389556885, + 0.3011181652545929, + 0.025006532669067383 + ], + [ + 2.5010645389556885, + 1.3113021850585938e-06, + 0.3354398012161255 + ], + [ + 2.5010645389556885, + 1.3113021850585938e-06, + 0.025006532669067383 + ], + [ + 2.0994479656219482, + 0.3011181652545929, + 0.3354398012161255 + ], + [ + 2.0994479656219482, + 0.3011181652545929, + 0.025006532669067383 + ], + [ + 2.0994479656219482, + 1.3113021850585938e-06, + 0.3354398012161255 + ], + [ + 2.0994479656219482, + 1.3113021850585938e-06, + 0.025006532669067383 + ] + ], + "center": { + "x": 2.3002562522888184, + "y": 0.15055973827838898, + "z": 0.18022316694259644 + }, + "size": { + "x": 0.40161657333374023, + "y": 0.30111685395240784, + "z": 0.3104332685470581 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.501068592071533, + 3.471970558166504e-06, + 0.3354319632053375 + ], + [ + 2.099452018737793, + -1.2814998626708984e-06, + 0.33543360233306885 + ], + [ + 2.0994508266448975, + 5.826354026794434e-06, + 0.02500152587890625 + ], + [ + 2.5010671615600586, + 1.0579824447631836e-05, + 0.024999871850013733 + ], + [ + 2.5010650157928467, + 0.30111923813819885, + 0.3354388475418091 + ], + [ + 2.0994484424591064, + 0.3011144697666168, + 0.3354404866695404 + ], + [ + 2.099447250366211, + 0.3011215925216675, + 0.025008410215377808 + ], + [ + 2.501063585281372, + 0.3011263310909271, + 0.02500675618648529 + ] + ] + } + } + }, + { + "objectId": "Chair|2|4|1", + "object_info": { + "name": "Chair|2|4|1", + "position": { + "x": 0.8043646812438965, + "y": -0.0016570687294006348, + "z": 2.327317237854004 + }, + "rotation": { + "x": 0.0, + "y": 350.19000244140625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 2.375201463699341, + "objectType": "Chair", + "objectId": "Chair|2|4|1", + "assetId": "Chair_227_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.0306354761123657, + 0.7736939191818237, + 2.5819787979125977 + ], + [ + 1.0306354761123657, + 0.7736939191818237, + 2.059854507446289 + ], + [ + 1.0306354761123657, + -2.9206275939941406e-06, + 2.5819787979125977 + ], + [ + 1.0306354761123657, + -2.9206275939941406e-06, + 2.059854507446289 + ], + [ + 0.5780938863754272, + 0.7736939191818237, + 2.5819787979125977 + ], + [ + 0.5780938863754272, + 0.7736939191818237, + 2.059854507446289 + ], + [ + 0.5780938863754272, + -2.9206275939941406e-06, + 2.5819787979125977 + ], + [ + 0.5780938863754272, + -2.9206275939941406e-06, + 2.059854507446289 + ] + ], + "center": { + "x": 0.8043646812438965, + "y": 0.38684549927711487, + "z": 2.3209166526794434 + }, + "size": { + "x": 0.4525415897369385, + "y": 0.7736968398094177, + "z": 0.5221242904663086 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.9538013339042664, + -2.86102294921875e-06, + 2.5819790363311768 + ], + [ + 0.5780938863754272, + -2.86102294921875e-06, + 2.5170154571533203 + ], + [ + 0.657492458820343, + -2.86102294921875e-06, + 2.0578246116638184 + ], + [ + 1.0331999063491821, + -2.86102294921875e-06, + 2.1227879524230957 + ], + [ + 0.9538013339042664, + 0.7736939191818237, + 2.5819790363311768 + ], + [ + 0.5780938863754272, + 0.7736939191818237, + 2.5170154571533203 + ], + [ + 0.657492458820343, + 0.7736939191818237, + 2.0578246116638184 + ], + [ + 1.0331999063491821, + 0.7736939191818237, + 2.1227879524230957 + ] + ] + } + } + }, + { + "objectId": "Chair|2|4|2", + "object_info": { + "name": "Chair|2|4|2", + "position": { + "x": 0.8067839741706848, + "y": -0.0016570687294006348, + "z": 4.4184250831604 + }, + "rotation": { + "x": -0.0, + "y": 171.2843017578125, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 3.2135732173919678, + "objectType": "Chair", + "objectId": "Chair|2|4|2", + "assetId": "Chair_227_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.0293906927108765, + 0.7736939191818237, + 4.683258056640625 + ], + [ + 1.0293906927108765, + 0.7736939191818237, + 4.166664123535156 + ], + [ + 1.0293906927108765, + -3.039836883544922e-06, + 4.683258056640625 + ], + [ + 1.0293906927108765, + -3.039836883544922e-06, + 4.166664123535156 + ], + [ + 0.5841772556304932, + 0.7736939191818237, + 4.683258056640625 + ], + [ + 0.5841772556304932, + 0.7736939191818237, + 4.166664123535156 + ], + [ + 0.5841772556304932, + -3.039836883544922e-06, + 4.683258056640625 + ], + [ + 0.5841772556304932, + -3.039836883544922e-06, + 4.166664123535156 + ] + ], + "center": { + "x": 0.8067839741706848, + "y": 0.3868454396724701, + "z": 4.424961090087891 + }, + "size": { + "x": 0.4452134370803833, + "y": 0.7736969590187073, + "z": 0.5165939331054688 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.6525110602378845, + -2.86102294921875e-06, + 4.166663646697998 + ], + [ + 1.0293906927108765, + -2.86102294921875e-06, + 4.224440097808838 + ], + [ + 0.9587762355804443, + -2.86102294921875e-06, + 4.68506383895874 + ], + [ + 0.5818965435028076, + -2.86102294921875e-06, + 4.6272873878479 + ], + [ + 0.6525110602378845, + 0.7736939191818237, + 4.166663646697998 + ], + [ + 1.0293906927108765, + 0.7736939191818237, + 4.224440097808838 + ], + [ + 0.9587762355804443, + 0.7736939191818237, + 4.68506383895874 + ], + [ + 0.5818965435028076, + 0.7736939191818237, + 4.6272873878479 + ] + ] + } + } + }, + { + "objectId": "Vase|surface|2|3", + "object_info": { + "name": "Vase|surface|2|3", + "position": { + "x": 0.3964664340019226, + "y": 0.8202894330024719, + "z": 0.17027005553245544 + }, + "rotation": { + "x": 359.9552307128906, + "y": 0.011160098016262054, + "z": 359.9661865234375 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": null, + "distance": 3.333193302154541, + "objectType": "Vase", + "objectId": "Vase|surface|2|3", + "assetId": "Vase_Decorative_1", + "parentReceptacles": [ + "Dresser|2|1" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.47070401906967163, + 1.108693242073059, + 0.2442895919084549 + ], + [ + 0.47070401906967163, + 1.108693242073059, + 0.09600208699703217 + ], + [ + 0.47070401906967163, + 0.8201084136962891, + 0.2442895919084549 + ], + [ + 0.47070401906967163, + 0.8201084136962891, + 0.09600208699703217 + ], + [ + 0.32241636514663696, + 1.108693242073059, + 0.2442895919084549 + ], + [ + 0.32241636514663696, + 1.108693242073059, + 0.09600208699703217 + ], + [ + 0.32241636514663696, + 0.8201084136962891, + 0.2442895919084549 + ], + [ + 0.32241636514663696, + 0.8201084136962891, + 0.09600208699703217 + ] + ], + "center": { + "x": 0.3965601921081543, + "y": 0.9644008278846741, + "z": 0.17014583945274353 + }, + "size": { + "x": 0.14828765392303467, + "y": 0.28858482837677, + "z": 0.14828750491142273 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.4706200659275055, + 0.8201629519462585, + 0.24439482390880585 + ], + [ + 0.3223414421081543, + 0.8202505111694336, + 0.24442364275455475 + ], + [ + 0.3223125636577606, + 0.8201345801353455, + 0.09614486992359161 + ], + [ + 0.4705911874771118, + 0.8200470805168152, + 0.09611605107784271 + ], + [ + 0.4707903265953064, + 1.1086355447769165, + 0.24416930973529816 + ], + [ + 0.3225117027759552, + 1.1087230443954468, + 0.24419812858104706 + ], + [ + 0.3224828243255615, + 1.1086071729660034, + 0.09591936320066452 + ], + [ + 0.4707614481449127, + 1.1085195541381836, + 0.09589054435491562 + ] + ] + } + } + }, + { + "objectId": "Dresser|2|1___1", + "object_info": { + "name": "Drawer (1)", + "position": { + "x": 0.5199877023696899, + "y": 0.3075198531150818, + "z": 0.4000285267829895 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Watch|surface|2|6", + "Watch|surface|2|5" + ], + "distance": 3.1504087448120117, + "objectType": "Drawer", + "objectId": "Dresser|2|1___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.968748927116394, + 0.45914357900619507, + 0.40165194869041443 + ], + [ + 0.968748927116394, + 0.45914357900619507, + 0.07536667585372925 + ], + [ + 0.968748927116394, + 0.15510737895965576, + 0.40165194869041443 + ], + [ + 0.968748927116394, + 0.15510737895965576, + 0.07536667585372925 + ], + [ + 0.07122647762298584, + 0.45914357900619507, + 0.40165194869041443 + ], + [ + 0.07122647762298584, + 0.45914357900619507, + 0.07536667585372925 + ], + [ + 0.07122647762298584, + 0.15510737895965576, + 0.40165194869041443 + ], + [ + 0.07122647762298584, + 0.15510737895965576, + 0.07536667585372925 + ] + ], + "center": { + "x": 0.5199877023696899, + "y": 0.3071254789829254, + "z": 0.23850931227207184 + }, + "size": { + "x": 0.8975224494934082, + "y": 0.3040362000465393, + "z": 0.3262852728366852 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "HousePlant|2|2|0", + "object_info": { + "name": "HousePlant|2|2|0", + "position": { + "x": 0.18382467329502106, + "y": 0.0007963329553604126, + "z": 1.1886509656906128 + }, + "rotation": { + "x": 6.931492407602491e-06, + "y": 106.82856750488281, + "z": 4.453263954928843e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.0, + "salientMaterials": [ + "Ceramic", + "Organic" + ], + "receptacleObjectIds": null, + "distance": 3.141284942626953, + "objectType": "HousePlant", + "objectId": "HousePlant|2|2|0", + "assetId": "Houseplant_27", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.31126272678375244, + 0.8956963419914246, + 1.3167498111724854 + ], + [ + 0.31126272678375244, + 0.8956963419914246, + 1.0546987056732178 + ], + [ + 0.31126272678375244, + 0.0, + 1.3167498111724854 + ], + [ + 0.31126272678375244, + 0.0, + 1.0546987056732178 + ], + [ + 0.05611920356750488, + 0.8956963419914246, + 1.3167498111724854 + ], + [ + 0.05611920356750488, + 0.8956963419914246, + 1.0546987056732178 + ], + [ + 0.05611920356750488, + 0.0, + 1.3167498111724854 + ], + [ + 0.05611920356750488, + 0.0, + 1.0546987056732178 + ] + ], + "center": { + "x": 0.18369096517562866, + "y": 0.4478481709957123, + "z": 1.1857242584228516 + }, + "size": { + "x": 0.25514352321624756, + "y": 0.8956963419914246, + "z": 0.2620511054992676 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.2678353786468506, + 9.313225746154785e-09, + 1.0356780290603638 + ], + [ + 0.33908355236053467, + -9.837094694375992e-09, + 1.271238923072815 + ], + [ + 0.09624818712472916, + 2.0838342607021332e-08, + 1.3446873426437378 + ], + [ + 0.024999991059303284, + 3.998866304755211e-08, + 1.1091265678405762 + ], + [ + 0.26783549785614014, + 0.8956963419914246, + 1.0356781482696533 + ], + [ + 0.3390836715698242, + 0.8956963419914246, + 1.271238923072815 + ], + [ + 0.0962483137845993, + 0.8956963419914246, + 1.3446874618530273 + ], + [ + 0.025000110268592834, + 0.8956963419914246, + 1.1091265678405762 + ] + ] + } + } + }, + { + "objectId": "Dresser|2|1", + "object_info": { + "name": "Dresser|2|1", + "position": { + "x": 0.5199877023696899, + "y": -0.00011309981346130371, + "z": 0.21858592331409454 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Vase|surface|2|3", + "KeyChain|surface|2|8", + "CellPhone|surface|2|7" + ], + "distance": 3.330031394958496, + "objectType": "Dresser", + "objectId": "Dresser|2|1", + "assetId": "RoboTHOR_dresser_aspelund", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.0149762630462646, + 0.820115327835083, + 0.4121732711791992 + ], + [ + 1.0149762630462646, + 0.820115327835083, + 0.024998605251312256 + ], + [ + 1.0149762630462646, + 0.00011920928955078125, + 0.4121732711791992 + ], + [ + 1.0149762630462646, + 0.00011920928955078125, + 0.024998605251312256 + ], + [ + 0.024999141693115234, + 0.820115327835083, + 0.4121732711791992 + ], + [ + 0.024999141693115234, + 0.820115327835083, + 0.024998605251312256 + ], + [ + 0.024999141693115234, + 0.00011920928955078125, + 0.4121732711791992 + ], + [ + 0.024999141693115234, + 0.00011920928955078125, + 0.024998605251312256 + ] + ], + "center": { + "x": 0.5199877023696899, + "y": 0.4101172685623169, + "z": 0.21858593821525574 + }, + "size": { + "x": 0.9899771213531494, + "y": 0.8199961185455322, + "z": 0.38717466592788696 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.0149762630462646, + 0.00011926889419555664, + 0.4121732711791992 + ], + [ + 0.02499908208847046, + 0.00011926889419555664, + 0.4121732711791992 + ], + [ + 0.02499908208847046, + 0.00011926889419555664, + 0.024998590350151062 + ], + [ + 1.0149762630462646, + 0.00011926889419555664, + 0.024998590350151062 + ], + [ + 1.0149762630462646, + 0.820115327835083, + 0.4121732711791992 + ], + [ + 0.02499908208847046, + 0.820115327835083, + 0.4121732711791992 + ], + [ + 0.02499908208847046, + 0.820115327835083, + 0.024998590350151062 + ], + [ + 1.0149762630462646, + 0.820115327835083, + 0.024998590350151062 + ] + ] + } + } + }, + { + "objectId": "CellPhone|surface|2|7", + "object_info": { + "name": "CellPhone|surface|2|7", + "position": { + "x": 0.2729324698448181, + "y": 0.8201186656951904, + "z": 0.17027868330478668 + }, + "rotation": { + "x": 3.843974809569772e-06, + "y": 7.698594708926976e-05, + "z": -0.0010978874051943421 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1599999964237213, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 3.4305508136749268, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|2|7", + "assetId": "Cellphone_3", + "parentReceptacles": [ + "Dresser|2|1" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.3173813223838806, + 0.8297014236450195, + 0.26013222336769104 + ], + [ + 0.3173813223838806, + 0.8297014236450195, + 0.08040371537208557 + ], + [ + 0.3173813223838806, + 0.8201143741607666, + 0.26013222336769104 + ], + [ + 0.3173813223838806, + 0.8201143741607666, + 0.08040371537208557 + ], + [ + 0.2287968397140503, + 0.8297014236450195, + 0.26013222336769104 + ], + [ + 0.2287968397140503, + 0.8297014236450195, + 0.08040371537208557 + ], + [ + 0.2287968397140503, + 0.8201143741607666, + 0.26013222336769104 + ], + [ + 0.2287968397140503, + 0.8201143741607666, + 0.08040371537208557 + ] + ], + "center": { + "x": 0.27308908104896545, + "y": 0.8249078989028931, + "z": 0.1702679693698883 + }, + "size": { + "x": 0.08858448266983032, + "y": 0.00958704948425293, + "z": 0.17972850799560547 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.3173811733722687, + 0.8201143741607666, + 0.2601320743560791 + ], + [ + 0.2287970781326294, + 0.8201161026954651, + 0.26013219356536865 + ], + [ + 0.2287968397140503, + 0.8201161026954651, + 0.08040383458137512 + ], + [ + 0.3173809349536896, + 0.8201143741607666, + 0.08040371537208557 + ], + [ + 0.317381352186203, + 0.829699695110321, + 0.2601320743560791 + ], + [ + 0.22879725694656372, + 0.8297014236450195, + 0.26013219356536865 + ], + [ + 0.22879701852798462, + 0.8297014236450195, + 0.08040383458137512 + ], + [ + 0.3173811137676239, + 0.829699695110321, + 0.08040371537208557 + ] + ] + } + } + }, + { + "objectId": "Dresser|2|1___0", + "object_info": { + "name": "Drawer", + "position": { + "x": 0.5199877023696899, + "y": 0.621476411819458, + "z": 0.4000285267829895 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.1066040992736816, + "objectType": "Drawer", + "objectId": "Dresser|2|1___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.968748927116394, + 0.7731000781059265, + 0.40165194869041443 + ], + [ + 0.968748927116394, + 0.7731000781059265, + 0.07536667585372925 + ], + [ + 0.968748927116394, + 0.46906381845474243, + 0.40165194869041443 + ], + [ + 0.968748927116394, + 0.46906381845474243, + 0.07536667585372925 + ], + [ + 0.07122647762298584, + 0.7731000781059265, + 0.40165194869041443 + ], + [ + 0.07122647762298584, + 0.7731000781059265, + 0.07536667585372925 + ], + [ + 0.07122647762298584, + 0.46906381845474243, + 0.40165194869041443 + ], + [ + 0.07122647762298584, + 0.46906381845474243, + 0.07536667585372925 + ] + ], + "center": { + "x": 0.5199877023696899, + "y": 0.6210819482803345, + "z": 0.23850931227207184 + }, + "size": { + "x": 0.8975224494934082, + "y": 0.3040362596511841, + "z": 0.3262852728366852 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 3.0999999046325684, + "y": 0.9009997844696045, + "z": 2.200000047683716 + }, + "agent_rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "agent_cameraHorizon": 60.00001525878906, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 3.0999999046325684, + "y": 1.5759997367858887, + "z": 2.200000047683716 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Dresser|2|1", + "Box|2|3", + "CellPhone|surface|2|7", + "Dresser|2|1___1", + "Dresser|2|1___0", + "Vase|surface|2|3" + ], + "different_object": [ + "DiningTable|2|4|0", + "Bed|2|0|0", + "Pencil|surface|2|0", + "Chair|2|4|4", + "HousePlant|2|2|0", + "Chair|2|4|6", + "Chair|2|4|3", + "CellPhone|surface|2|2", + "Chair|2|4|5", + "Mug|surface|2|1", + "Bed|2|5", + "Chair|2|4|2", + "Chair|2|4|1" + ] +} \ No newline at end of file diff --git a/train/train1986/0/0_depth_npy.npy b/train/train1986/0/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..38ebe6121486b2b3b77c23c3a111807a6b102d37 --- /dev/null +++ b/train/train1986/0/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d67823095c00448e8b88e7f6a274c16daf227a4caf787346ce1d9d40d8cc7d1d +size 3145856 diff --git a/train/train1986/0/0_semantic_sensor_npy.npy b/train/train1986/0/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..d5731837dc5e879bbfdd4c7e5a24fe7f1fcb56d9 --- /dev/null +++ b/train/train1986/0/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ba60d3bf7c4366906baf6b670e1d1df5a2347ceba9926303a734018202546419 +size 2359424 diff --git a/train/train1986/0/1.json b/train/train1986/0/1.json new file mode 100644 index 0000000000000000000000000000000000000000..187ac4cd728ac3485b63cb98a2f792b95d239a8b --- /dev/null +++ b/train/train1986/0/1.json @@ -0,0 +1,1104 @@ +{ + "object": [ + { + "objectId": "window|2|1", + "object_info": { + "name": "window|2|1", + "position": { + "x": 2.038450002670288, + "y": 1.0430444478988647, + "z": 5.327165126800537e-07 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.450969696044922, + "objectType": "Window", + "objectId": "window|2|1", + "assetId": "Window_Slider_36x36", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.038472890853882, + 1.957451343536377, + 0.04119918867945671 + ], + [ + 2.038472890853882, + 1.957451343536377, + -0.04119918867945671 + ], + [ + 2.038472890853882, + 1.0409610271453857, + 0.04119918867945671 + ], + [ + 2.038472890853882, + 1.0409610271453857, + -0.04119918867945671 + ], + [ + 1.1240270137786865, + 1.957451343536377, + 0.04119918867945671 + ], + [ + 1.1240270137786865, + 1.957451343536377, + -0.04119918867945671 + ], + [ + 1.1240270137786865, + 1.0409610271453857, + 0.04119918867945671 + ], + [ + 1.1240270137786865, + 1.0409610271453857, + -0.04119918867945671 + ] + ], + "center": { + "x": 1.5812499523162842, + "y": 1.4992061853408813, + "z": 0.0 + }, + "size": { + "x": 0.9144458770751953, + "y": 0.9164903163909912, + "z": 0.08239837735891342 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Box|2|3", + "object_info": { + "name": "Box|2|3", + "position": { + "x": 2.3021206855773926, + "y": 0.22024010121822357, + "z": 0.22888527810573578 + }, + "rotation": { + "x": 0.0013102942612022161, + "y": 0.00023480883101001382, + "z": 0.0006789594190195203 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.30000001192092896, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": [], + "distance": 2.2439639568328857, + "objectType": "Box", + "objectId": "Box|2|3", + "assetId": "Box_19", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.5010645389556885, + 0.3011181652545929, + 0.3354398012161255 + ], + [ + 2.5010645389556885, + 0.3011181652545929, + 0.025006532669067383 + ], + [ + 2.5010645389556885, + 1.3113021850585938e-06, + 0.3354398012161255 + ], + [ + 2.5010645389556885, + 1.3113021850585938e-06, + 0.025006532669067383 + ], + [ + 2.0994479656219482, + 0.3011181652545929, + 0.3354398012161255 + ], + [ + 2.0994479656219482, + 0.3011181652545929, + 0.025006532669067383 + ], + [ + 2.0994479656219482, + 1.3113021850585938e-06, + 0.3354398012161255 + ], + [ + 2.0994479656219482, + 1.3113021850585938e-06, + 0.025006532669067383 + ] + ], + "center": { + "x": 2.3002562522888184, + "y": 0.15055973827838898, + "z": 0.18022316694259644 + }, + "size": { + "x": 0.40161657333374023, + "y": 0.30111685395240784, + "z": 0.3104332685470581 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.501068592071533, + 3.471970558166504e-06, + 0.3354319632053375 + ], + [ + 2.099452018737793, + -1.2814998626708984e-06, + 0.33543360233306885 + ], + [ + 2.0994508266448975, + 5.826354026794434e-06, + 0.02500152587890625 + ], + [ + 2.5010671615600586, + 1.0579824447631836e-05, + 0.024999871850013733 + ], + [ + 2.5010650157928467, + 0.30111923813819885, + 0.3354388475418091 + ], + [ + 2.0994484424591064, + 0.3011144697666168, + 0.3354404866695404 + ], + [ + 2.099447250366211, + 0.3011215925216675, + 0.025008410215377808 + ], + [ + 2.501063585281372, + 0.3011263310909271, + 0.02500675618648529 + ] + ] + } + } + }, + { + "objectId": "Vase|surface|2|3", + "object_info": { + "name": "Vase|surface|2|3", + "position": { + "x": 0.3964664340019226, + "y": 0.8202894330024719, + "z": 0.17027005553245544 + }, + "rotation": { + "x": 359.9552307128906, + "y": 0.011160098016262054, + "z": 359.9661865234375 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": null, + "distance": 3.333193302154541, + "objectType": "Vase", + "objectId": "Vase|surface|2|3", + "assetId": "Vase_Decorative_1", + "parentReceptacles": [ + "Dresser|2|1" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.47070401906967163, + 1.108693242073059, + 0.2442895919084549 + ], + [ + 0.47070401906967163, + 1.108693242073059, + 0.09600208699703217 + ], + [ + 0.47070401906967163, + 0.8201084136962891, + 0.2442895919084549 + ], + [ + 0.47070401906967163, + 0.8201084136962891, + 0.09600208699703217 + ], + [ + 0.32241636514663696, + 1.108693242073059, + 0.2442895919084549 + ], + [ + 0.32241636514663696, + 1.108693242073059, + 0.09600208699703217 + ], + [ + 0.32241636514663696, + 0.8201084136962891, + 0.2442895919084549 + ], + [ + 0.32241636514663696, + 0.8201084136962891, + 0.09600208699703217 + ] + ], + "center": { + "x": 0.3965601921081543, + "y": 0.9644008278846741, + "z": 0.17014583945274353 + }, + "size": { + "x": 0.14828765392303467, + "y": 0.28858482837677, + "z": 0.14828750491142273 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.4706200659275055, + 0.8201629519462585, + 0.24439482390880585 + ], + [ + 0.3223414421081543, + 0.8202505111694336, + 0.24442364275455475 + ], + [ + 0.3223125636577606, + 0.8201345801353455, + 0.09614486992359161 + ], + [ + 0.4705911874771118, + 0.8200470805168152, + 0.09611605107784271 + ], + [ + 0.4707903265953064, + 1.1086355447769165, + 0.24416930973529816 + ], + [ + 0.3225117027759552, + 1.1087230443954468, + 0.24419812858104706 + ], + [ + 0.3224828243255615, + 1.1086071729660034, + 0.09591936320066452 + ], + [ + 0.4707614481449127, + 1.1085195541381836, + 0.09589054435491562 + ] + ] + } + } + }, + { + "objectId": "Dresser|2|1___1", + "object_info": { + "name": "Drawer (1)", + "position": { + "x": 0.5199877023696899, + "y": 0.3075198531150818, + "z": 0.4000285267829895 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Watch|surface|2|6", + "Watch|surface|2|5" + ], + "distance": 3.1504087448120117, + "objectType": "Drawer", + "objectId": "Dresser|2|1___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.968748927116394, + 0.45914357900619507, + 0.40165194869041443 + ], + [ + 0.968748927116394, + 0.45914357900619507, + 0.07536667585372925 + ], + [ + 0.968748927116394, + 0.15510737895965576, + 0.40165194869041443 + ], + [ + 0.968748927116394, + 0.15510737895965576, + 0.07536667585372925 + ], + [ + 0.07122647762298584, + 0.45914357900619507, + 0.40165194869041443 + ], + [ + 0.07122647762298584, + 0.45914357900619507, + 0.07536667585372925 + ], + [ + 0.07122647762298584, + 0.15510737895965576, + 0.40165194869041443 + ], + [ + 0.07122647762298584, + 0.15510737895965576, + 0.07536667585372925 + ] + ], + "center": { + "x": 0.5199877023696899, + "y": 0.3071254789829254, + "z": 0.23850931227207184 + }, + "size": { + "x": 0.8975224494934082, + "y": 0.3040362000465393, + "z": 0.3262852728366852 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|2|1", + "object_info": { + "name": "Dresser|2|1", + "position": { + "x": 0.5199877023696899, + "y": -0.00011309981346130371, + "z": 0.21858592331409454 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Vase|surface|2|3", + "KeyChain|surface|2|8", + "CellPhone|surface|2|7" + ], + "distance": 3.330031394958496, + "objectType": "Dresser", + "objectId": "Dresser|2|1", + "assetId": "RoboTHOR_dresser_aspelund", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.0149762630462646, + 0.820115327835083, + 0.4121732711791992 + ], + [ + 1.0149762630462646, + 0.820115327835083, + 0.024998605251312256 + ], + [ + 1.0149762630462646, + 0.00011920928955078125, + 0.4121732711791992 + ], + [ + 1.0149762630462646, + 0.00011920928955078125, + 0.024998605251312256 + ], + [ + 0.024999141693115234, + 0.820115327835083, + 0.4121732711791992 + ], + [ + 0.024999141693115234, + 0.820115327835083, + 0.024998605251312256 + ], + [ + 0.024999141693115234, + 0.00011920928955078125, + 0.4121732711791992 + ], + [ + 0.024999141693115234, + 0.00011920928955078125, + 0.024998605251312256 + ] + ], + "center": { + "x": 0.5199877023696899, + "y": 0.4101172685623169, + "z": 0.21858593821525574 + }, + "size": { + "x": 0.9899771213531494, + "y": 0.8199961185455322, + "z": 0.38717466592788696 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.0149762630462646, + 0.00011926889419555664, + 0.4121732711791992 + ], + [ + 0.02499908208847046, + 0.00011926889419555664, + 0.4121732711791992 + ], + [ + 0.02499908208847046, + 0.00011926889419555664, + 0.024998590350151062 + ], + [ + 1.0149762630462646, + 0.00011926889419555664, + 0.024998590350151062 + ], + [ + 1.0149762630462646, + 0.820115327835083, + 0.4121732711791992 + ], + [ + 0.02499908208847046, + 0.820115327835083, + 0.4121732711791992 + ], + [ + 0.02499908208847046, + 0.820115327835083, + 0.024998590350151062 + ], + [ + 1.0149762630462646, + 0.820115327835083, + 0.024998590350151062 + ] + ] + } + } + }, + { + "objectId": "CellPhone|surface|2|7", + "object_info": { + "name": "CellPhone|surface|2|7", + "position": { + "x": 0.2729324698448181, + "y": 0.8201186656951904, + "z": 0.17027868330478668 + }, + "rotation": { + "x": 3.843974809569772e-06, + "y": 7.698594708926976e-05, + "z": -0.0010978874051943421 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1599999964237213, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 3.4305508136749268, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|2|7", + "assetId": "Cellphone_3", + "parentReceptacles": [ + "Dresser|2|1" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.3173813223838806, + 0.8297014236450195, + 0.26013222336769104 + ], + [ + 0.3173813223838806, + 0.8297014236450195, + 0.08040371537208557 + ], + [ + 0.3173813223838806, + 0.8201143741607666, + 0.26013222336769104 + ], + [ + 0.3173813223838806, + 0.8201143741607666, + 0.08040371537208557 + ], + [ + 0.2287968397140503, + 0.8297014236450195, + 0.26013222336769104 + ], + [ + 0.2287968397140503, + 0.8297014236450195, + 0.08040371537208557 + ], + [ + 0.2287968397140503, + 0.8201143741607666, + 0.26013222336769104 + ], + [ + 0.2287968397140503, + 0.8201143741607666, + 0.08040371537208557 + ] + ], + "center": { + "x": 0.27308908104896545, + "y": 0.8249078989028931, + "z": 0.1702679693698883 + }, + "size": { + "x": 0.08858448266983032, + "y": 0.00958704948425293, + "z": 0.17972850799560547 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.3173811733722687, + 0.8201143741607666, + 0.2601320743560791 + ], + [ + 0.2287970781326294, + 0.8201161026954651, + 0.26013219356536865 + ], + [ + 0.2287968397140503, + 0.8201161026954651, + 0.08040383458137512 + ], + [ + 0.3173809349536896, + 0.8201143741607666, + 0.08040371537208557 + ], + [ + 0.317381352186203, + 0.829699695110321, + 0.2601320743560791 + ], + [ + 0.22879725694656372, + 0.8297014236450195, + 0.26013219356536865 + ], + [ + 0.22879701852798462, + 0.8297014236450195, + 0.08040383458137512 + ], + [ + 0.3173811137676239, + 0.829699695110321, + 0.08040371537208557 + ] + ] + } + } + }, + { + "objectId": "window|2|0", + "object_info": { + "name": "window|2|0", + "position": { + "x": 4.073130130767822, + "y": 0.940168023109436, + "z": 1.802180528640747 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.1634795665740967, + "objectType": "Window", + "objectId": "window|2|0", + "assetId": "Window_Bay_2", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.461795806884766, + 2.060702323913574, + 1.8059368133544922 + ], + [ + 4.461795806884766, + 2.060702323913574, + 0.05226314067840576 + ], + [ + 4.461795806884766, + 0.9392976760864258, + 1.8059368133544922 + ], + [ + 4.461795806884766, + 0.9392976760864258, + 0.05226314067840576 + ], + [ + 3.956204414367676, + 2.060702323913574, + 1.8059368133544922 + ], + [ + 3.956204414367676, + 2.060702323913574, + 0.05226314067840576 + ], + [ + 3.956204414367676, + 0.9392976760864258, + 1.8059368133544922 + ], + [ + 3.956204414367676, + 0.9392976760864258, + 0.05226314067840576 + ] + ], + "center": { + "x": 4.209000110626221, + "y": 1.5, + "z": 0.929099977016449 + }, + "size": { + "x": 0.5055913925170898, + "y": 1.1214046478271484, + "z": 1.7536736726760864 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|2|1___0", + "object_info": { + "name": "Drawer", + "position": { + "x": 0.5199877023696899, + "y": 0.621476411819458, + "z": 0.4000285267829895 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.1066040992736816, + "objectType": "Drawer", + "objectId": "Dresser|2|1___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.968748927116394, + 0.7731000781059265, + 0.40165194869041443 + ], + [ + 0.968748927116394, + 0.7731000781059265, + 0.07536667585372925 + ], + [ + 0.968748927116394, + 0.46906381845474243, + 0.40165194869041443 + ], + [ + 0.968748927116394, + 0.46906381845474243, + 0.07536667585372925 + ], + [ + 0.07122647762298584, + 0.7731000781059265, + 0.40165194869041443 + ], + [ + 0.07122647762298584, + 0.7731000781059265, + 0.07536667585372925 + ], + [ + 0.07122647762298584, + 0.46906381845474243, + 0.40165194869041443 + ], + [ + 0.07122647762298584, + 0.46906381845474243, + 0.07536667585372925 + ] + ], + "center": { + "x": 0.5199877023696899, + "y": 0.6210819482803345, + "z": 0.23850931227207184 + }, + "size": { + "x": 0.8975224494934082, + "y": 0.3040362596511841, + "z": 0.3262852728366852 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 3.0999999046325684, + "y": 0.9009997844696045, + "z": 2.299999952316284 + }, + "agent_rotation": { + "x": -0.0, + "y": 180.0, + "z": 0.0 + }, + "agent_cameraHorizon": 30.000003814697266, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 3.0999999046325684, + "y": 1.5759997367858887, + "z": 2.299999952316284 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Dresser|2|1", + "Box|2|3", + "CellPhone|surface|2|7", + "Dresser|2|1___1", + "Dresser|2|1___0", + "Vase|surface|2|3" + ], + "different_object": [ + "window|2|1", + "window|2|0" + ] +} \ No newline at end of file diff --git a/train/train1986/0/1_depth_npy.npy b/train/train1986/0/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..957c903177666aa3e1a6c3d7a9ca895ddaa3361e --- /dev/null +++ b/train/train1986/0/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:90c3e0d45ff789dd7bde143a105a52556c93aed0b12dfbbd221aecb3074e3651 +size 3145856 diff --git a/train/train1986/0/1_semantic_sensor_npy.npy b/train/train1986/0/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..302f7d5e66a85424725afa9fad3e20fa687b0da0 --- /dev/null +++ b/train/train1986/0/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fe94b8e5bfdb5baeb8c808eb426e93ac83f876afbff1a30857d6dc060115e495 +size 2359424 diff --git a/train/train1986/0/depth_0.png b/train/train1986/0/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..10fe1369b446764c2cefef0b01c30521e5aff36a Binary files /dev/null and b/train/train1986/0/depth_0.png differ diff --git a/train/train1986/0/depth_1.png b/train/train1986/0/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..d2b25612783a032f83f7a56249afb02c28c2bda9 Binary files /dev/null and b/train/train1986/0/depth_1.png differ diff --git a/train/train1986/0/mask_questions.jsonl b/train/train1986/0/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1c2bc1b2c673307809ee97665647c02e019dbd46 --- /dev/null +++ b/train/train1986/0/mask_questions.jsonl @@ -0,0 +1,2 @@ +{"id": 11132, "folder_dir": "train1986/0", "pair_name": "1-0:Box|2|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. Window\nB. Box\nC. Window\nD. Dresser", "answer": "B", "object_name": "Box", "image_1": "train1986/0/rgb_1.png", "image_2": "train1986/0/rgb_0.png", "mask_image": "train1986/0/rgb_0_mask_Box|2|3.png", "options": ["Window", "Box", "Window", "Dresser"]} +{"id": 11133, "folder_dir": "train1986/0", "pair_name": "1-0:Dresser|2|1___1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Window\nB. Window\nC. Drawer\nD. Dresser", "answer": "C", "object_name": "Drawer", "image_1": "train1986/0/rgb_1.png", "image_2": "train1986/0/rgb_0.png", "mask_image": "train1986/0/rgb_0_mask_Dresser|2|1___1.png", "options": ["Window", "Window", "Drawer", "Dresser"]} diff --git a/train/train1986/0/rgb_0.png b/train/train1986/0/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..12f1b72d741cf46d98a3a194f93edc24eeb91bf3 --- /dev/null +++ b/train/train1986/0/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0b4d4972e0072f72dcf99cbc3bcb9f20d229bf67bebc26b729f4297b46237ed2 +size 432496 diff --git a/train/train1986/0/rgb_0_mask_Box|2|3.png b/train/train1986/0/rgb_0_mask_Box|2|3.png new file mode 100644 index 0000000000000000000000000000000000000000..7142a200c60cab72bd3f53717d662c1bb6f06840 --- /dev/null +++ b/train/train1986/0/rgb_0_mask_Box|2|3.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:53496bb15ef15df4ef811f6dbc0ad696be1c84418baae0badc01b72dae85f655 +size 373912 diff --git a/train/train1986/0/rgb_0_mask_Dresser|2|1___1.png b/train/train1986/0/rgb_0_mask_Dresser|2|1___1.png new file mode 100644 index 0000000000000000000000000000000000000000..87834d62ccf1f9e385ccf03ee6471d79017ffec7 --- /dev/null +++ b/train/train1986/0/rgb_0_mask_Dresser|2|1___1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:910bb616c589b40f027ea00348e6f5e0d3780712ee89f00e988c2e56121b77ee +size 372595 diff --git a/train/train1986/0/rgb_1.png b/train/train1986/0/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..dd543c58a80f1055b574703d462aeb5ff0328c4c --- /dev/null +++ b/train/train1986/0/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:755835aa52b41af4520ecbdd2c57f477f1ea3bc78ba8f4807b033c2593e61874 +size 858271 diff --git a/train/train1986/0/semantic_0.png b/train/train1986/0/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..3a213cb40b68e1b06294e448d14f229302057d9a Binary files /dev/null and b/train/train1986/0/semantic_0.png differ diff --git a/train/train1986/1/0.json b/train/train1986/1/0.json new file mode 100644 index 0000000000000000000000000000000000000000..bc1488d6f6c014d84c7471741e43816cd5de070d --- /dev/null +++ b/train/train1986/1/0.json @@ -0,0 +1,2769 @@ +{ + "object": [ + { + "objectId": "DiningTable|2|4|0", + "object_info": { + "name": "DiningTable|2|4|0", + "position": { + "x": 0.8056451082229614, + "y": 0.0024788379669189453, + "z": 3.372882604598999 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Mug|surface|2|1", + "Pencil|surface|2|0", + "CellPhone|surface|2|2" + ], + "distance": 2.6236233711242676, + "objectType": "DiningTable", + "objectId": "DiningTable|2|4|0", + "assetId": "Dining_Table_221_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.2005410194396973, + 0.7820819020271301, + 4.2658538818359375 + ], + [ + 1.2005410194396973, + 0.7820819020271301, + 2.4799108505249023 + ], + [ + 1.2005410194396973, + -1.430511474609375e-06, + 4.2658538818359375 + ], + [ + 1.2005410194396973, + -1.430511474609375e-06, + 2.4799108505249023 + ], + [ + 0.4107491970062256, + 0.7820819020271301, + 4.2658538818359375 + ], + [ + 0.4107491970062256, + 0.7820819020271301, + 2.4799108505249023 + ], + [ + 0.4107491970062256, + -1.430511474609375e-06, + 4.2658538818359375 + ], + [ + 0.4107491970062256, + -1.430511474609375e-06, + 2.4799108505249023 + ] + ], + "center": { + "x": 0.8056451082229614, + "y": 0.39104023575782776, + "z": 3.37288236618042 + }, + "size": { + "x": 0.7897918224334717, + "y": 0.7820833325386047, + "z": 1.7859430313110352 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.2005407810211182, + -1.430511474609375e-06, + 2.4799110889434814 + ], + [ + 1.2005410194396973, + -1.430511474609375e-06, + 4.2658538818359375 + ], + [ + 0.4107494354248047, + -1.430511474609375e-06, + 4.2658538818359375 + ], + [ + 0.4107491970062256, + -1.430511474609375e-06, + 2.4799113273620605 + ], + [ + 1.2005407810211182, + 0.7820817232131958, + 2.4799110889434814 + ], + [ + 1.2005410194396973, + 0.7820817232131958, + 4.2658538818359375 + ], + [ + 0.4107494354248047, + 0.7820817232131958, + 4.2658538818359375 + ], + [ + 0.4107491970062256, + 0.7820817232131958, + 2.4799113273620605 + ] + ] + } + } + }, + { + "objectId": "Chair|2|4|3", + "object_info": { + "name": "Chair|2|4|3", + "position": { + "x": 0.3177686035633087, + "y": -0.0016570687294006348, + "z": 3.8372137546539307 + }, + "rotation": { + "x": -0.0, + "y": 69.05911254882812, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 3.2447500228881836, + "objectType": "Chair", + "objectId": "Chair|2|4|3", + "assetId": "Chair_227_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.5964885950088501, + 0.7736940383911133, + 4.095849514007568 + ], + [ + 0.5964885950088501, + 0.7736940383911133, + 3.578577995300293 + ], + [ + 0.5964885950088501, + -2.9802322387695312e-06, + 4.095849514007568 + ], + [ + 0.5964885950088501, + -2.9802322387695312e-06, + 3.578577995300293 + ], + [ + 0.029250144958496094, + 0.7736940383911133, + 4.095849514007568 + ], + [ + 0.029250144958496094, + 0.7736940383911133, + 3.578577995300293 + ], + [ + 0.029250144958496094, + -2.9802322387695312e-06, + 4.095849514007568 + ], + [ + 0.029250144958496094, + -2.9802322387695312e-06, + 3.578577995300293 + ] + ], + "center": { + "x": 0.3128693699836731, + "y": 0.38684552907943726, + "z": 3.8372137546539307 + }, + "size": { + "x": 0.567238450050354, + "y": 0.773697018623352, + "z": 0.5172715187072754 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.5964887142181396, + -2.86102294921875e-06, + 3.739750862121582 + ], + [ + 0.46021661162376404, + -2.86102294921875e-06, + 4.095849514007568 + ], + [ + 0.024991601705551147, + -2.86102294921875e-06, + 3.9292972087860107 + ], + [ + 0.16126370429992676, + -2.86102294921875e-06, + 3.5731987953186035 + ], + [ + 0.5964887142181396, + 0.7736939191818237, + 3.739750862121582 + ], + [ + 0.46021661162376404, + 0.7736939191818237, + 4.095849514007568 + ], + [ + 0.024991601705551147, + 0.7736939191818237, + 3.9292972087860107 + ], + [ + 0.16126370429992676, + 0.7736939191818237, + 3.5731987953186035 + ] + ] + } + } + }, + { + "objectId": "Mug|surface|2|1", + "object_info": { + "name": "Mug|surface|2|1", + "position": { + "x": 0.8056451678276062, + "y": 0.7828440070152283, + "z": 3.1509768962860107 + }, + "rotation": { + "x": 8.209291877392388e-07, + "y": 89.99977111816406, + "z": -1.2760529898514505e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 2.375060558319092, + "objectType": "Mug", + "objectId": "Mug|surface|2|1", + "assetId": "RoboTHOR_mug_ai2_1_v", + "parentReceptacles": [ + "DiningTable|2|4|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.8616578578948975, + 0.866867184638977, + 3.238370418548584 + ], + [ + 0.8616578578948975, + 0.866867184638977, + 3.0960354804992676 + ], + [ + 0.8616578578948975, + 0.7820819616317749, + 3.238370418548584 + ], + [ + 0.8616578578948975, + 0.7820819616317749, + 3.0960354804992676 + ], + [ + 0.7496323585510254, + 0.866867184638977, + 3.238370418548584 + ], + [ + 0.7496323585510254, + 0.866867184638977, + 3.0960354804992676 + ], + [ + 0.7496323585510254, + 0.7820819616317749, + 3.238370418548584 + ], + [ + 0.7496323585510254, + 0.7820819616317749, + 3.0960354804992676 + ] + ], + "center": { + "x": 0.8056451082229614, + "y": 0.824474573135376, + "z": 3.167202949523926 + }, + "size": { + "x": 0.11202549934387207, + "y": 0.08478522300720215, + "z": 0.1423349380493164 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.8616582751274109, + 0.782081663608551, + 3.0960352420806885 + ], + [ + 0.8616577386856079, + 0.7820817232131958, + 3.238370656967163 + ], + [ + 0.7496318817138672, + 0.7820817232131958, + 3.238370180130005 + ], + [ + 0.7496324181556702, + 0.782081663608551, + 3.0960350036621094 + ], + [ + 0.8616582751274109, + 0.8668673038482666, + 3.0960352420806885 + ], + [ + 0.8616577386856079, + 0.8668673634529114, + 3.238370656967163 + ], + [ + 0.7496318817138672, + 0.8668673634529114, + 3.238370180130005 + ], + [ + 0.7496324181556702, + 0.8668673038482666, + 3.0960347652435303 + ] + ] + } + } + }, + { + "objectId": "Chair|2|4|4", + "object_info": { + "name": "Chair|2|4|4", + "position": { + "x": 1.2930253744125366, + "y": -0.0016570687294006348, + "z": 3.9049689769744873 + }, + "rotation": { + "x": 0.0, + "y": 269.9420471191406, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 2.5431230068206787, + "objectType": "Chair", + "objectId": "Chair|2|4|4", + "assetId": "Chair_227_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.5337339639663696, + 0.7736940383911133, + 4.0958380699157715 + ], + [ + 1.5337339639663696, + 0.7736940383911133, + 3.714099884033203 + ], + [ + 1.5337339639663696, + -2.9206275939941406e-06, + 4.0958380699157715 + ], + [ + 1.5337339639663696, + -2.9206275939941406e-06, + 3.714099884033203 + ], + [ + 1.067355751991272, + 0.7736940383911133, + 4.0958380699157715 + ], + [ + 1.067355751991272, + 0.7736940383911133, + 3.714099884033203 + ], + [ + 1.067355751991272, + -2.9206275939941406e-06, + 4.0958380699157715 + ], + [ + 1.067355751991272, + -2.9206275939941406e-06, + 3.714099884033203 + ] + ], + "center": { + "x": 1.3005448579788208, + "y": 0.38684555888175964, + "z": 3.9049689769744873 + }, + "size": { + "x": 0.46637821197509766, + "y": 0.7736969590187073, + "z": 0.38173818588256836 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.067355751991272, + -2.86102294921875e-06, + 4.095382213592529 + ], + [ + 1.0677413940429688, + -2.86102294921875e-06, + 3.714099884033203 + ], + [ + 1.5337460041046143, + -2.86102294921875e-06, + 3.714570999145508 + ], + [ + 1.5333603620529175, + -2.86102294921875e-06, + 4.095853328704834 + ], + [ + 1.067355751991272, + 0.7736939191818237, + 4.095382213592529 + ], + [ + 1.0677413940429688, + 0.7736939191818237, + 3.714099884033203 + ], + [ + 1.5337460041046143, + 0.7736939191818237, + 3.714570999145508 + ], + [ + 1.5333603620529175, + 0.7736939191818237, + 4.095853328704834 + ] + ] + } + } + }, + { + "objectId": "Pencil|surface|2|0", + "object_info": { + "name": "Pencil|surface|2|0", + "position": { + "x": 1.002353549003601, + "y": 0.7868094444274902, + "z": 3.8166956901550293 + }, + "rotation": { + "x": 0.00016600723029114306, + "y": 90.0002212524414, + "z": -0.0012770741013810039 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": null, + "distance": 2.541292190551758, + "objectType": "Pencil", + "objectId": "Pencil|surface|2|0", + "assetId": "Pencil_4", + "parentReceptacles": [ + "DiningTable|2|4|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.0509649515151978, + 0.7915370464324951, + 3.821423292160034 + ], + [ + 1.0509649515151978, + 0.7915370464324951, + 3.8119680881500244 + ], + [ + 1.0509649515151978, + 0.7820818424224854, + 3.821423292160034 + ], + [ + 1.0509649515151978, + 0.7820818424224854, + 3.8119680881500244 + ], + [ + 0.9607235193252563, + 0.7915370464324951, + 3.821423292160034 + ], + [ + 0.9607235193252563, + 0.7915370464324951, + 3.8119680881500244 + ], + [ + 0.9607235193252563, + 0.7820818424224854, + 3.821423292160034 + ], + [ + 0.9607235193252563, + 0.7820818424224854, + 3.8119680881500244 + ] + ], + "center": { + "x": 1.005844235420227, + "y": 0.7868094444274902, + "z": 3.8166956901550293 + }, + "size": { + "x": 0.0902414321899414, + "y": 0.009455204010009766, + "z": 0.009455204010009766 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.0509649515151978, + 0.7820814847946167, + 3.8119680881500244 + ], + [ + 1.0509649515151978, + 0.7820817232131958, + 3.821423292160034 + ], + [ + 0.9607234597206116, + 0.7820819616317749, + 3.8214235305786133 + ], + [ + 0.9607234001159668, + 0.7820817828178406, + 3.8119683265686035 + ], + [ + 1.0509649515151978, + 0.7915369272232056, + 3.8119678497314453 + ], + [ + 1.0509649515151978, + 0.7915371060371399, + 3.821423053741455 + ], + [ + 0.9607234597206116, + 0.791537344455719, + 3.821423292160034 + ], + [ + 0.9607234597206116, + 0.7915371656417847, + 3.8119680881500244 + ] + ] + } + } + }, + { + "objectId": "Chair|2|4|6", + "object_info": { + "name": "Chair|2|4|6", + "position": { + "x": 0.31802257895469666, + "y": -0.0016570687294006348, + "z": 2.8950002193450928 + }, + "rotation": { + "x": -0.0, + "y": 75.40757751464844, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 2.902381420135498, + "objectType": "Chair", + "objectId": "Chair|2|4|6", + "assetId": "Chair_227_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.5842564702033997, + 0.7736941576004028, + 3.1362991333007812 + ], + [ + 0.5842564702033997, + 0.7736941576004028, + 2.6537017822265625 + ], + [ + 0.5842564702033997, + -2.9206275939941406e-06, + 3.1362991333007812 + ], + [ + 0.5842564702033997, + -2.9206275939941406e-06, + 2.6537017822265625 + ], + [ + 0.04022496938705444, + 0.7736941576004028, + 3.1362991333007812 + ], + [ + 0.04022496938705444, + 0.7736941576004028, + 2.6537017822265625 + ], + [ + 0.04022496938705444, + -2.9206275939941406e-06, + 3.1362991333007812 + ], + [ + 0.04022496938705444, + -2.9206275939941406e-06, + 2.6537017822265625 + ] + ], + "center": { + "x": 0.31224071979522705, + "y": 0.3868456184864044, + "z": 2.895000457763672 + }, + "size": { + "x": 0.5440315008163452, + "y": 0.7736970782279968, + "z": 0.48259735107421875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.5842565298080444, + -2.86102294921875e-06, + 2.767315626144409 + ], + [ + 0.4881957173347473, + -2.86102294921875e-06, + 3.136298894882202 + ], + [ + 0.03722307085990906, + -2.86102294921875e-06, + 3.018893003463745 + ], + [ + 0.13328392803668976, + -2.86102294921875e-06, + 2.649909734725952 + ], + [ + 0.5842565298080444, + 0.7736939191818237, + 2.767315626144409 + ], + [ + 0.4881957173347473, + 0.7736939191818237, + 3.136298894882202 + ], + [ + 0.03722307085990906, + 0.7736939191818237, + 3.018893003463745 + ], + [ + 0.13328392803668976, + 0.7736939191818237, + 2.649909734725952 + ] + ] + } + } + }, + { + "objectId": "CellPhone|surface|2|2", + "object_info": { + "name": "CellPhone|surface|2|2", + "position": { + "x": 0.6089365482330322, + "y": 0.7827904224395752, + "z": 2.929068088531494 + }, + "rotation": { + "x": 0.00011366007674951106, + "y": 90.00006866455078, + "z": -0.0013308573979884386 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1599999964237213, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 2.488431453704834, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|2|2", + "assetId": "Cellphone_8", + "parentReceptacles": [ + "DiningTable|2|4|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.6818479895591736, + 0.7929642796516418, + 2.967306613922119 + ], + [ + 0.6818479895591736, + 0.7929642796516418, + 2.890829563140869 + ], + [ + 0.6818479895591736, + 0.7820808291435242, + 2.967306613922119 + ], + [ + 0.6818479895591736, + 0.7820808291435242, + 2.890829563140869 + ], + [ + 0.5360251069068909, + 0.7929642796516418, + 2.967306613922119 + ], + [ + 0.5360251069068909, + 0.7929642796516418, + 2.890829563140869 + ], + [ + 0.5360251069068909, + 0.7820808291435242, + 2.967306613922119 + ], + [ + 0.5360251069068909, + 0.7820808291435242, + 2.890829563140869 + ] + ], + "center": { + "x": 0.6089365482330322, + "y": 0.787522554397583, + "z": 2.929068088531494 + }, + "size": { + "x": 0.14582288265228271, + "y": 0.010883450508117676, + "z": 0.07647705078125 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.681847870349884, + 0.7820808291435242, + 2.890829563140869 + ], + [ + 0.6818479895591736, + 0.7820825576782227, + 2.96730637550354 + ], + [ + 0.5360252261161804, + 0.7820828557014465, + 2.967306613922119 + ], + [ + 0.5360251069068909, + 0.782081127166748, + 2.8908298015594482 + ], + [ + 0.6818479299545288, + 0.7929622530937195, + 2.89082932472229 + ], + [ + 0.6818480491638184, + 0.7929640412330627, + 2.967306137084961 + ], + [ + 0.5360252261161804, + 0.7929643392562866, + 2.96730637550354 + ], + [ + 0.5360251069068909, + 0.7929625511169434, + 2.890829563140869 + ] + ] + } + } + }, + { + "objectId": "Bed|2|0|0", + "object_info": { + "name": "Bed|2|0|0", + "position": { + "x": 0.8654646873474121, + "y": 3.606081008911133e-06, + "z": 5.90699577331543 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Fabric", + "Wood" + ], + "receptacleObjectIds": [ + "Pillow|2|0|1" + ], + "distance": 4.329163074493408, + "objectType": "Bed", + "objectId": "Bed|2|0|0", + "assetId": "RoboTHOR_bed_kritter", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.6761431694030762, + 0.6706647872924805, + 6.287994384765625 + ], + [ + 1.6761431694030762, + 0.6706647872924805, + 5.515429496765137 + ], + [ + 1.6761431694030762, + 3.337860107421875e-06, + 6.287994384765625 + ], + [ + 1.6761431694030762, + 3.337860107421875e-06, + 5.515429496765137 + ], + [ + 0.025004565715789795, + 0.6706647872924805, + 6.287994384765625 + ], + [ + 0.025004565715789795, + 0.6706647872924805, + 5.515429496765137 + ], + [ + 0.025004565715789795, + 3.337860107421875e-06, + 6.287994384765625 + ], + [ + 0.025004565715789795, + 3.337860107421875e-06, + 5.515429496765137 + ] + ], + "center": { + "x": 0.8505738377571106, + "y": 0.33533406257629395, + "z": 5.901711940765381 + }, + "size": { + "x": 1.6511385440826416, + "y": 0.670661449432373, + "z": 0.7725648880004883 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.6761422157287598, + 3.606081008911133e-06, + 5.515429973602295 + ], + [ + 1.6761422157287598, + 3.606081008911133e-06, + 6.287993431091309 + ], + [ + 0.02500540018081665, + 3.606081008911133e-06, + 6.287993431091309 + ], + [ + 0.0250052809715271, + 3.606081008911133e-06, + 5.515430450439453 + ], + [ + 1.6761422157287598, + 0.6706643104553223, + 5.515429973602295 + ], + [ + 1.6761422157287598, + 0.6706643104553223, + 6.287993431091309 + ], + [ + 0.02500540018081665, + 0.6706643104553223, + 6.287993431091309 + ], + [ + 0.0250052809715271, + 0.6706643104553223, + 5.515430450439453 + ] + ] + } + } + }, + { + "objectId": "Chair|2|4|5", + "object_info": { + "name": "Chair|2|4|5", + "position": { + "x": 1.293033480644226, + "y": -0.0016570687294006348, + "z": 2.850804090499878 + }, + "rotation": { + "x": 0.0, + "y": 267.34228515625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 2.0222487449645996, + "objectType": "Chair", + "objectId": "Chair|2|4|5", + "assetId": "Chair_227_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.5415899753570557, + 0.7736940979957581, + 3.0516953468322754 + ], + [ + 1.5415899753570557, + 0.7736940979957581, + 2.6499128341674805 + ], + [ + 1.5415899753570557, + -2.86102294921875e-06, + 3.0516953468322754 + ], + [ + 1.5415899753570557, + -2.86102294921875e-06, + 2.6499128341674805 + ], + [ + 1.0589592456817627, + 0.7736940979957581, + 3.0516953468322754 + ], + [ + 1.0589592456817627, + 0.7736940979957581, + 2.6499128341674805 + ], + [ + 1.0589592456817627, + -2.86102294921875e-06, + 3.0516953468322754 + ], + [ + 1.0589592456817627, + -2.86102294921875e-06, + 2.6499128341674805 + ] + ], + "center": { + "x": 1.3002746105194092, + "y": 0.3868456184864044, + "z": 2.850804090499878 + }, + "size": { + "x": 0.48263072967529297, + "y": 0.7736969590187073, + "z": 0.4017825126647949 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.0589592456817627, + -2.86102294921875e-06, + 3.030785083770752 + ], + [ + 1.07663893699646, + -2.86102294921875e-06, + 2.6499125957489014 + ], + [ + 1.5421425104141235, + -2.86102294921875e-06, + 2.671520948410034 + ], + [ + 1.5244628190994263, + -2.86102294921875e-06, + 3.0523934364318848 + ], + [ + 1.0589592456817627, + 0.7736939191818237, + 3.030785083770752 + ], + [ + 1.07663893699646, + 0.7736939191818237, + 2.6499125957489014 + ], + [ + 1.5421425104141235, + 0.7736939191818237, + 2.671520948410034 + ], + [ + 1.5244628190994263, + 0.7736939191818237, + 3.0523934364318848 + ] + ] + } + } + }, + { + "objectId": "Bed|2|5", + "object_info": { + "name": "Bed|2|5", + "position": { + "x": 2.861642599105835, + "y": -0.0018128156661987305, + "z": 5.273162841796875 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": true, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "Laptop|surface|2|4" + ], + "distance": 3.15812087059021, + "objectType": "Bed", + "objectId": "Bed|2|5", + "assetId": "Bed_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.486420154571533, + 0.916021466255188, + 6.288000106811523 + ], + [ + 3.486420154571533, + 0.916021466255188, + 4.207488059997559 + ], + [ + 3.486420154571533, + -1.1920928955078125e-07, + 6.288000106811523 + ], + [ + 3.486420154571533, + -1.1920928955078125e-07, + 4.207488059997559 + ], + [ + 2.237611770629883, + 0.916021466255188, + 6.288000106811523 + ], + [ + 2.237611770629883, + 0.916021466255188, + 4.207488059997559 + ], + [ + 2.237611770629883, + -1.1920928955078125e-07, + 6.288000106811523 + ], + [ + 2.237611770629883, + -1.1920928955078125e-07, + 4.207488059997559 + ] + ], + "center": { + "x": 2.862015962600708, + "y": 0.4580106735229492, + "z": 5.247744083404541 + }, + "size": { + "x": 1.2488083839416504, + "y": 0.9160215854644775, + "z": 2.080512046813965 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.237611770629883, + -1.1920928955078125e-07, + 4.207488536834717 + ], + [ + 3.486420154571533, + -1.1920928955078125e-07, + 4.207488536834717 + ], + [ + 3.486420154571533, + -1.1920928955078125e-07, + 6.288000106811523 + ], + [ + 2.237612009048462, + -1.1920928955078125e-07, + 6.288000106811523 + ], + [ + 2.237611770629883, + 0.916021466255188, + 4.207488536834717 + ], + [ + 3.486420154571533, + 0.916021466255188, + 4.207488536834717 + ], + [ + 3.486420154571533, + 0.916021466255188, + 6.288000106811523 + ], + [ + 2.237612009048462, + 0.916021466255188, + 6.288000106811523 + ] + ] + } + } + }, + { + "objectId": "Box|2|3", + "object_info": { + "name": "Box|2|3", + "position": { + "x": 2.3021206855773926, + "y": 0.22024010121822357, + "z": 0.22888527810573578 + }, + "rotation": { + "x": 0.0013102942612022161, + "y": 0.00023480883101001382, + "z": 0.0006789594190195203 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.30000001192092896, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": [], + "distance": 2.2439639568328857, + "objectType": "Box", + "objectId": "Box|2|3", + "assetId": "Box_19", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.5010645389556885, + 0.3011181652545929, + 0.3354398012161255 + ], + [ + 2.5010645389556885, + 0.3011181652545929, + 0.025006532669067383 + ], + [ + 2.5010645389556885, + 1.3113021850585938e-06, + 0.3354398012161255 + ], + [ + 2.5010645389556885, + 1.3113021850585938e-06, + 0.025006532669067383 + ], + [ + 2.0994479656219482, + 0.3011181652545929, + 0.3354398012161255 + ], + [ + 2.0994479656219482, + 0.3011181652545929, + 0.025006532669067383 + ], + [ + 2.0994479656219482, + 1.3113021850585938e-06, + 0.3354398012161255 + ], + [ + 2.0994479656219482, + 1.3113021850585938e-06, + 0.025006532669067383 + ] + ], + "center": { + "x": 2.3002562522888184, + "y": 0.15055973827838898, + "z": 0.18022316694259644 + }, + "size": { + "x": 0.40161657333374023, + "y": 0.30111685395240784, + "z": 0.3104332685470581 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.501068592071533, + 3.471970558166504e-06, + 0.3354319632053375 + ], + [ + 2.099452018737793, + -1.2814998626708984e-06, + 0.33543360233306885 + ], + [ + 2.0994508266448975, + 5.826354026794434e-06, + 0.02500152587890625 + ], + [ + 2.5010671615600586, + 1.0579824447631836e-05, + 0.024999871850013733 + ], + [ + 2.5010650157928467, + 0.30111923813819885, + 0.3354388475418091 + ], + [ + 2.0994484424591064, + 0.3011144697666168, + 0.3354404866695404 + ], + [ + 2.099447250366211, + 0.3011215925216675, + 0.025008410215377808 + ], + [ + 2.501063585281372, + 0.3011263310909271, + 0.02500675618648529 + ] + ] + } + } + }, + { + "objectId": "Chair|2|4|1", + "object_info": { + "name": "Chair|2|4|1", + "position": { + "x": 0.8043646812438965, + "y": -0.0016570687294006348, + "z": 2.327317237854004 + }, + "rotation": { + "x": 0.0, + "y": 350.19000244140625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 2.375201463699341, + "objectType": "Chair", + "objectId": "Chair|2|4|1", + "assetId": "Chair_227_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.0306354761123657, + 0.7736939191818237, + 2.5819787979125977 + ], + [ + 1.0306354761123657, + 0.7736939191818237, + 2.059854507446289 + ], + [ + 1.0306354761123657, + -2.9206275939941406e-06, + 2.5819787979125977 + ], + [ + 1.0306354761123657, + -2.9206275939941406e-06, + 2.059854507446289 + ], + [ + 0.5780938863754272, + 0.7736939191818237, + 2.5819787979125977 + ], + [ + 0.5780938863754272, + 0.7736939191818237, + 2.059854507446289 + ], + [ + 0.5780938863754272, + -2.9206275939941406e-06, + 2.5819787979125977 + ], + [ + 0.5780938863754272, + -2.9206275939941406e-06, + 2.059854507446289 + ] + ], + "center": { + "x": 0.8043646812438965, + "y": 0.38684549927711487, + "z": 2.3209166526794434 + }, + "size": { + "x": 0.4525415897369385, + "y": 0.7736968398094177, + "z": 0.5221242904663086 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.9538013339042664, + -2.86102294921875e-06, + 2.5819790363311768 + ], + [ + 0.5780938863754272, + -2.86102294921875e-06, + 2.5170154571533203 + ], + [ + 0.657492458820343, + -2.86102294921875e-06, + 2.0578246116638184 + ], + [ + 1.0331999063491821, + -2.86102294921875e-06, + 2.1227879524230957 + ], + [ + 0.9538013339042664, + 0.7736939191818237, + 2.5819790363311768 + ], + [ + 0.5780938863754272, + 0.7736939191818237, + 2.5170154571533203 + ], + [ + 0.657492458820343, + 0.7736939191818237, + 2.0578246116638184 + ], + [ + 1.0331999063491821, + 0.7736939191818237, + 2.1227879524230957 + ] + ] + } + } + }, + { + "objectId": "Chair|2|4|2", + "object_info": { + "name": "Chair|2|4|2", + "position": { + "x": 0.8067839741706848, + "y": -0.0016570687294006348, + "z": 4.4184250831604 + }, + "rotation": { + "x": -0.0, + "y": 171.2843017578125, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 3.2135732173919678, + "objectType": "Chair", + "objectId": "Chair|2|4|2", + "assetId": "Chair_227_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.0293906927108765, + 0.7736939191818237, + 4.683258056640625 + ], + [ + 1.0293906927108765, + 0.7736939191818237, + 4.166664123535156 + ], + [ + 1.0293906927108765, + -3.039836883544922e-06, + 4.683258056640625 + ], + [ + 1.0293906927108765, + -3.039836883544922e-06, + 4.166664123535156 + ], + [ + 0.5841772556304932, + 0.7736939191818237, + 4.683258056640625 + ], + [ + 0.5841772556304932, + 0.7736939191818237, + 4.166664123535156 + ], + [ + 0.5841772556304932, + -3.039836883544922e-06, + 4.683258056640625 + ], + [ + 0.5841772556304932, + -3.039836883544922e-06, + 4.166664123535156 + ] + ], + "center": { + "x": 0.8067839741706848, + "y": 0.3868454396724701, + "z": 4.424961090087891 + }, + "size": { + "x": 0.4452134370803833, + "y": 0.7736969590187073, + "z": 0.5165939331054688 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.6525110602378845, + -2.86102294921875e-06, + 4.166663646697998 + ], + [ + 1.0293906927108765, + -2.86102294921875e-06, + 4.224440097808838 + ], + [ + 0.9587762355804443, + -2.86102294921875e-06, + 4.68506383895874 + ], + [ + 0.5818965435028076, + -2.86102294921875e-06, + 4.6272873878479 + ], + [ + 0.6525110602378845, + 0.7736939191818237, + 4.166663646697998 + ], + [ + 1.0293906927108765, + 0.7736939191818237, + 4.224440097808838 + ], + [ + 0.9587762355804443, + 0.7736939191818237, + 4.68506383895874 + ], + [ + 0.5818965435028076, + 0.7736939191818237, + 4.6272873878479 + ] + ] + } + } + }, + { + "objectId": "Vase|surface|2|3", + "object_info": { + "name": "Vase|surface|2|3", + "position": { + "x": 0.3964664340019226, + "y": 0.8202894330024719, + "z": 0.17027005553245544 + }, + "rotation": { + "x": 359.9552307128906, + "y": 0.011160098016262054, + "z": 359.9661865234375 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": null, + "distance": 3.333193302154541, + "objectType": "Vase", + "objectId": "Vase|surface|2|3", + "assetId": "Vase_Decorative_1", + "parentReceptacles": [ + "Dresser|2|1" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.47070401906967163, + 1.108693242073059, + 0.2442895919084549 + ], + [ + 0.47070401906967163, + 1.108693242073059, + 0.09600208699703217 + ], + [ + 0.47070401906967163, + 0.8201084136962891, + 0.2442895919084549 + ], + [ + 0.47070401906967163, + 0.8201084136962891, + 0.09600208699703217 + ], + [ + 0.32241636514663696, + 1.108693242073059, + 0.2442895919084549 + ], + [ + 0.32241636514663696, + 1.108693242073059, + 0.09600208699703217 + ], + [ + 0.32241636514663696, + 0.8201084136962891, + 0.2442895919084549 + ], + [ + 0.32241636514663696, + 0.8201084136962891, + 0.09600208699703217 + ] + ], + "center": { + "x": 0.3965601921081543, + "y": 0.9644008278846741, + "z": 0.17014583945274353 + }, + "size": { + "x": 0.14828765392303467, + "y": 0.28858482837677, + "z": 0.14828750491142273 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.4706200659275055, + 0.8201629519462585, + 0.24439482390880585 + ], + [ + 0.3223414421081543, + 0.8202505111694336, + 0.24442364275455475 + ], + [ + 0.3223125636577606, + 0.8201345801353455, + 0.09614486992359161 + ], + [ + 0.4705911874771118, + 0.8200470805168152, + 0.09611605107784271 + ], + [ + 0.4707903265953064, + 1.1086355447769165, + 0.24416930973529816 + ], + [ + 0.3225117027759552, + 1.1087230443954468, + 0.24419812858104706 + ], + [ + 0.3224828243255615, + 1.1086071729660034, + 0.09591936320066452 + ], + [ + 0.4707614481449127, + 1.1085195541381836, + 0.09589054435491562 + ] + ] + } + } + }, + { + "objectId": "Dresser|2|1___1", + "object_info": { + "name": "Drawer (1)", + "position": { + "x": 0.5199877023696899, + "y": 0.3075198531150818, + "z": 0.4000285267829895 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Watch|surface|2|6", + "Watch|surface|2|5" + ], + "distance": 3.1504087448120117, + "objectType": "Drawer", + "objectId": "Dresser|2|1___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.968748927116394, + 0.45914357900619507, + 0.40165194869041443 + ], + [ + 0.968748927116394, + 0.45914357900619507, + 0.07536667585372925 + ], + [ + 0.968748927116394, + 0.15510737895965576, + 0.40165194869041443 + ], + [ + 0.968748927116394, + 0.15510737895965576, + 0.07536667585372925 + ], + [ + 0.07122647762298584, + 0.45914357900619507, + 0.40165194869041443 + ], + [ + 0.07122647762298584, + 0.45914357900619507, + 0.07536667585372925 + ], + [ + 0.07122647762298584, + 0.15510737895965576, + 0.40165194869041443 + ], + [ + 0.07122647762298584, + 0.15510737895965576, + 0.07536667585372925 + ] + ], + "center": { + "x": 0.5199877023696899, + "y": 0.3071254789829254, + "z": 0.23850931227207184 + }, + "size": { + "x": 0.8975224494934082, + "y": 0.3040362000465393, + "z": 0.3262852728366852 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "HousePlant|2|2|0", + "object_info": { + "name": "HousePlant|2|2|0", + "position": { + "x": 0.18382467329502106, + "y": 0.0007963329553604126, + "z": 1.1886509656906128 + }, + "rotation": { + "x": 6.931492407602491e-06, + "y": 106.82856750488281, + "z": 4.453263954928843e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.0, + "salientMaterials": [ + "Ceramic", + "Organic" + ], + "receptacleObjectIds": null, + "distance": 3.141284942626953, + "objectType": "HousePlant", + "objectId": "HousePlant|2|2|0", + "assetId": "Houseplant_27", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.31126272678375244, + 0.8956963419914246, + 1.3167498111724854 + ], + [ + 0.31126272678375244, + 0.8956963419914246, + 1.0546987056732178 + ], + [ + 0.31126272678375244, + 0.0, + 1.3167498111724854 + ], + [ + 0.31126272678375244, + 0.0, + 1.0546987056732178 + ], + [ + 0.05611920356750488, + 0.8956963419914246, + 1.3167498111724854 + ], + [ + 0.05611920356750488, + 0.8956963419914246, + 1.0546987056732178 + ], + [ + 0.05611920356750488, + 0.0, + 1.3167498111724854 + ], + [ + 0.05611920356750488, + 0.0, + 1.0546987056732178 + ] + ], + "center": { + "x": 0.18369096517562866, + "y": 0.4478481709957123, + "z": 1.1857242584228516 + }, + "size": { + "x": 0.25514352321624756, + "y": 0.8956963419914246, + "z": 0.2620511054992676 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.2678353786468506, + 9.313225746154785e-09, + 1.0356780290603638 + ], + [ + 0.33908355236053467, + -9.837094694375992e-09, + 1.271238923072815 + ], + [ + 0.09624818712472916, + 2.0838342607021332e-08, + 1.3446873426437378 + ], + [ + 0.024999991059303284, + 3.998866304755211e-08, + 1.1091265678405762 + ], + [ + 0.26783549785614014, + 0.8956963419914246, + 1.0356781482696533 + ], + [ + 0.3390836715698242, + 0.8956963419914246, + 1.271238923072815 + ], + [ + 0.0962483137845993, + 0.8956963419914246, + 1.3446874618530273 + ], + [ + 0.025000110268592834, + 0.8956963419914246, + 1.1091265678405762 + ] + ] + } + } + }, + { + "objectId": "Dresser|2|1", + "object_info": { + "name": "Dresser|2|1", + "position": { + "x": 0.5199877023696899, + "y": -0.00011309981346130371, + "z": 0.21858592331409454 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Vase|surface|2|3", + "KeyChain|surface|2|8", + "CellPhone|surface|2|7" + ], + "distance": 3.330031394958496, + "objectType": "Dresser", + "objectId": "Dresser|2|1", + "assetId": "RoboTHOR_dresser_aspelund", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.0149762630462646, + 0.820115327835083, + 0.4121732711791992 + ], + [ + 1.0149762630462646, + 0.820115327835083, + 0.024998605251312256 + ], + [ + 1.0149762630462646, + 0.00011920928955078125, + 0.4121732711791992 + ], + [ + 1.0149762630462646, + 0.00011920928955078125, + 0.024998605251312256 + ], + [ + 0.024999141693115234, + 0.820115327835083, + 0.4121732711791992 + ], + [ + 0.024999141693115234, + 0.820115327835083, + 0.024998605251312256 + ], + [ + 0.024999141693115234, + 0.00011920928955078125, + 0.4121732711791992 + ], + [ + 0.024999141693115234, + 0.00011920928955078125, + 0.024998605251312256 + ] + ], + "center": { + "x": 0.5199877023696899, + "y": 0.4101172685623169, + "z": 0.21858593821525574 + }, + "size": { + "x": 0.9899771213531494, + "y": 0.8199961185455322, + "z": 0.38717466592788696 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.0149762630462646, + 0.00011926889419555664, + 0.4121732711791992 + ], + [ + 0.02499908208847046, + 0.00011926889419555664, + 0.4121732711791992 + ], + [ + 0.02499908208847046, + 0.00011926889419555664, + 0.024998590350151062 + ], + [ + 1.0149762630462646, + 0.00011926889419555664, + 0.024998590350151062 + ], + [ + 1.0149762630462646, + 0.820115327835083, + 0.4121732711791992 + ], + [ + 0.02499908208847046, + 0.820115327835083, + 0.4121732711791992 + ], + [ + 0.02499908208847046, + 0.820115327835083, + 0.024998590350151062 + ], + [ + 1.0149762630462646, + 0.820115327835083, + 0.024998590350151062 + ] + ] + } + } + }, + { + "objectId": "Dresser|2|1___0", + "object_info": { + "name": "Drawer", + "position": { + "x": 0.5199877023696899, + "y": 0.621476411819458, + "z": 0.4000285267829895 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.1066040992736816, + "objectType": "Drawer", + "objectId": "Dresser|2|1___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.968748927116394, + 0.7731000781059265, + 0.40165194869041443 + ], + [ + 0.968748927116394, + 0.7731000781059265, + 0.07536667585372925 + ], + [ + 0.968748927116394, + 0.46906381845474243, + 0.40165194869041443 + ], + [ + 0.968748927116394, + 0.46906381845474243, + 0.07536667585372925 + ], + [ + 0.07122647762298584, + 0.7731000781059265, + 0.40165194869041443 + ], + [ + 0.07122647762298584, + 0.7731000781059265, + 0.07536667585372925 + ], + [ + 0.07122647762298584, + 0.46906381845474243, + 0.40165194869041443 + ], + [ + 0.07122647762298584, + 0.46906381845474243, + 0.07536667585372925 + ] + ], + "center": { + "x": 0.5199877023696899, + "y": 0.6210819482803345, + "z": 0.23850931227207184 + }, + "size": { + "x": 0.8975224494934082, + "y": 0.3040362596511841, + "z": 0.3262852728366852 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 3.200000047683716, + "y": 0.9009997844696045, + "z": 2.299999952316284 + }, + "agent_rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "agent_cameraHorizon": 60.00001525878906, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 3.200000047683716, + "y": 1.5759997367858887, + "z": 2.299999952316284 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Dresser|2|1", + "Box|2|3", + "Dresser|2|1___0", + "Dresser|2|1___1" + ], + "different_object": [ + "DiningTable|2|4|0", + "Bed|2|0|0", + "Pencil|surface|2|0", + "Chair|2|4|4", + "HousePlant|2|2|0", + "Chair|2|4|6", + "Chair|2|4|3", + "CellPhone|surface|2|2", + "Chair|2|4|5", + "Mug|surface|2|1", + "Bed|2|5", + "Chair|2|4|2", + "Chair|2|4|1", + "Vase|surface|2|3" + ] +} \ No newline at end of file diff --git a/train/train1986/1/0_depth_npy.npy b/train/train1986/1/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..14bfa42afb58e38c27cf857824270d8f55b91cbf --- /dev/null +++ b/train/train1986/1/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b0765c0d95da7d93f887a74f64ea7e3ea57d367713a32b433195f5cf7a661046 +size 3145856 diff --git a/train/train1986/1/0_semantic_sensor_npy.npy b/train/train1986/1/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..c14741966cd4e61f3fdf2d7882172b481a2fbe4c --- /dev/null +++ b/train/train1986/1/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b6167da7f466260e4c4c79adfbb4df5a24ae0c4e5dd5710784ddb71aa47ae39c +size 2359424 diff --git a/train/train1986/1/1.json b/train/train1986/1/1.json new file mode 100644 index 0000000000000000000000000000000000000000..52c2e859698da1d7eea3f07569fc0063fb3f82bb --- /dev/null +++ b/train/train1986/1/1.json @@ -0,0 +1,793 @@ +{ + "object": [ + { + "objectId": "Box|2|3", + "object_info": { + "name": "Box|2|3", + "position": { + "x": 2.3021206855773926, + "y": 0.22024010121822357, + "z": 0.22888527810573578 + }, + "rotation": { + "x": 0.0013102942612022161, + "y": 0.00023480883101001382, + "z": 0.0006789594190195203 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.30000001192092896, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": [], + "distance": 2.2439639568328857, + "objectType": "Box", + "objectId": "Box|2|3", + "assetId": "Box_19", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.5010645389556885, + 0.3011181652545929, + 0.3354398012161255 + ], + [ + 2.5010645389556885, + 0.3011181652545929, + 0.025006532669067383 + ], + [ + 2.5010645389556885, + 1.3113021850585938e-06, + 0.3354398012161255 + ], + [ + 2.5010645389556885, + 1.3113021850585938e-06, + 0.025006532669067383 + ], + [ + 2.0994479656219482, + 0.3011181652545929, + 0.3354398012161255 + ], + [ + 2.0994479656219482, + 0.3011181652545929, + 0.025006532669067383 + ], + [ + 2.0994479656219482, + 1.3113021850585938e-06, + 0.3354398012161255 + ], + [ + 2.0994479656219482, + 1.3113021850585938e-06, + 0.025006532669067383 + ] + ], + "center": { + "x": 2.3002562522888184, + "y": 0.15055973827838898, + "z": 0.18022316694259644 + }, + "size": { + "x": 0.40161657333374023, + "y": 0.30111685395240784, + "z": 0.3104332685470581 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.501068592071533, + 3.471970558166504e-06, + 0.3354319632053375 + ], + [ + 2.099452018737793, + -1.2814998626708984e-06, + 0.33543360233306885 + ], + [ + 2.0994508266448975, + 5.826354026794434e-06, + 0.02500152587890625 + ], + [ + 2.5010671615600586, + 1.0579824447631836e-05, + 0.024999871850013733 + ], + [ + 2.5010650157928467, + 0.30111923813819885, + 0.3354388475418091 + ], + [ + 2.0994484424591064, + 0.3011144697666168, + 0.3354404866695404 + ], + [ + 2.099447250366211, + 0.3011215925216675, + 0.025008410215377808 + ], + [ + 2.501063585281372, + 0.3011263310909271, + 0.02500675618648529 + ] + ] + } + } + }, + { + "objectId": "door|2|3", + "object_info": { + "name": "door|2|3", + "position": { + "x": 4.2097601890563965, + "y": -0.0016391277313232422, + "z": 3.265984058380127 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.8194780349731445, + "objectType": "Doorway", + "objectId": "door|2|3", + "assetId": "Doorway_10", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.124691009521484, + 2.1010873317718506, + 3.3210902214050293 + ], + [ + 5.124691009521484, + 2.1010873317718506, + 2.2236924171447754 + ], + [ + 5.124691009521484, + -0.001041412353515625, + 3.3210902214050293 + ], + [ + 5.124691009521484, + -0.001041412353515625, + 2.2236924171447754 + ], + [ + 4.140138626098633, + 2.1010873317718506, + 3.3210902214050293 + ], + [ + 4.140138626098633, + 2.1010873317718506, + 2.2236924171447754 + ], + [ + 4.140138626098633, + -0.001041412353515625, + 3.3210902214050293 + ], + [ + 4.140138626098633, + -0.001041412353515625, + 2.2236924171447754 + ] + ], + "center": { + "x": 4.632414817810059, + "y": 1.0500229597091675, + "z": 2.7723913192749023 + }, + "size": { + "x": 0.9845523834228516, + "y": 2.102128744125366, + "z": 1.097397804260254 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|2|1___1", + "object_info": { + "name": "Drawer (1)", + "position": { + "x": 0.5199877023696899, + "y": 0.3075198531150818, + "z": 0.4000285267829895 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Watch|surface|2|6", + "Watch|surface|2|5" + ], + "distance": 3.1504087448120117, + "objectType": "Drawer", + "objectId": "Dresser|2|1___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.968748927116394, + 0.45914357900619507, + 0.40165194869041443 + ], + [ + 0.968748927116394, + 0.45914357900619507, + 0.07536667585372925 + ], + [ + 0.968748927116394, + 0.15510737895965576, + 0.40165194869041443 + ], + [ + 0.968748927116394, + 0.15510737895965576, + 0.07536667585372925 + ], + [ + 0.07122647762298584, + 0.45914357900619507, + 0.40165194869041443 + ], + [ + 0.07122647762298584, + 0.45914357900619507, + 0.07536667585372925 + ], + [ + 0.07122647762298584, + 0.15510737895965576, + 0.40165194869041443 + ], + [ + 0.07122647762298584, + 0.15510737895965576, + 0.07536667585372925 + ] + ], + "center": { + "x": 0.5199877023696899, + "y": 0.3071254789829254, + "z": 0.23850931227207184 + }, + "size": { + "x": 0.8975224494934082, + "y": 0.3040362000465393, + "z": 0.3262852728366852 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|2|1", + "object_info": { + "name": "Dresser|2|1", + "position": { + "x": 0.5199877023696899, + "y": -0.00011309981346130371, + "z": 0.21858592331409454 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Vase|surface|2|3", + "KeyChain|surface|2|8", + "CellPhone|surface|2|7" + ], + "distance": 3.330031394958496, + "objectType": "Dresser", + "objectId": "Dresser|2|1", + "assetId": "RoboTHOR_dresser_aspelund", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.0149762630462646, + 0.820115327835083, + 0.4121732711791992 + ], + [ + 1.0149762630462646, + 0.820115327835083, + 0.024998605251312256 + ], + [ + 1.0149762630462646, + 0.00011920928955078125, + 0.4121732711791992 + ], + [ + 1.0149762630462646, + 0.00011920928955078125, + 0.024998605251312256 + ], + [ + 0.024999141693115234, + 0.820115327835083, + 0.4121732711791992 + ], + [ + 0.024999141693115234, + 0.820115327835083, + 0.024998605251312256 + ], + [ + 0.024999141693115234, + 0.00011920928955078125, + 0.4121732711791992 + ], + [ + 0.024999141693115234, + 0.00011920928955078125, + 0.024998605251312256 + ] + ], + "center": { + "x": 0.5199877023696899, + "y": 0.4101172685623169, + "z": 0.21858593821525574 + }, + "size": { + "x": 0.9899771213531494, + "y": 0.8199961185455322, + "z": 0.38717466592788696 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.0149762630462646, + 0.00011926889419555664, + 0.4121732711791992 + ], + [ + 0.02499908208847046, + 0.00011926889419555664, + 0.4121732711791992 + ], + [ + 0.02499908208847046, + 0.00011926889419555664, + 0.024998590350151062 + ], + [ + 1.0149762630462646, + 0.00011926889419555664, + 0.024998590350151062 + ], + [ + 1.0149762630462646, + 0.820115327835083, + 0.4121732711791992 + ], + [ + 0.02499908208847046, + 0.820115327835083, + 0.4121732711791992 + ], + [ + 0.02499908208847046, + 0.820115327835083, + 0.024998590350151062 + ], + [ + 1.0149762630462646, + 0.820115327835083, + 0.024998590350151062 + ] + ] + } + } + }, + { + "objectId": "window|2|0", + "object_info": { + "name": "window|2|0", + "position": { + "x": 4.073130130767822, + "y": 0.940168023109436, + "z": 1.802180528640747 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.1634795665740967, + "objectType": "Window", + "objectId": "window|2|0", + "assetId": "Window_Bay_2", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.461795806884766, + 2.060702323913574, + 1.8059368133544922 + ], + [ + 4.461795806884766, + 2.060702323913574, + 0.05226314067840576 + ], + [ + 4.461795806884766, + 0.9392976760864258, + 1.8059368133544922 + ], + [ + 4.461795806884766, + 0.9392976760864258, + 0.05226314067840576 + ], + [ + 3.956204414367676, + 2.060702323913574, + 1.8059368133544922 + ], + [ + 3.956204414367676, + 2.060702323913574, + 0.05226314067840576 + ], + [ + 3.956204414367676, + 0.9392976760864258, + 1.8059368133544922 + ], + [ + 3.956204414367676, + 0.9392976760864258, + 0.05226314067840576 + ] + ], + "center": { + "x": 4.209000110626221, + "y": 1.5, + "z": 0.929099977016449 + }, + "size": { + "x": 0.5055913925170898, + "y": 1.1214046478271484, + "z": 1.7536736726760864 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|2|1___0", + "object_info": { + "name": "Drawer", + "position": { + "x": 0.5199877023696899, + "y": 0.621476411819458, + "z": 0.4000285267829895 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.1066040992736816, + "objectType": "Drawer", + "objectId": "Dresser|2|1___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.968748927116394, + 0.7731000781059265, + 0.40165194869041443 + ], + [ + 0.968748927116394, + 0.7731000781059265, + 0.07536667585372925 + ], + [ + 0.968748927116394, + 0.46906381845474243, + 0.40165194869041443 + ], + [ + 0.968748927116394, + 0.46906381845474243, + 0.07536667585372925 + ], + [ + 0.07122647762298584, + 0.7731000781059265, + 0.40165194869041443 + ], + [ + 0.07122647762298584, + 0.7731000781059265, + 0.07536667585372925 + ], + [ + 0.07122647762298584, + 0.46906381845474243, + 0.40165194869041443 + ], + [ + 0.07122647762298584, + 0.46906381845474243, + 0.07536667585372925 + ] + ], + "center": { + "x": 0.5199877023696899, + "y": 0.6210819482803345, + "z": 0.23850931227207184 + }, + "size": { + "x": 0.8975224494934082, + "y": 0.3040362596511841, + "z": 0.3262852728366852 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 3.200000047683716, + "y": 0.9009997844696045, + "z": 2.299999952316284 + }, + "agent_rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "agent_cameraHorizon": 60.00001525878906, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 3.200000047683716, + "y": 1.5759997367858887, + "z": 2.299999952316284 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Dresser|2|1", + "Box|2|3", + "Dresser|2|1___0", + "Dresser|2|1___1" + ], + "different_object": [ + "window|2|0", + "door|2|3" + ] +} \ No newline at end of file diff --git a/train/train1986/1/1_depth_npy.npy b/train/train1986/1/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..a5287699a6005f73c6944511a0044b5c1ae036e3 --- /dev/null +++ b/train/train1986/1/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e1646a0749296c1b6945054228d3f5c8161c2f65a85e1b867e7e8812f13f4cbd +size 3145856 diff --git a/train/train1986/1/1_semantic_sensor_npy.npy b/train/train1986/1/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..26c8f2f4ce2d7075e104345813657e80744a89fc --- /dev/null +++ b/train/train1986/1/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f6b8f70ce36c23f45b3a9e62a23aab58464bd2d112a5250741d80be0d4e5c302 +size 2359424 diff --git a/train/train1986/1/depth_0.png b/train/train1986/1/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..78dab7f0d7ea309ed2d42d202371cfe9bf9fbf8e Binary files /dev/null and b/train/train1986/1/depth_0.png differ diff --git a/train/train1986/1/depth_1.png b/train/train1986/1/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..b5aef774b81e69c49bf20d0da35953b7aa08370f Binary files /dev/null and b/train/train1986/1/depth_1.png differ diff --git a/train/train1986/1/mask_questions.jsonl b/train/train1986/1/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..faa30fb91596940c47aa608503df893b5622508f --- /dev/null +++ b/train/train1986/1/mask_questions.jsonl @@ -0,0 +1,2 @@ +{"id": 11134, "folder_dir": "train1986/1", "pair_name": "1-0:Box|2|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. Box\nB. Doorway\nC. Window\nD. Dresser", "answer": "A", "object_name": "Box", "image_1": "train1986/1/rgb_1.png", "image_2": "train1986/1/rgb_0.png", "mask_image": "train1986/1/rgb_0_mask_Box|2|3.png", "options": ["Box", "Doorway", "Window", "Dresser"]} +{"id": 11135, "folder_dir": "train1986/1", "pair_name": "1-0:Dresser|2|1___1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Doorway\nB. Window\nC. Drawer\nD. Dresser", "answer": "C", "object_name": "Drawer", "image_1": "train1986/1/rgb_1.png", "image_2": "train1986/1/rgb_0.png", "mask_image": "train1986/1/rgb_0_mask_Dresser|2|1___1.png", "options": ["Doorway", "Window", "Drawer", "Dresser"]} diff --git a/train/train1986/1/rgb_0.png b/train/train1986/1/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..726825bb65271bdfbcddb04515d673b32bd73278 --- /dev/null +++ b/train/train1986/1/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4fa2bf181eb3b177d2c83f41d2fe8b69196413024362441a1dd1425abc61a14b +size 416995 diff --git a/train/train1986/1/rgb_0_mask_Box|2|3.png b/train/train1986/1/rgb_0_mask_Box|2|3.png new file mode 100644 index 0000000000000000000000000000000000000000..339af0d5dd9c9391ac5e0e3b2d646ee969ae861d --- /dev/null +++ b/train/train1986/1/rgb_0_mask_Box|2|3.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:514aed9ed1127bc7ec8e09269269a6cdc7da81b741b6cca575d7e0643ed0df02 +size 360540 diff --git a/train/train1986/1/rgb_0_mask_Dresser|2|1___1.png b/train/train1986/1/rgb_0_mask_Dresser|2|1___1.png new file mode 100644 index 0000000000000000000000000000000000000000..c9a9aa696bbea8d309c77a1de66a3afea8a56a75 --- /dev/null +++ b/train/train1986/1/rgb_0_mask_Dresser|2|1___1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7e1564c7502ca0f0c782ea05bc465c80d874377fde9f84a518c1b2f992ae5db0 +size 359140 diff --git a/train/train1986/1/rgb_1.png b/train/train1986/1/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..798b96064e8aac3616ac1e9d014529ddfd5ea902 --- /dev/null +++ b/train/train1986/1/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a6873e4d1d33a1e597ec66fdd3c38719af92f4250bf59103a91bca4ac1afa5bc +size 636316 diff --git a/train/train1986/1/semantic_0.png b/train/train1986/1/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..3f69c8f81c8b31568b107ef5b937ff595085f8bf Binary files /dev/null and b/train/train1986/1/semantic_0.png differ diff --git a/train/train1986/1/semantic_1.png b/train/train1986/1/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..ac77d9c116231abcecf9a9ee835a1b88a48e0159 Binary files /dev/null and b/train/train1986/1/semantic_1.png differ diff --git a/train/train1986/2/0.json b/train/train1986/2/0.json new file mode 100644 index 0000000000000000000000000000000000000000..9d01dc6761d04fece8f71de67c3d3568057756be --- /dev/null +++ b/train/train1986/2/0.json @@ -0,0 +1,522 @@ +{ + "object": [ + { + "objectId": "door|2|3", + "object_info": { + "name": "door|2|3", + "position": { + "x": 4.2097601890563965, + "y": -0.0016391277313232422, + "z": 3.265984058380127 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.8194780349731445, + "objectType": "Doorway", + "objectId": "door|2|3", + "assetId": "Doorway_10", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.124691009521484, + 2.1010873317718506, + 3.3210902214050293 + ], + [ + 5.124691009521484, + 2.1010873317718506, + 2.2236924171447754 + ], + [ + 5.124691009521484, + -0.001041412353515625, + 3.3210902214050293 + ], + [ + 5.124691009521484, + -0.001041412353515625, + 2.2236924171447754 + ], + [ + 4.140138626098633, + 2.1010873317718506, + 3.3210902214050293 + ], + [ + 4.140138626098633, + 2.1010873317718506, + 2.2236924171447754 + ], + [ + 4.140138626098633, + -0.001041412353515625, + 3.3210902214050293 + ], + [ + 4.140138626098633, + -0.001041412353515625, + 2.2236924171447754 + ] + ], + "center": { + "x": 4.632414817810059, + "y": 1.0500229597091675, + "z": 2.7723913192749023 + }, + "size": { + "x": 0.9845523834228516, + "y": 2.102128744125366, + "z": 1.097397804260254 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ToiletPaper|surface|3|9", + "object_info": { + "name": "ToiletPaper|surface|3|9", + "position": { + "x": 5.9609761238098145, + "y": 1.0352622270584106, + "z": 2.309077501296997 + }, + "rotation": { + "x": 0.13029426336288452, + "y": -0.004459344781935215, + "z": 0.15775376558303833 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.20000000298023224, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 2.9646072387695312, + "objectType": "ToiletPaper", + "objectId": "ToiletPaper|surface|3|9", + "assetId": "Toilet_Paper", + "parentReceptacles": [ + "Toilet|3|0" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.013686180114746, + 1.1558654308319092, + 2.36139178276062 + ], + [ + 6.013686180114746, + 1.1558654308319092, + 2.2570412158966064 + ], + [ + 6.013686180114746, + 1.037257194519043, + 2.36139178276062 + ], + [ + 6.013686180114746, + 1.037257194519043, + 2.2570412158966064 + ], + [ + 5.909329414367676, + 1.1558654308319092, + 2.36139178276062 + ], + [ + 5.909329414367676, + 1.1558654308319092, + 2.2570412158966064 + ], + [ + 5.909329414367676, + 1.037257194519043, + 2.36139178276062 + ], + [ + 5.909329414367676, + 1.037257194519043, + 2.2570412158966064 + ] + ], + "center": { + "x": 5.961507797241211, + "y": 1.096561312675476, + "z": 2.3092164993286133 + }, + "size": { + "x": 0.10435676574707031, + "y": 0.11860823631286621, + "z": 0.10435056686401367 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.0138258934021, + 1.0372824668884277, + 2.36124587059021 + ], + [ + 5.9095072746276855, + 1.0369951725006104, + 2.361237049102783 + ], + [ + 5.909515380859375, + 1.0372323989868164, + 2.256918430328369 + ], + [ + 6.013833999633789, + 1.0375196933746338, + 2.256927251815796 + ], + [ + 6.0134992599487305, + 1.1558196544647217, + 2.3615152835845947 + ], + [ + 5.909181118011475, + 1.1555324792861938, + 2.361506462097168 + ], + [ + 5.909189224243164, + 1.1557697057724, + 2.257188081741333 + ], + [ + 6.01350736618042, + 1.1560568809509277, + 2.2571966648101807 + ] + ] + } + } + }, + { + "objectId": "window|2|0", + "object_info": { + "name": "window|2|0", + "position": { + "x": 4.073130130767822, + "y": 0.940168023109436, + "z": 1.802180528640747 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.1634795665740967, + "objectType": "Window", + "objectId": "window|2|0", + "assetId": "Window_Bay_2", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.461795806884766, + 2.060702323913574, + 1.8059368133544922 + ], + [ + 4.461795806884766, + 2.060702323913574, + 0.05226314067840576 + ], + [ + 4.461795806884766, + 0.9392976760864258, + 1.8059368133544922 + ], + [ + 4.461795806884766, + 0.9392976760864258, + 0.05226314067840576 + ], + [ + 3.956204414367676, + 2.060702323913574, + 1.8059368133544922 + ], + [ + 3.956204414367676, + 2.060702323913574, + 0.05226314067840576 + ], + [ + 3.956204414367676, + 0.9392976760864258, + 1.8059368133544922 + ], + [ + 3.956204414367676, + 0.9392976760864258, + 0.05226314067840576 + ] + ], + "center": { + "x": 4.209000110626221, + "y": 1.5, + "z": 0.929099977016449 + }, + "size": { + "x": 0.5055913925170898, + "y": 1.1214046478271484, + "z": 1.7536736726760864 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Toilet|3|0", + "object_info": { + "name": "Toilet|3|0", + "position": { + "x": 6.02310037612915, + "y": 0.0017688274383544922, + "z": 2.60145902633667 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "ToiletPaper|surface|3|9", + "SprayBottle|surface|3|10" + ], + "distance": 3.173527240753174, + "objectType": "Toilet", + "objectId": "Toilet|3|0", + "assetId": "Toilet_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.287999629974365, + 1.0379130840301514, + 3.101867198944092 + ], + [ + 6.287999629974365, + 1.0379130840301514, + 2.129000186920166 + ], + [ + 6.287999629974365, + 0.0, + 3.101867198944092 + ], + [ + 6.287999629974365, + 0.0, + 2.129000186920166 + ], + [ + 5.75851583480835, + 1.0379130840301514, + 3.101867198944092 + ], + [ + 5.75851583480835, + 1.0379130840301514, + 2.129000186920166 + ], + [ + 5.75851583480835, + 0.0, + 3.101867198944092 + ], + [ + 5.75851583480835, + 0.0, + 2.129000186920166 + ] + ], + "center": { + "x": 6.023257732391357, + "y": 0.5189565420150757, + "z": 2.615433692932129 + }, + "size": { + "x": 0.5294837951660156, + "y": 1.0379130840301514, + "z": 0.9728670120239258 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 3.200000047683716, + "y": 0.9009997844696045, + "z": 2.299999952316284 + }, + "agent_rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "agent_cameraHorizon": 30.000003814697266, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 3.200000047683716, + "y": 1.5759997367858887, + "z": 2.299999952316284 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "window|2|0", + "door|2|3" + ], + "different_object": [ + "ToiletPaper|surface|3|9", + "Toilet|3|0" + ] +} \ No newline at end of file diff --git a/train/train1986/2/0_depth_npy.npy b/train/train1986/2/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..75cc1890f1e4041b6b13267d539a7a86f46b04d4 --- /dev/null +++ b/train/train1986/2/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ecbf07084fc1f654dc357350bf4997cfede16dfba174d71e9b96013981f6af4a +size 3145856 diff --git a/train/train1986/2/0_semantic_sensor_npy.npy b/train/train1986/2/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..08fd7a6547be7bc8b61132c93d07b8e2a7380205 --- /dev/null +++ b/train/train1986/2/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ca7462099695cb89e733fb60e665e2a1657aee4619c5dc72c9ae6b3e480ed783 +size 2359424 diff --git a/train/train1986/2/1.json b/train/train1986/2/1.json new file mode 100644 index 0000000000000000000000000000000000000000..fe42dd2fd61fed6eba817fe320b4850ca82ca479 --- /dev/null +++ b/train/train1986/2/1.json @@ -0,0 +1,793 @@ +{ + "object": [ + { + "objectId": "Box|2|3", + "object_info": { + "name": "Box|2|3", + "position": { + "x": 2.3021206855773926, + "y": 0.22024010121822357, + "z": 0.22888527810573578 + }, + "rotation": { + "x": 0.0013102942612022161, + "y": 0.00023480883101001382, + "z": 0.0006789594190195203 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.30000001192092896, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": [], + "distance": 2.2439639568328857, + "objectType": "Box", + "objectId": "Box|2|3", + "assetId": "Box_19", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.5010645389556885, + 0.3011181652545929, + 0.3354398012161255 + ], + [ + 2.5010645389556885, + 0.3011181652545929, + 0.025006532669067383 + ], + [ + 2.5010645389556885, + 1.3113021850585938e-06, + 0.3354398012161255 + ], + [ + 2.5010645389556885, + 1.3113021850585938e-06, + 0.025006532669067383 + ], + [ + 2.0994479656219482, + 0.3011181652545929, + 0.3354398012161255 + ], + [ + 2.0994479656219482, + 0.3011181652545929, + 0.025006532669067383 + ], + [ + 2.0994479656219482, + 1.3113021850585938e-06, + 0.3354398012161255 + ], + [ + 2.0994479656219482, + 1.3113021850585938e-06, + 0.025006532669067383 + ] + ], + "center": { + "x": 2.3002562522888184, + "y": 0.15055973827838898, + "z": 0.18022316694259644 + }, + "size": { + "x": 0.40161657333374023, + "y": 0.30111685395240784, + "z": 0.3104332685470581 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.501068592071533, + 3.471970558166504e-06, + 0.3354319632053375 + ], + [ + 2.099452018737793, + -1.2814998626708984e-06, + 0.33543360233306885 + ], + [ + 2.0994508266448975, + 5.826354026794434e-06, + 0.02500152587890625 + ], + [ + 2.5010671615600586, + 1.0579824447631836e-05, + 0.024999871850013733 + ], + [ + 2.5010650157928467, + 0.30111923813819885, + 0.3354388475418091 + ], + [ + 2.0994484424591064, + 0.3011144697666168, + 0.3354404866695404 + ], + [ + 2.099447250366211, + 0.3011215925216675, + 0.025008410215377808 + ], + [ + 2.501063585281372, + 0.3011263310909271, + 0.02500675618648529 + ] + ] + } + } + }, + { + "objectId": "door|2|3", + "object_info": { + "name": "door|2|3", + "position": { + "x": 4.2097601890563965, + "y": -0.0016391277313232422, + "z": 3.265984058380127 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.8194780349731445, + "objectType": "Doorway", + "objectId": "door|2|3", + "assetId": "Doorway_10", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.124691009521484, + 2.1010873317718506, + 3.3210902214050293 + ], + [ + 5.124691009521484, + 2.1010873317718506, + 2.2236924171447754 + ], + [ + 5.124691009521484, + -0.001041412353515625, + 3.3210902214050293 + ], + [ + 5.124691009521484, + -0.001041412353515625, + 2.2236924171447754 + ], + [ + 4.140138626098633, + 2.1010873317718506, + 3.3210902214050293 + ], + [ + 4.140138626098633, + 2.1010873317718506, + 2.2236924171447754 + ], + [ + 4.140138626098633, + -0.001041412353515625, + 3.3210902214050293 + ], + [ + 4.140138626098633, + -0.001041412353515625, + 2.2236924171447754 + ] + ], + "center": { + "x": 4.632414817810059, + "y": 1.0500229597091675, + "z": 2.7723913192749023 + }, + "size": { + "x": 0.9845523834228516, + "y": 2.102128744125366, + "z": 1.097397804260254 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|2|1___1", + "object_info": { + "name": "Drawer (1)", + "position": { + "x": 0.5199877023696899, + "y": 0.3075198531150818, + "z": 0.4000285267829895 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Watch|surface|2|6", + "Watch|surface|2|5" + ], + "distance": 3.1504087448120117, + "objectType": "Drawer", + "objectId": "Dresser|2|1___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.968748927116394, + 0.45914357900619507, + 0.40165194869041443 + ], + [ + 0.968748927116394, + 0.45914357900619507, + 0.07536667585372925 + ], + [ + 0.968748927116394, + 0.15510737895965576, + 0.40165194869041443 + ], + [ + 0.968748927116394, + 0.15510737895965576, + 0.07536667585372925 + ], + [ + 0.07122647762298584, + 0.45914357900619507, + 0.40165194869041443 + ], + [ + 0.07122647762298584, + 0.45914357900619507, + 0.07536667585372925 + ], + [ + 0.07122647762298584, + 0.15510737895965576, + 0.40165194869041443 + ], + [ + 0.07122647762298584, + 0.15510737895965576, + 0.07536667585372925 + ] + ], + "center": { + "x": 0.5199877023696899, + "y": 0.3071254789829254, + "z": 0.23850931227207184 + }, + "size": { + "x": 0.8975224494934082, + "y": 0.3040362000465393, + "z": 0.3262852728366852 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|2|1", + "object_info": { + "name": "Dresser|2|1", + "position": { + "x": 0.5199877023696899, + "y": -0.00011309981346130371, + "z": 0.21858592331409454 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Vase|surface|2|3", + "KeyChain|surface|2|8", + "CellPhone|surface|2|7" + ], + "distance": 3.330031394958496, + "objectType": "Dresser", + "objectId": "Dresser|2|1", + "assetId": "RoboTHOR_dresser_aspelund", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.0149762630462646, + 0.820115327835083, + 0.4121732711791992 + ], + [ + 1.0149762630462646, + 0.820115327835083, + 0.024998605251312256 + ], + [ + 1.0149762630462646, + 0.00011920928955078125, + 0.4121732711791992 + ], + [ + 1.0149762630462646, + 0.00011920928955078125, + 0.024998605251312256 + ], + [ + 0.024999141693115234, + 0.820115327835083, + 0.4121732711791992 + ], + [ + 0.024999141693115234, + 0.820115327835083, + 0.024998605251312256 + ], + [ + 0.024999141693115234, + 0.00011920928955078125, + 0.4121732711791992 + ], + [ + 0.024999141693115234, + 0.00011920928955078125, + 0.024998605251312256 + ] + ], + "center": { + "x": 0.5199877023696899, + "y": 0.4101172685623169, + "z": 0.21858593821525574 + }, + "size": { + "x": 0.9899771213531494, + "y": 0.8199961185455322, + "z": 0.38717466592788696 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.0149762630462646, + 0.00011926889419555664, + 0.4121732711791992 + ], + [ + 0.02499908208847046, + 0.00011926889419555664, + 0.4121732711791992 + ], + [ + 0.02499908208847046, + 0.00011926889419555664, + 0.024998590350151062 + ], + [ + 1.0149762630462646, + 0.00011926889419555664, + 0.024998590350151062 + ], + [ + 1.0149762630462646, + 0.820115327835083, + 0.4121732711791992 + ], + [ + 0.02499908208847046, + 0.820115327835083, + 0.4121732711791992 + ], + [ + 0.02499908208847046, + 0.820115327835083, + 0.024998590350151062 + ], + [ + 1.0149762630462646, + 0.820115327835083, + 0.024998590350151062 + ] + ] + } + } + }, + { + "objectId": "window|2|0", + "object_info": { + "name": "window|2|0", + "position": { + "x": 4.073130130767822, + "y": 0.940168023109436, + "z": 1.802180528640747 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.1634795665740967, + "objectType": "Window", + "objectId": "window|2|0", + "assetId": "Window_Bay_2", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.461795806884766, + 2.060702323913574, + 1.8059368133544922 + ], + [ + 4.461795806884766, + 2.060702323913574, + 0.05226314067840576 + ], + [ + 4.461795806884766, + 0.9392976760864258, + 1.8059368133544922 + ], + [ + 4.461795806884766, + 0.9392976760864258, + 0.05226314067840576 + ], + [ + 3.956204414367676, + 2.060702323913574, + 1.8059368133544922 + ], + [ + 3.956204414367676, + 2.060702323913574, + 0.05226314067840576 + ], + [ + 3.956204414367676, + 0.9392976760864258, + 1.8059368133544922 + ], + [ + 3.956204414367676, + 0.9392976760864258, + 0.05226314067840576 + ] + ], + "center": { + "x": 4.209000110626221, + "y": 1.5, + "z": 0.929099977016449 + }, + "size": { + "x": 0.5055913925170898, + "y": 1.1214046478271484, + "z": 1.7536736726760864 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|2|1___0", + "object_info": { + "name": "Drawer", + "position": { + "x": 0.5199877023696899, + "y": 0.621476411819458, + "z": 0.4000285267829895 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.1066040992736816, + "objectType": "Drawer", + "objectId": "Dresser|2|1___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.968748927116394, + 0.7731000781059265, + 0.40165194869041443 + ], + [ + 0.968748927116394, + 0.7731000781059265, + 0.07536667585372925 + ], + [ + 0.968748927116394, + 0.46906381845474243, + 0.40165194869041443 + ], + [ + 0.968748927116394, + 0.46906381845474243, + 0.07536667585372925 + ], + [ + 0.07122647762298584, + 0.7731000781059265, + 0.40165194869041443 + ], + [ + 0.07122647762298584, + 0.7731000781059265, + 0.07536667585372925 + ], + [ + 0.07122647762298584, + 0.46906381845474243, + 0.40165194869041443 + ], + [ + 0.07122647762298584, + 0.46906381845474243, + 0.07536667585372925 + ] + ], + "center": { + "x": 0.5199877023696899, + "y": 0.6210819482803345, + "z": 0.23850931227207184 + }, + "size": { + "x": 0.8975224494934082, + "y": 0.3040362596511841, + "z": 0.3262852728366852 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 3.0999999046325684, + "y": 0.9009997844696045, + "z": 2.299999952316284 + }, + "agent_rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "agent_cameraHorizon": 60.00001525878906, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 3.0999999046325684, + "y": 1.5759997367858887, + "z": 2.299999952316284 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "window|2|0", + "door|2|3" + ], + "different_object": [ + "Dresser|2|1", + "Box|2|3", + "Dresser|2|1___0", + "Dresser|2|1___1" + ] +} \ No newline at end of file diff --git a/train/train1986/2/1_depth_npy.npy b/train/train1986/2/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..e012ea73556038e99938e19ec5e09c839a802aad --- /dev/null +++ b/train/train1986/2/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3b2457123c3c0f7d317ff312868030791648f0c5ddfb7990a9b3c1cb992187cb +size 3145856 diff --git a/train/train1986/2/1_semantic_sensor_npy.npy b/train/train1986/2/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..7ac12b71f0060aa580c4650773c2cd9901e729e5 --- /dev/null +++ b/train/train1986/2/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4f287a1a851001200adbcfe2e23b52350a99da3feb1abc92da3cf5d11b1c4f6d +size 2359424 diff --git a/train/train1986/2/depth_0.png b/train/train1986/2/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..b40a253b708917a7142292f398a2625a89dd3f5a Binary files /dev/null and b/train/train1986/2/depth_0.png differ diff --git a/train/train1986/2/depth_1.png b/train/train1986/2/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..afd4ffb55366ea72ef90acbff8a6629906ec4b73 Binary files /dev/null and b/train/train1986/2/depth_1.png differ diff --git a/train/train1986/2/mask_questions.jsonl b/train/train1986/2/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e637b2f2be074d77198210ddb43a57ce3c815daa --- /dev/null +++ b/train/train1986/2/mask_questions.jsonl @@ -0,0 +1,2 @@ +{"id": 11136, "folder_dir": "train1986/2", "pair_name": "0-1:window|2|0", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Window\nB. ToiletPaper\nC. Doorway\nD. Toilet", "answer": "A", "object_name": "Window", "image_1": "train1986/2/rgb_0.png", "image_2": "train1986/2/rgb_1.png", "mask_image": "train1986/2/rgb_1_mask_window|2|0.png", "options": ["Window", "ToiletPaper", "Doorway", "Toilet"]} +{"id": 11137, "folder_dir": "train1986/2", "pair_name": "0-1:door|2|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. Toilet\nB. ToiletPaper\nC. Doorway\nD. Window", "answer": "C", "object_name": "Doorway", "image_1": "train1986/2/rgb_0.png", "image_2": "train1986/2/rgb_1.png", "mask_image": "train1986/2/rgb_1_mask_door|2|3.png", "options": ["Toilet", "ToiletPaper", "Doorway", "Window"]} diff --git a/train/train1986/2/questions_distance.jsonl b/train/train1986/2/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c2caf105511a99f521934965c58da194d5d0e823 --- /dev/null +++ b/train/train1986/2/questions_distance.jsonl @@ -0,0 +1,2 @@ +{"id": 4528, "folder_dir": "train1986/2", "query": "Which of the following objects is closest to Window in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. ToiletPaper\nB. Doorway\nC. Box\nD. Other\n", "answer": "B", "src_object": "Window", "target_object": "Doorway", "question": "Which of the following objects is closest to Window in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "ToiletPaper", "semantic_id": "ToiletPaper|surface|3|9", "distance": 2.2668849951494634, "com": {"x": 5.961507797241211, "y": 1.096561312675476, "z": 2.3092164993286133}}, {"text": "Doorway", "semantic_id": "door|2|3", "distance": 1.9440890729319589, "com": {"x": 4.632414817810059, "y": 1.0500229597091675, "z": 2.7723913192749023}}, {"text": "Box", "semantic_id": "Box|2|3", "distance": 2.454609666191843, "com": {"x": 2.3002562522888184, "y": 0.15055973827838898, "z": 0.18022316694259644}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1986/2/rgb_0.png", "image_2": "train1986/2/rgb_1.png"} +{"id": 4529, "folder_dir": "train1986/2", "query": "Which of the following objects is closest to Doorway in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. ToiletPaper\nB. Window\nC. Toilet\nD. Other\n", "answer": "A", "src_object": "Doorway", "target_object": "ToiletPaper", "question": "Which of the following objects is closest to Doorway in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "ToiletPaper", "semantic_id": "ToiletPaper|surface|3|9", "distance": 1.4082559710870293, "com": {"x": 5.961507797241211, "y": 1.096561312675476, "z": 2.3092164993286133}}, {"text": "Window", "semantic_id": "window|2|0", "distance": 1.9440890729319589, "com": {"x": 4.209000110626221, "y": 1.5, "z": 0.929099977016449}}, {"text": "Toilet", "semantic_id": "Toilet|3|0", "distance": 1.4970341510836, "com": {"x": 6.023257732391357, "y": 0.5189565420150757, "z": 2.615433692932129}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1986/2/rgb_0.png", "image_2": "train1986/2/rgb_1.png"} diff --git a/train/train1986/2/rgb_0.png b/train/train1986/2/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..e7d289d16fc6c07983fc64172649b38ef10ff3f0 --- /dev/null +++ b/train/train1986/2/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1947a7d2f9b996b526b056f0f2fd8efcd773aae5fb53684ea7a672d9b4d5142b +size 861910 diff --git a/train/train1986/2/rgb_1.png b/train/train1986/2/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..706a9a21e1b3dce59e8935813c885db7d81385ae --- /dev/null +++ b/train/train1986/2/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1e6fe3071ff74144dc644ca75b2f43123af8cf76699180ad68723b26a927b47a +size 627076 diff --git a/train/train1986/2/rgb_1_mask_door|2|3.png b/train/train1986/2/rgb_1_mask_door|2|3.png new file mode 100644 index 0000000000000000000000000000000000000000..9478d161790c373bbdba81115d7ef7f3271bd1cd --- /dev/null +++ b/train/train1986/2/rgb_1_mask_door|2|3.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:70f0a774c99787265382771d78553e6dccb0f971a73e2fc4d7c54b74dbe338f5 +size 543720 diff --git a/train/train1986/2/rgb_1_mask_window|2|0.png b/train/train1986/2/rgb_1_mask_window|2|0.png new file mode 100644 index 0000000000000000000000000000000000000000..f268c75377ea6e5ba4cf7118ec9e00ada4fa1bcb --- /dev/null +++ b/train/train1986/2/rgb_1_mask_window|2|0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ec3afca28ba9ebeeac8be257e1f0f59124b35d706b2d5553a87673885b81de4b +size 440370 diff --git a/train/train1986/2/semantic_0.png b/train/train1986/2/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..ceede860a08437252131fb2cca62680185e4a420 Binary files /dev/null and b/train/train1986/2/semantic_0.png differ diff --git a/train/train1986/2/semantic_1.png b/train/train1986/2/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..11b87c0dd65257858c508bace948bf2af12403da Binary files /dev/null and b/train/train1986/2/semantic_1.png differ diff --git a/train/train534/0/0.json b/train/train534/0/0.json new file mode 100644 index 0000000000000000000000000000000000000000..f3a3b2222a0444faa410f2adddf72840e1cbf80f --- /dev/null +++ b/train/train534/0/0.json @@ -0,0 +1,4262 @@ +{ + "object": [ + { + "objectId": "Bowl|surface|4|14", + "object_info": { + "name": "Bowl|surface|4|14", + "position": { + "x": 4.138007164001465, + "y": 0.08874782919883728, + "z": 6.3692626953125 + }, + "rotation": { + "x": -0.0008045348222367465, + "y": 90.00009155273438, + "z": 0.00039010721957311034 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4699999988079071, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 5.21930456161499, + "objectType": "Bowl", + "objectId": "Bowl|surface|4|14", + "assetId": "Bowl_6", + "parentReceptacles": [ + "TVStand|4|0|0___0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.230236053466797, + 0.17130538821220398, + 6.461493492126465 + ], + [ + 4.230236053466797, + 0.17130538821220398, + 6.277033805847168 + ], + [ + 4.230236053466797, + 0.08824843168258667, + 6.461493492126465 + ], + [ + 4.230236053466797, + 0.08824843168258667, + 6.277033805847168 + ], + [ + 4.0457763671875, + 0.17130538821220398, + 6.461493492126465 + ], + [ + 4.0457763671875, + 0.17130538821220398, + 6.277033805847168 + ], + [ + 4.0457763671875, + 0.08824843168258667, + 6.461493492126465 + ], + [ + 4.0457763671875, + 0.08824843168258667, + 6.277033805847168 + ] + ], + "center": { + "x": 4.138006210327148, + "y": 0.12977690994739532, + "z": 6.369263648986816 + }, + "size": { + "x": 0.18445968627929688, + "y": 0.08305695652961731, + "z": 0.18445968627929688 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.2302374839782715, + 0.08825086057186127, + 6.277031898498535 + ], + [ + 4.23023796081543, + 0.08824960887432098, + 6.461493015289307 + ], + [ + 4.045776844024658, + 0.08824701607227325, + 6.461493492126465 + ], + [ + 4.0457763671875, + 0.08824826776981354, + 6.277032375335693 + ], + [ + 4.230236530303955, + 0.17130599915981293, + 6.277032375335693 + ], + [ + 4.230236530303955, + 0.17130474746227264, + 6.461493492126465 + ], + [ + 4.045775413513184, + 0.17130215466022491, + 6.461493968963623 + ], + [ + 4.045775413513184, + 0.1713034063577652, + 6.277032852172852 + ] + ] + } + } + }, + { + "objectId": "Book|surface|4|22", + "object_info": { + "name": "Book|surface|4|22", + "position": { + "x": 4.434379577636719, + "y": 0.27263882756233215, + "z": 6.329527378082275 + }, + "rotation": { + "x": 0.002365913474932313, + "y": 90.0003890991211, + "z": 0.25729310512542725 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 5.127967834472656, + "objectType": "Book", + "objectId": "Book|surface|4|22", + "assetId": "Book_20", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.586941719055176, + 0.30716240406036377, + 6.458010673522949 + ], + [ + 4.586941719055176, + 0.30716240406036377, + 6.2023820877075195 + ], + [ + 4.586941719055176, + 0.2722126245498657, + 6.458010673522949 + ], + [ + 4.586941719055176, + 0.2722126245498657, + 6.2023820877075195 + ], + [ + 4.2818193435668945, + 0.30716240406036377, + 6.458010673522949 + ], + [ + 4.2818193435668945, + 0.30716240406036377, + 6.2023820877075195 + ], + [ + 4.2818193435668945, + 0.2722126245498657, + 6.458010673522949 + ], + [ + 4.2818193435668945, + 0.2722126245498657, + 6.2023820877075195 + ] + ], + "center": { + "x": 4.434380531311035, + "y": 0.28968751430511475, + "z": 6.330196380615234 + }, + "size": { + "x": 0.30512237548828125, + "y": 0.03494977951049805, + "z": 0.2556285858154297 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.586939334869385, + 0.2724279761314392, + 6.202378273010254 + ], + [ + 4.586941242218018, + 0.2712807059288025, + 6.45785665512085 + ], + [ + 4.2818193435668945, + 0.2712933123111725, + 6.457858562469482 + ], + [ + 4.281817436218262, + 0.2724405825138092, + 6.202380657196045 + ], + [ + 4.586940765380859, + 0.3073573708534241, + 6.202535152435303 + ], + [ + 4.586942672729492, + 0.30621010065078735, + 6.458013534545898 + ], + [ + 4.281820774078369, + 0.30622270703315735, + 6.458015441894531 + ], + [ + 4.281818866729736, + 0.30736997723579407, + 6.202537536621094 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___1", + "object_info": { + "name": "Drawer (1)", + "position": { + "x": 3.606998920440674, + "y": 0.39762961864471436, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.130039691925049, + "objectType": "Drawer", + "objectId": "Dresser|4|3___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.4907017946243286, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.4907017946243286, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.30300021171569824, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.30300021171569824, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.4907017946243286, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.4907017946243286, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.30300021171569824, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.30300021171569824, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.3968510031700134, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Chair|4|1|1", + "object_info": { + "name": "Chair|4|1|1", + "position": { + "x": 5.354161262512207, + "y": 0.0031416714191436768, + "z": 2.6687018871307373 + }, + "rotation": { + "x": -0.0, + "y": 16.29289436340332, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 1.7843416929244995, + "objectType": "Chair", + "objectId": "Chair|4|1|1", + "assetId": "Chair_224_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.636518478393555, + 0.8033758401870728, + 3.015368938446045 + ], + [ + 5.636518478393555, + 0.8033758401870728, + 2.3285040855407715 + ], + [ + 5.636518478393555, + -1.004338264465332e-05, + 3.015368938446045 + ], + [ + 5.636518478393555, + -1.004338264465332e-05, + 2.3285040855407715 + ], + [ + 5.066144943237305, + 0.8033758401870728, + 3.015368938446045 + ], + [ + 5.066144943237305, + 0.8033758401870728, + 2.3285040855407715 + ], + [ + 5.066144943237305, + -1.004338264465332e-05, + 3.015368938446045 + ], + [ + 5.066144943237305, + -1.004338264465332e-05, + 2.3285040855407715 + ] + ], + "center": { + "x": 5.35133171081543, + "y": 0.40168288350105286, + "z": 2.671936511993408 + }, + "size": { + "x": 0.57037353515625, + "y": 0.803385853767395, + "z": 0.6868648529052734 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.6637420654296875, + -9.98377799987793e-06, + 2.8985416889190674 + ], + [ + 5.219473361968994, + -9.98377799987793e-06, + 3.028395175933838 + ], + [ + 5.048254489898682, + -9.98377799987793e-06, + 2.44260311126709 + ], + [ + 5.492523193359375, + -9.98377799987793e-06, + 2.3127496242523193 + ], + [ + 5.6637420654296875, + 0.8033754825592041, + 2.8985416889190674 + ], + [ + 5.219473361968994, + 0.8033754825592041, + 3.028395175933838 + ], + [ + 5.048254489898682, + 0.8033754825592041, + 2.44260311126709 + ], + [ + 5.492523193359375, + 0.8033754825592041, + 2.3127496242523193 + ] + ] + } + } + }, + { + "objectId": "CellPhone|surface|4|17", + "object_info": { + "name": "CellPhone|surface|4|17", + "position": { + "x": 3.606998920440674, + "y": 0.6999126672744751, + "z": 6.400298118591309 + }, + "rotation": { + "x": 4.23526716986089e-06, + "y": 180.00010681152344, + "z": -0.0013795691775158048 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1599999964237213, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 5.279437065124512, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|4|17", + "assetId": "Cellphone_8", + "parentReceptacles": [ + "Dresser|4|3", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.645237445831299, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.645237445831299, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.645237445831299, + 0.6992031335830688, + 6.473209381103516 + ], + [ + 3.645237445831299, + 0.6992031335830688, + 6.327386856079102 + ], + [ + 3.568760395050049, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.568760395050049, + 0.6992031335830688, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.6992031335830688, + 6.327386856079102 + ] + ], + "center": { + "x": 3.606998920440674, + "y": 0.7046447992324829, + "z": 6.400298118591309 + }, + "size": { + "x": 0.07647705078125, + "y": 0.010883331298828125, + "z": 0.14582252502441406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.568760395050049, + 0.6992031335830688, + 6.327386856079102 + ], + [ + 3.6452372074127197, + 0.6992049813270569, + 6.327386856079102 + ], + [ + 3.645237445831299, + 0.6992050409317017, + 6.473209381103516 + ], + [ + 3.568760633468628, + 0.6992031931877136, + 6.473209381103516 + ], + [ + 3.5687601566314697, + 0.7100846171379089, + 6.327386856079102 + ], + [ + 3.6452369689941406, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.6452372074127197, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.7100846171379089, + 6.473209381103516 + ] + ] + } + } + }, + { + "objectId": "Vase|surface|4|24", + "object_info": { + "name": "Vase|surface|4|24", + "position": { + "x": 4.730817794799805, + "y": 0.27228501439094543, + "z": 6.289771556854248 + }, + "rotation": { + "x": -1.976354042199091e-06, + "y": 90.0000228881836, + "z": 9.469399060435535e-07 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 5.0788726806640625, + "objectType": "Vase", + "objectId": "Vase|surface|4|24", + "assetId": "Vase_Flat_5", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.8065643310546875, + 0.34241700172424316, + 6.365267753601074 + ], + [ + 4.8065643310546875, + 0.34241700172424316, + 6.2142744064331055 + ], + [ + 4.8065643310546875, + 0.27224910259246826, + 6.365267753601074 + ], + [ + 4.8065643310546875, + 0.27224910259246826, + 6.2142744064331055 + ], + [ + 4.655572891235352, + 0.34241700172424316, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.34241700172424316, + 6.2142744064331055 + ], + [ + 4.655572891235352, + 0.27224910259246826, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.27224910259246826, + 6.2142744064331055 + ] + ], + "center": { + "x": 4.7310686111450195, + "y": 0.3073330521583557, + "z": 6.28977108001709 + }, + "size": { + "x": 0.15099143981933594, + "y": 0.0701678991317749, + "z": 0.15099334716796875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.806564807891846, + 0.2722490131855011, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.2722490131855011, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.2722490131855011, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.2722490131855011, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.3424171209335327, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.3424171209335327, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.3424171209335327, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.3424171209335327, + 6.2142744064331055 + ] + ] + } + } + }, + { + "objectId": "door|4|5", + "object_info": { + "name": "door|4|5", + "position": { + "x": 3.2712955474853516, + "y": -0.0022848844528198242, + "z": 1.335561990737915 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.7348806858062744, + "objectType": "Doorway", + "objectId": "door|4|5", + "assetId": "Doorway_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.322866916656494, + 2.0939149856567383, + 2.3705310821533203 + ], + [ + 3.322866916656494, + 2.0939149856567383, + 1.316781759262085 + ], + [ + 3.322866916656494, + -0.002017974853515625, + 2.3705310821533203 + ], + [ + 3.322866916656494, + -0.002017974853515625, + 1.316781759262085 + ], + [ + 2.355100154876709, + 2.0939149856567383, + 2.3705310821533203 + ], + [ + 2.355100154876709, + 2.0939149856567383, + 1.316781759262085 + ], + [ + 2.355100154876709, + -0.002017974853515625, + 2.3705310821533203 + ], + [ + 2.355100154876709, + -0.002017974853515625, + 1.316781759262085 + ] + ], + "center": { + "x": 2.8389835357666016, + "y": 1.0459485054016113, + "z": 1.8436564207077026 + }, + "size": { + "x": 0.9677667617797852, + "y": 2.095932960510254, + "z": 1.0537493228912354 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CellPhone|surface|4|15", + "object_info": { + "name": "CellPhone|surface|4|15", + "position": { + "x": 4.434444904327393, + "y": 0.08847507834434509, + "z": 6.409006118774414 + }, + "rotation": { + "x": 0.00010714182280935347, + "y": 90.00020599365234, + "z": -0.001583149773068726 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1599999964237213, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 5.232123374938965, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|4|15", + "assetId": "Cellphone_5", + "parentReceptacles": [ + "TVStand|4|0|0___0", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.504461288452148, + 0.09662994742393494, + 6.445829391479492 + ], + [ + 4.504461288452148, + 0.09662994742393494, + 6.372182846069336 + ], + [ + 4.504461288452148, + 0.0882478654384613, + 6.445829391479492 + ], + [ + 4.504461288452148, + 0.0882478654384613, + 6.372182846069336 + ], + [ + 4.363598823547363, + 0.09662994742393494, + 6.445829391479492 + ], + [ + 4.363598823547363, + 0.09662994742393494, + 6.372182846069336 + ], + [ + 4.363598823547363, + 0.0882478654384613, + 6.445829391479492 + ], + [ + 4.363598823547363, + 0.0882478654384613, + 6.372182846069336 + ] + ], + "center": { + "x": 4.434030055999756, + "y": 0.09243890643119812, + "z": 6.409006118774414 + }, + "size": { + "x": 0.14086246490478516, + "y": 0.008382081985473633, + "z": 0.07364654541015625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.504461288452148, + 0.0882478728890419, + 6.372182846069336 + ], + [ + 4.504461288452148, + 0.08824990689754486, + 6.445828914642334 + ], + [ + 4.3635993003845215, + 0.08825016766786575, + 6.445829391479492 + ], + [ + 4.363598823547363, + 0.08824813365936279, + 6.372183322906494 + ], + [ + 4.504461288452148, + 0.09662765264511108, + 6.372182369232178 + ], + [ + 4.504461288452148, + 0.09662968665361404, + 6.445828914642334 + ], + [ + 4.3635993003845215, + 0.09662995487451553, + 6.445829391479492 + ], + [ + 4.363598823547363, + 0.09662792086601257, + 6.372183322906494 + ] + ] + } + } + }, + { + "objectId": "TVStand|4|0|0", + "object_info": { + "name": "TVStand|4|0|0", + "position": { + "x": 4.588324069976807, + "y": 0.0009346157312393188, + "z": 6.329517364501953 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": [ + "Television|4|0|1" + ], + "distance": 5.161177635192871, + "objectType": "TVStand", + "objectId": "TVStand|4|0|0", + "assetId": "TV_Stand_220_1", + "parentReceptacles": [ + "Floor", + "Plate|surface|4|19" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.207240104675293, + 0.4502491354942322, + 6.515999794006348 + ], + [ + 5.207240104675293, + 0.4502491354942322, + 6.146122932434082 + ], + [ + 5.207240104675293, + 2.8312206268310547e-07, + 6.515999794006348 + ], + [ + 5.207240104675293, + 2.8312206268310547e-07, + 6.146122932434082 + ], + [ + 3.969435691833496, + 0.4502491354942322, + 6.515999794006348 + ], + [ + 3.969435691833496, + 0.4502491354942322, + 6.146122932434082 + ], + [ + 3.969435691833496, + 2.8312206268310547e-07, + 6.515999794006348 + ], + [ + 3.969435691833496, + 2.8312206268310547e-07, + 6.146122932434082 + ] + ], + "center": { + "x": 4.5883378982543945, + "y": 0.22512470185756683, + "z": 6.331061363220215 + }, + "size": { + "x": 1.2378044128417969, + "y": 0.4502488374710083, + "z": 0.3698768615722656 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.969435930252075, + 2.682209014892578e-07, + 6.14612340927124 + ], + [ + 5.207239627838135, + 2.682209014892578e-07, + 6.14612340927124 + ], + [ + 5.207239627838135, + 2.682209014892578e-07, + 6.515999794006348 + ], + [ + 3.969435930252075, + 2.682209014892578e-07, + 6.515999794006348 + ], + [ + 3.969435930252075, + 0.4502490758895874, + 6.14612340927124 + ], + [ + 5.207239627838135, + 0.4502490758895874, + 6.14612340927124 + ], + [ + 5.207239627838135, + 0.4502490758895874, + 6.515999794006348 + ], + [ + 3.969435930252075, + 0.4502490758895874, + 6.515999794006348 + ] + ] + } + } + }, + { + "objectId": "DiningTable|4|1|0", + "object_info": { + "name": "DiningTable|4|1|0", + "position": { + "x": 5.355981826782227, + "y": -0.0031822919845581055, + "z": 3.724600076675415 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Laptop|surface|4|23", + "Book|surface|4|26" + ], + "distance": 2.7034060955047607, + "objectType": "DiningTable", + "objectId": "DiningTable|4|1|0", + "assetId": "Dining_Table_218_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.855982780456543, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 5.855982780456543, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 2.8305177688598633 + ] + ], + "center": { + "x": 5.355981826782227, + "y": 0.3905254304409027, + "z": 3.724600076675415 + }, + "size": { + "x": 1.0000019073486328, + "y": 0.7810438275337219, + "z": 1.7881646156311035 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.855982303619385, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 3.5762786865234375e-06, + 4.618681907653809 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 4.618682384490967 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 4.618681907653809 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 4.618682384490967 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 2.8305180072784424 + ] + ] + } + } + }, + { + "objectId": "Chair|4|1|2", + "object_info": { + "name": "Chair|4|1|2", + "position": { + "x": 5.356987476348877, + "y": 0.0031416714191436768, + "z": 4.78104829788208 + }, + "rotation": { + "x": -0.0, + "y": 174.24070739746094, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 3.6936275959014893, + "objectType": "Chair", + "objectId": "Chair|4|1|2", + "assetId": "Chair_224_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.615507125854492, + 0.8033755421638489, + 5.103589057922363 + ], + [ + 5.615507125854492, + 0.8033755421638489, + 4.454636573791504 + ], + [ + 5.615507125854492, + -1.0073184967041016e-05, + 5.103589057922363 + ], + [ + 5.615507125854492, + -1.0073184967041016e-05, + 4.454636573791504 + ], + [ + 5.106142044067383, + 0.8033755421638489, + 5.103589057922363 + ], + [ + 5.106142044067383, + 0.8033755421638489, + 4.454636573791504 + ], + [ + 5.106142044067383, + -1.0073184967041016e-05, + 5.103589057922363 + ], + [ + 5.106142044067383, + -1.0073184967041016e-05, + 4.454636573791504 + ] + ], + "center": { + "x": 5.3608245849609375, + "y": 0.4016827344894409, + "z": 4.779112815856934 + }, + "size": { + "x": 0.5093650817871094, + "y": 0.8033856153488159, + "z": 0.6489524841308594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.15634822845459, + -9.98377799987793e-06, + 4.451790809631348 + ], + [ + 5.61686897277832, + -9.98377799987793e-06, + 4.4982380867004395 + ], + [ + 5.5556254386901855, + -9.98377799987793e-06, + 5.105459213256836 + ], + [ + 5.095105171203613, + -9.98377799987793e-06, + 5.059011936187744 + ], + [ + 5.15634822845459, + 0.8033754825592041, + 4.451790809631348 + ], + [ + 5.61686897277832, + 0.8033754825592041, + 4.4982380867004395 + ], + [ + 5.5556254386901855, + 0.8033754825592041, + 5.105459213256836 + ], + [ + 5.095105171203613, + 0.8033754825592041, + 5.059011936187744 + ] + ] + } + } + }, + { + "objectId": "Book|surface|4|26", + "object_info": { + "name": "Book|surface|4|26", + "position": { + "x": 5.355928897857666, + "y": 0.7821989059448242, + "z": 3.5031158924102783 + }, + "rotation": { + "x": 0.02382192388176918, + "y": 0.004052666947245598, + "z": 0.9088017344474792 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 2.3361923694610596, + "objectType": "Book", + "objectId": "Book|surface|4|26", + "assetId": "Book_15", + "parentReceptacles": [ + "DiningTable|4|1|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.444652557373047, + 0.7986949682235718, + 3.622157096862793 + ], + [ + 5.444652557373047, + 0.7986949682235718, + 3.384079933166504 + ], + [ + 5.444652557373047, + 0.7808306217193604, + 3.622157096862793 + ], + [ + 5.444652557373047, + 0.7808306217193604, + 3.384079933166504 + ], + [ + 5.26725959777832, + 0.7986949682235718, + 3.622157096862793 + ], + [ + 5.26725959777832, + 0.7986949682235718, + 3.384079933166504 + ], + [ + 5.26725959777832, + 0.7808306217193604, + 3.622157096862793 + ], + [ + 5.26725959777832, + 0.7808306217193604, + 3.384079933166504 + ] + ], + "center": { + "x": 5.355956077575684, + "y": 0.7897627949714661, + "z": 3.5031185150146484 + }, + "size": { + "x": 0.17739295959472656, + "y": 0.017864346504211426, + "z": 0.23807716369628906 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.444687366485596, + 0.7814724445343018, + 3.6221396923065186 + ], + [ + 5.267521858215332, + 0.7786621451377869, + 3.6221511363983154 + ], + [ + 5.267505168914795, + 0.778761088848114, + 3.3840901851654053 + ], + [ + 5.4446702003479, + 0.7815714478492737, + 3.3840787410736084 + ], + [ + 5.4444074630737305, + 0.7991089820861816, + 3.6221470832824707 + ], + [ + 5.267242431640625, + 0.796298623085022, + 3.6221582889556885 + ], + [ + 5.26722526550293, + 0.7963976263999939, + 3.3840975761413574 + ], + [ + 5.444390773773193, + 0.7992079854011536, + 3.3840861320495605 + ] + ] + } + } + }, + { + "objectId": "Chair|4|1|4", + "object_info": { + "name": "Chair|4|1|4", + "position": { + "x": 4.753887176513672, + "y": 0.0031416714191436768, + "z": 3.267345666885376 + }, + "rotation": { + "x": -0.0, + "y": 96.67647552490234, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 2.208132266998291, + "objectType": "Chair", + "objectId": "Chair|4|1|4", + "assetId": "Chair_224_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.072547912597656, + 0.8033758401870728, + 3.5126709938049316 + ], + [ + 5.072547912597656, + 0.8033758401870728, + 3.025862216949463 + ], + [ + 5.072547912597656, + -1.0132789611816406e-05, + 3.5126709938049316 + ], + [ + 5.072547912597656, + -1.0132789611816406e-05, + 3.025862216949463 + ], + [ + 4.440659523010254, + 0.8033758401870728, + 3.5126709938049316 + ], + [ + 4.440659523010254, + 0.8033758401870728, + 3.025862216949463 + ], + [ + 4.440659523010254, + -1.0132789611816406e-05, + 3.5126709938049316 + ], + [ + 4.440659523010254, + -1.0132789611816406e-05, + 3.025862216949463 + ] + ], + "center": { + "x": 4.756603717803955, + "y": 0.40168285369873047, + "z": 3.2692666053771973 + }, + "size": { + "x": 0.6318883895874023, + "y": 0.8033859729766846, + "z": 0.48680877685546875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.03221321105957, + -9.98377799987793e-06, + 3.0005099773406982 + ], + [ + 5.086026191711426, + -9.98377799987793e-06, + 3.460228204727173 + ], + [ + 4.479863166809082, + -9.98377799987793e-06, + 3.5311837196350098 + ], + [ + 4.426050186157227, + -9.98377799987793e-06, + 3.071465492248535 + ], + [ + 5.03221321105957, + 0.8033754825592041, + 3.0005099773406982 + ], + [ + 5.086026191711426, + 0.8033754825592041, + 3.460228204727173 + ], + [ + 4.479863166809082, + 0.8033754825592041, + 3.5311837196350098 + ], + [ + 4.426050186157227, + 0.8033754825592041, + 3.071465492248535 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___0", + "object_info": { + "name": "Drawer", + "position": { + "x": 3.606998920440674, + "y": 0.5816994309425354, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.115259647369385, + "objectType": "Drawer", + "objectId": "Dresser|4|3___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.6747716069221497, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.6747716069221497, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.4870700240135193, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.4870700240135193, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.6747716069221497, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.6747716069221497, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.4870700240135193, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.4870700240135193, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.5809208154678345, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|4", + "object_info": { + "name": "door|2|4", + "position": { + "x": 6.539700508117676, + "y": -0.0005981922149658203, + "z": 2.0724358558654785 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1661734580993652, + "objectType": "Doorframe", + "objectId": "door|2|4", + "assetId": "Doorframe_Double_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.590658664703369, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.590658664703369, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.590658664703369, + 0.0, + 4.011923313140869 + ], + [ + 6.590658664703369, + 0.0, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 0.0, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 0.0, + 2.069113254547119 + ] + ], + "center": { + "x": 6.540999889373779, + "y": 1.0435373783111572, + "z": 3.040518283843994 + }, + "size": { + "x": 0.09931755065917969, + "y": 2.0870747566223145, + "z": 1.94281005859375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|4|3", + "object_info": { + "name": "Dresser|4|3", + "position": { + "x": 3.606998920440674, + "y": -4.786252975463867e-05, + "z": 6.362965106964111 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Watch|surface|4|16", + "CellPhone|surface|4|17" + ], + "distance": 5.316083908081055, + "objectType": "Dresser", + "objectId": "Dresser|4|3", + "assetId": "RoboTHOR_dresser_rast_v", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.917998790740967, + 0.6992043256759644, + 6.518101692199707 + ], + [ + 3.917998790740967, + 0.6992043256759644, + 6.203625679016113 + ], + [ + 3.917998790740967, + 3.838539123535156e-05, + 6.518101692199707 + ], + [ + 3.917998790740967, + 3.838539123535156e-05, + 6.203625679016113 + ], + [ + 3.295999050140381, + 0.6992043256759644, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992043256759644, + 6.203625679016113 + ], + [ + 3.295999050140381, + 3.838539123535156e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 3.838539123535156e-05, + 6.203625679016113 + ] + ], + "center": { + "x": 3.606998920440674, + "y": 0.34962135553359985, + "z": 6.36086368560791 + }, + "size": { + "x": 0.6219997406005859, + "y": 0.699165940284729, + "z": 0.31447601318359375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.295999050140381, + 3.8564205169677734e-05, + 6.20362663269043 + ], + [ + 3.917998790740967, + 3.8564205169677734e-05, + 6.20362663269043 + ], + [ + 3.917998790740967, + 3.8564205169677734e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 3.8564205169677734e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992037892341614, + 6.20362663269043 + ], + [ + 3.917998790740967, + 0.6992037892341614, + 6.20362663269043 + ], + [ + 3.917998790740967, + 0.6992037892341614, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992037892341614, + 6.518101692199707 + ] + ] + } + } + }, + { + "objectId": "CreditCard|surface|4|21", + "object_info": { + "name": "CreditCard|surface|4|21", + "position": { + "x": 4.137941837310791, + "y": 0.27259376645088196, + "z": 6.3295159339904785 + }, + "rotation": { + "x": 0.00015720646479167044, + "y": 90.0001449584961, + "z": -0.00030558553407900035 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.15470552444458, + "objectType": "CreditCard", + "objectId": "CreditCard|surface|4|21", + "assetId": "CreditCard_3", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.164941310882568, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.164941310882568, + 0.27673888206481934, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.27224868535995483, + 6.372598171234131 + ], + [ + 4.164941310882568, + 0.27224868535995483, + 6.286433696746826 + ], + [ + 4.110942363739014, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27673888206481934, + 6.286433696746826 + ], + [ + 4.110942363739014, + 0.27224868535995483, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27224868535995483, + 6.286433696746826 + ] + ], + "center": { + "x": 4.137941837310791, + "y": 0.2744937837123871, + "z": 6.3295159339904785 + }, + "size": { + "x": 0.05399894714355469, + "y": 0.004490196704864502, + "z": 0.08616447448730469 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.16494083404541, + 0.27224868535995483, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.27224916219711304, + 6.372598171234131 + ], + [ + 4.110942840576172, + 0.2722492814064026, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.2722488343715668, + 6.286433696746826 + ], + [ + 4.16494083404541, + 0.2767382860183716, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.2767387330532074, + 6.372598171234131 + ], + [ + 4.110942840576172, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27673840522766113, + 6.286433696746826 + ] + ] + } + } + }, + { + "objectId": "Painting|4|6", + "object_info": { + "name": "Painting|4|6", + "position": { + "x": 6.538111209869385, + "y": 1.4183659553527832, + "z": 4.80001974105835 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.008447170257568, + "objectType": "Painting", + "objectId": "Painting|4|6", + "assetId": "Wall_Decor_Painting_8", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.5360002517700195, + 1.681741714477539, + 5.152198791503906 + ], + [ + 6.5360002517700195, + 1.681741714477539, + 4.4491167068481445 + ], + [ + 6.5360002517700195, + 1.1549901962280273, + 5.152198791503906 + ], + [ + 6.5360002517700195, + 1.1549901962280273, + 4.4491167068481445 + ], + [ + 6.518789291381836, + 1.681741714477539, + 5.152198791503906 + ], + [ + 6.518789291381836, + 1.681741714477539, + 4.4491167068481445 + ], + [ + 6.518789291381836, + 1.1549901962280273, + 5.152198791503906 + ], + [ + 6.518789291381836, + 1.1549901962280273, + 4.4491167068481445 + ] + ], + "center": { + "x": 6.527394771575928, + "y": 1.4183659553527832, + "z": 4.800657749176025 + }, + "size": { + "x": 0.017210960388183594, + "y": 0.5267515182495117, + "z": 0.7030820846557617 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TVStand|4|0|0___1", + "object_info": { + "name": "Shelf", + "position": { + "x": 4.588322162628174, + "y": 0.2684445381164551, + "z": 6.3295159339904785 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Watch|surface|4|20", + "Book|surface|4|22", + "KeyChain|surface|4|18", + "Vase|surface|4|24", + "CreditCard|surface|4|21" + ], + "distance": 5.121303558349609, + "objectType": "DiningTable", + "objectId": "TVStand|4|0|0___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.18937349319458, + 0.3674442172050476, + 6.494719982147217 + ], + [ + 5.18937349319458, + 0.3674442172050476, + 6.16431188583374 + ], + [ + 5.18937349319458, + 0.26823681592941284, + 6.494719982147217 + ], + [ + 5.18937349319458, + 0.26823681592941284, + 6.16431188583374 + ], + [ + 3.9872708320617676, + 0.3674442172050476, + 6.494719982147217 + ], + [ + 3.9872708320617676, + 0.3674442172050476, + 6.16431188583374 + ], + [ + 3.9872708320617676, + 0.26823681592941284, + 6.494719982147217 + ], + [ + 3.9872708320617676, + 0.26823681592941284, + 6.16431188583374 + ] + ], + "center": { + "x": 4.588322162628174, + "y": 0.3178405165672302, + "z": 6.3295159339904785 + }, + "size": { + "x": 1.2021026611328125, + "y": 0.09920740127563477, + "z": 0.33040809631347656 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Laptop|surface|4|23", + "object_info": { + "name": "Laptop|surface|4|23", + "position": { + "x": 5.23272705078125, + "y": 0.7810472846031189, + "z": 3.946084976196289 + }, + "rotation": { + "x": 1.3113454770063981e-05, + "y": 4.1948929720092565e-05, + "z": -6.975405267439783e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 2.299999952316284, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 2.7415850162506104, + "objectType": "Laptop", + "objectId": "Laptop|surface|4|23", + "assetId": "Laptop_19", + "parentReceptacles": [ + "DiningTable|4|1|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.459753036499023, + 0.829770028591156, + 4.116103172302246 + ], + [ + 5.459753036499023, + 0.829770028591156, + 3.780513286590576 + ], + [ + 5.459753036499023, + 0.7810469269752502, + 4.116103172302246 + ], + [ + 5.459753036499023, + 0.7810469269752502, + 3.780513286590576 + ], + [ + 5.005701065063477, + 0.829770028591156, + 4.116103172302246 + ], + [ + 5.005701065063477, + 0.829770028591156, + 3.780513286590576 + ], + [ + 5.005701065063477, + 0.7810469269752502, + 4.116103172302246 + ], + [ + 5.005701065063477, + 0.7810469269752502, + 3.780513286590576 + ] + ], + "center": { + "x": 5.23272705078125, + "y": 0.8054084777832031, + "z": 3.948308229446411 + }, + "size": { + "x": 0.4540519714355469, + "y": 0.04872310161590576, + "z": 0.3355898857116699 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.459753036499023, + 0.781046986579895, + 4.116102695465088 + ], + [ + 5.005701065063477, + 0.781047523021698, + 4.116103172302246 + ], + [ + 5.005701065063477, + 0.7810475826263428, + 3.7805135250091553 + ], + [ + 5.459753036499023, + 0.7810470461845398, + 3.780513048171997 + ], + [ + 5.459753036499023, + 0.8297694325447083, + 4.116102695465088 + ], + [ + 5.005701065063477, + 0.8297699689865112, + 4.116103172302246 + ], + [ + 5.005701065063477, + 0.8297700881958008, + 3.7805135250091553 + ], + [ + 5.459753036499023, + 0.829769492149353, + 3.780513048171997 + ] + ] + } + } + }, + { + "objectId": "Watch|surface|4|16", + "object_info": { + "name": "Watch|surface|4|16", + "position": { + "x": 3.6847031116485596, + "y": 0.7003282308578491, + "z": 6.288086414337158 + }, + "rotation": { + "x": 1.9947741031646729, + "y": 180.00387573242188, + "z": 1.19093656539917 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07000000029802322, + "salientMaterials": [ + "Metal", + "Glass", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.153391361236572, + "objectType": "Watch", + "objectId": "Watch|surface|4|16", + "assetId": "Watch_2", + "parentReceptacles": [ + "Dresser|4|3", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.7239737510681152, + 0.7344659566879272, + 6.313935279846191 + ], + [ + 3.7239737510681152, + 0.7344659566879272, + 6.265624046325684 + ], + [ + 3.7239737510681152, + 0.6990219354629517, + 6.313935279846191 + ], + [ + 3.7239737510681152, + 0.6990219354629517, + 6.265624046325684 + ], + [ + 3.6450982093811035, + 0.7344659566879272, + 6.313935279846191 + ], + [ + 3.6450982093811035, + 0.7344659566879272, + 6.265624046325684 + ], + [ + 3.6450982093811035, + 0.6990219354629517, + 6.313935279846191 + ], + [ + 3.6450982093811035, + 0.6990219354629517, + 6.265624046325684 + ] + ], + "center": { + "x": 3.6845359802246094, + "y": 0.7167439460754395, + "z": 6.2897796630859375 + }, + "size": { + "x": 0.07887554168701172, + "y": 0.035444021224975586, + "z": 0.04831123352050781 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.644953966140747, + 0.6981589794158936, + 6.265713691711426 + ], + [ + 3.723494052886963, + 0.6965271830558777, + 6.265765190124512 + ], + [ + 3.723497152328491, + 0.6982251405715942, + 6.314515590667725 + ], + [ + 3.6449573040008545, + 0.6998568773269653, + 6.314464092254639 + ], + [ + 3.645716905593872, + 0.7348403334617615, + 6.2644362449646 + ], + [ + 3.724256992340088, + 0.7332085967063904, + 6.2644877433776855 + ], + [ + 3.724260091781616, + 0.7349065542221069, + 6.31323766708374 + ], + [ + 3.6457202434539795, + 0.736538290977478, + 6.313186168670654 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___2", + "object_info": { + "name": "Drawer (2)", + "position": { + "x": 3.606998920440674, + "y": 0.20109392702579498, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.1530375480651855, + "objectType": "Drawer", + "objectId": "Dresser|4|3___2", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.29416608810424805, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.29416608810424805, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.10646450519561768, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.10646450519561768, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.29416608810424805, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.29416608810424805, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.10646450519561768, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.10646450519561768, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.20031529664993286, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|3", + "object_info": { + "name": "door|2|3", + "position": { + "x": 9.811773300170898, + "y": -0.00026702880859375, + "z": 6.5231428146362305 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 7.364771842956543, + "objectType": "Doorway", + "objectId": "door|2|3", + "assetId": "Doorway_Double_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.727968215942383, + 2.095932960510254, + 6.545433044433594 + ], + [ + 10.727968215942383, + 2.095932960510254, + 4.553407669067383 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 4.553407669067383 + ], + [ + 9.760202407836914, + 2.095932960510254, + 6.545433044433594 + ], + [ + 9.760202407836914, + 2.095932960510254, + 4.553407669067383 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 4.553407669067383 + ] + ], + "center": { + "x": 10.244085311889648, + "y": 1.0479663610458374, + "z": 5.549420356750488 + }, + "size": { + "x": 0.9677658081054688, + "y": 2.095933198928833, + "z": 1.992025375366211 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Chair|4|1|3", + "object_info": { + "name": "Chair|4|1|3", + "position": { + "x": 4.753437519073486, + "y": 0.0031416714191436768, + "z": 4.125640392303467 + }, + "rotation": { + "x": -0.0, + "y": 69.56246948242188, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 3.012551784515381, + "objectType": "Chair", + "objectId": "Chair|4|1|3", + "assetId": "Chair_224_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.112885475158691, + 0.8033758401870728, + 4.443963050842285 + ], + [ + 5.112885475158691, + 0.8033758401870728, + 3.8157224655151367 + ], + [ + 5.112885475158691, + -1.0013580322265625e-05, + 4.443963050842285 + ], + [ + 5.112885475158691, + -1.0013580322265625e-05, + 3.8157224655151367 + ], + [ + 4.39578914642334, + 0.8033758401870728, + 4.443963050842285 + ], + [ + 4.39578914642334, + 0.8033758401870728, + 3.8157224655151367 + ], + [ + 4.39578914642334, + -1.0013580322265625e-05, + 4.443963050842285 + ], + [ + 4.39578914642334, + -1.0013580322265625e-05, + 3.8157224655151367 + ] + ], + "center": { + "x": 4.754337310791016, + "y": 0.40168291330337524, + "z": 4.129842758178711 + }, + "size": { + "x": 0.7170963287353516, + "y": 0.803385853767395, + "z": 0.6282405853271484 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.12278938293457, + -9.98377799987793e-06, + 4.014980316162109 + ], + [ + 4.9611663818359375, + -9.98377799987793e-06, + 4.448701858520508 + ], + [ + 4.389281272888184, + -9.98377799987793e-06, + 4.235593318939209 + ], + [ + 4.550904273986816, + -9.98377799987793e-06, + 3.8018712997436523 + ], + [ + 5.12278938293457, + 0.8033754825592041, + 4.014980316162109 + ], + [ + 4.9611663818359375, + 0.8033754825592041, + 4.448701858520508 + ], + [ + 4.389281272888184, + 0.8033754825592041, + 4.235593318939209 + ], + [ + 4.550904273986816, + 0.8033754825592041, + 3.8018712997436523 + ] + ] + } + } + }, + { + "objectId": "Painting|4|4", + "object_info": { + "name": "Painting|4|4", + "position": { + "x": 3.608247995376587, + "y": 1.9246368408203125, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.503932476043701, + "objectType": "Painting", + "objectId": "Painting|4|4", + "assetId": "Wall_Decor_Photo_1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.9420716762542725, + 2.1772351264953613, + 6.5360002517700195 + ], + [ + 3.9420716762542725, + 2.1772351264953613, + 6.50425910949707 + ], + [ + 3.9420716762542725, + 1.6720385551452637, + 6.5360002517700195 + ], + [ + 3.9420716762542725, + 1.6720385551452637, + 6.50425910949707 + ], + [ + 3.2744243144989014, + 2.1772351264953613, + 6.5360002517700195 + ], + [ + 3.2744243144989014, + 2.1772351264953613, + 6.50425910949707 + ], + [ + 3.2744243144989014, + 1.6720385551452637, + 6.5360002517700195 + ], + [ + 3.2744243144989014, + 1.6720385551452637, + 6.50425910949707 + ] + ], + "center": { + "x": 3.608247995376587, + "y": 1.9246368408203125, + "z": 6.520129680633545 + }, + "size": { + "x": 0.6676473617553711, + "y": 0.5051965713500977, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TVStand|4|0|0___0", + "object_info": { + "name": "Shelf", + "position": { + "x": 4.5883870124816895, + "y": 0.08263473212718964, + "z": 6.329518795013428 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Bowl|surface|4|14", + "Plate|surface|4|19", + "Pen|surface|4|25", + "CellPhone|surface|4|15" + ], + "distance": 5.147557735443115, + "objectType": "DiningTable", + "objectId": "TVStand|4|0|0___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.1894378662109375, + 0.18163445591926575, + 6.494722843170166 + ], + [ + 5.1894378662109375, + 0.18163445591926575, + 6.1643147468566895 + ], + [ + 5.1894378662109375, + 0.08242693543434143, + 6.494722843170166 + ], + [ + 5.1894378662109375, + 0.08242693543434143, + 6.1643147468566895 + ], + [ + 3.9873361587524414, + 0.18163445591926575, + 6.494722843170166 + ], + [ + 3.9873361587524414, + 0.18163445591926575, + 6.1643147468566895 + ], + [ + 3.9873361587524414, + 0.08242693543434143, + 6.494722843170166 + ], + [ + 3.9873361587524414, + 0.08242693543434143, + 6.1643147468566895 + ] + ], + "center": { + "x": 4.5883870124816895, + "y": 0.1320306956768036, + "z": 6.329518795013428 + }, + "size": { + "x": 1.202101707458496, + "y": 0.09920752048492432, + "z": 0.33040809631347656 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Fridge|2|1", + "object_info": { + "name": "Fridge|2|1", + "position": { + "x": 8.027824401855469, + "y": 0.007394969463348389, + "z": 6.196259021759033 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Tomato|surface|2|5", + "Potato|surface|2|7" + ], + "distance": 6.000678539276123, + "objectType": "Fridge", + "objectId": "Fridge|2|1", + "assetId": "Fridge_15", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.576839447021484, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 8.576839447021484, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 8.576839447021484, + 0.0, + 6.515999794006348 + ], + [ + 8.576839447021484, + 0.0, + 5.736844062805176 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 7.494537353515625, + 0.0, + 6.515999794006348 + ], + [ + 7.494537353515625, + 0.0, + 5.736844062805176 + ] + ], + "center": { + "x": 8.035688400268555, + "y": 0.9413036108016968, + "z": 6.126421928405762 + }, + "size": { + "x": 1.0823020935058594, + "y": 1.8826072216033936, + "z": 0.7791557312011719 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Plate|surface|4|19", + "object_info": { + "name": "Plate|surface|4|19", + "position": { + "x": 4.8791022300720215, + "y": 0.08857652544975281, + "z": 6.369263172149658 + }, + "rotation": { + "x": 7.83866344136186e-05, + "y": 89.99977111816406, + "z": 0.0004667239263653755 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [ + "TVStand|4|0|0" + ], + "distance": 5.184935092926025, + "objectType": "Plate", + "objectId": "Plate|surface|4|19", + "assetId": "Plate_14", + "parentReceptacles": [ + "TVStand|4|0|0___0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.997548580169678, + 0.115453340113163, + 6.4866623878479 + ], + [ + 4.997548580169678, + 0.115453340113163, + 6.249765872955322 + ], + [ + 4.997548580169678, + 0.0882486030459404, + 6.4866623878479 + ], + [ + 4.997548580169678, + 0.0882486030459404, + 6.249765872955322 + ], + [ + 4.760651111602783, + 0.115453340113163, + 6.4866623878479 + ], + [ + 4.760651111602783, + 0.115453340113163, + 6.249765872955322 + ], + [ + 4.760651111602783, + 0.0882486030459404, + 6.4866623878479 + ], + [ + 4.760651111602783, + 0.0882486030459404, + 6.249765872955322 + ] + ], + "center": { + "x": 4.8790998458862305, + "y": 0.1018509715795517, + "z": 6.368214130401611 + }, + "size": { + "x": 0.23689746856689453, + "y": 0.027204737067222595, + "z": 0.23689651489257812 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.997549533843994, + 0.08825035393238068, + 6.249766826629639 + ], + [ + 4.997548580169678, + 0.08824842423200607, + 6.486663341522217 + ], + [ + 4.760651111602783, + 0.08824875205755234, + 6.4866623878479 + ], + [ + 4.7606520652771, + 0.08825068175792694, + 6.249765872955322 + ], + [ + 4.997549533843994, + 0.11545311659574509, + 6.249766826629639 + ], + [ + 4.997548580169678, + 0.11545118689537048, + 6.486663341522217 + ], + [ + 4.760651111602783, + 0.11545151472091675, + 6.4866623878479 + ], + [ + 4.7606520652771, + 0.11545343697071075, + 6.249765872955322 + ] + ] + } + } + }, + { + "objectId": "Pen|surface|4|25", + "object_info": { + "name": "Pen|surface|4|25", + "position": { + "x": 4.730879783630371, + "y": 0.09389401972293854, + "z": 6.3692626953125 + }, + "rotation": { + "x": 4.163075573160313e-05, + "y": 179.99993896484375, + "z": 359.9720153808594 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Plastic", + "Metal" + ], + "receptacleObjectIds": null, + "distance": 5.182531833648682, + "objectType": "Pen", + "objectId": "Pen|surface|4|25", + "assetId": "Pen_1", + "parentReceptacles": [ + "TVStand|4|0|0___0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.736525058746338, + 0.09953894466161728, + 6.462701320648193 + ], + [ + 4.736525058746338, + 0.09953894466161728, + 6.262863636016846 + ], + [ + 4.736525058746338, + 0.0882490798830986, + 6.462701320648193 + ], + [ + 4.736525058746338, + 0.0882490798830986, + 6.262863636016846 + ], + [ + 4.725234508514404, + 0.09953894466161728, + 6.462701320648193 + ], + [ + 4.725234508514404, + 0.09953894466161728, + 6.262863636016846 + ], + [ + 4.725234508514404, + 0.0882490798830986, + 6.462701320648193 + ], + [ + 4.725234508514404, + 0.0882490798830986, + 6.262863636016846 + ] + ], + "center": { + "x": 4.730879783630371, + "y": 0.09389401227235794, + "z": 6.3627824783325195 + }, + "size": { + "x": 0.011290550231933594, + "y": 0.011289864778518677, + "z": 0.19983768463134766 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.7252373695373535, + 0.08824633061885834, + 6.262863636016846 + ], + [ + 4.736527919769287, + 0.08825184404850006, + 6.262863636016846 + ], + [ + 4.736527442932129, + 0.0882519856095314, + 6.462701797485352 + ], + [ + 4.7252373695373535, + 0.08824647217988968, + 6.462701797485352 + ], + [ + 4.725232124328613, + 0.09953603893518448, + 6.262863636016846 + ], + [ + 4.736522197723389, + 0.0995415523648262, + 6.262863636016846 + ], + [ + 4.736522197723389, + 0.09954169392585754, + 6.462701797485352 + ], + [ + 4.725231647491455, + 0.09953618794679642, + 6.462701797485352 + ] + ] + } + } + }, + { + "objectId": "Television|4|0|1", + "object_info": { + "name": "Television|4|0|1", + "position": { + "x": 4.5883378982543945, + "y": 0.9386330842971802, + "z": 6.25775671005249 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.010506629943848, + "objectType": "Television", + "objectId": "Television|4|0|1", + "assetId": "Television_23", + "parentReceptacles": [ + "Floor", + "TVStand|4|0|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.0883378982543945, + 1.2561266422271729, + 6.508190631866455 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.153933048248291 + ], + [ + 5.0883378982543945, + 0.4502493143081665, + 6.508190631866455 + ], + [ + 5.0883378982543945, + 0.4502493143081665, + 6.153933048248291 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.508190631866455 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.153933048248291 + ], + [ + 4.0883378982543945, + 0.4502493143081665, + 6.508190631866455 + ], + [ + 4.0883378982543945, + 0.4502493143081665, + 6.153933048248291 + ] + ], + "center": { + "x": 4.5883378982543945, + "y": 0.8531879782676697, + "z": 6.331061840057373 + }, + "size": { + "x": 1.0, + "y": 0.8058773279190063, + "z": 0.35425758361816406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.0883378982543945, + 0.4502493441104889, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 0.4502493441104889, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 0.4502493441104889, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 0.4502493441104889, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.508191108703613 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 4.900000095367432, + "y": 0.9009997844696045, + "z": 1.5 + }, + "agent_rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "agent_cameraHorizon": 30.000003814697266, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 4.900000095367432, + "y": 1.5759997367858887, + "z": 1.5 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Fridge|2|1", + "Chair|4|1|1", + "DiningTable|4|1|0", + "door|2|3", + "door|2|4" + ], + "different_object": [ + "Plate|surface|4|19", + "Book|surface|4|22", + "Television|4|0|1", + "Bowl|surface|4|14", + "Watch|surface|4|16", + "Chair|4|1|2", + "CellPhone|surface|4|15", + "Dresser|4|3", + "Pen|surface|4|25", + "TVStand|4|0|0___1", + "TVStand|4|0|0___0", + "Chair|4|1|3", + "Painting|4|6", + "Dresser|4|3___1", + "Laptop|surface|4|23", + "Dresser|4|3___0", + "CreditCard|surface|4|21", + "door|4|5", + "Book|surface|4|26", + "CellPhone|surface|4|17", + "Chair|4|1|4", + "Dresser|4|3___2", + "Vase|surface|4|24", + "Painting|4|4", + "TVStand|4|0|0" + ] +} \ No newline at end of file diff --git a/train/train534/0/0_depth_npy.npy b/train/train534/0/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..e995a1e41a2228c8a4f0e86f5fd5e9e096e483ca --- /dev/null +++ b/train/train534/0/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9d9f19d6b3f5a68a9a3ab7a5bb4ce6505d620647527f8342ac1abd87efee9678 +size 3145856 diff --git a/train/train534/0/0_semantic_sensor_npy.npy b/train/train534/0/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..36c9324bd9e48a55ea8d24ffb1dd75dec2baf010 --- /dev/null +++ b/train/train534/0/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4d824343a386824bb45f4a57d6210cbe55599c5d7914496db7a5bc8f7cd24311 +size 2359424 diff --git a/train/train534/0/1.json b/train/train534/0/1.json new file mode 100644 index 0000000000000000000000000000000000000000..90ef6f533b0c7215686ddfd8ee2d5adb680f1afc --- /dev/null +++ b/train/train534/0/1.json @@ -0,0 +1,1063 @@ +{ + "object": [ + { + "objectId": "Chair|4|1|1", + "object_info": { + "name": "Chair|4|1|1", + "position": { + "x": 5.354161262512207, + "y": 0.0031416714191436768, + "z": 2.6687018871307373 + }, + "rotation": { + "x": -0.0, + "y": 16.29289436340332, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 1.7843416929244995, + "objectType": "Chair", + "objectId": "Chair|4|1|1", + "assetId": "Chair_224_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.636518478393555, + 0.8033758401870728, + 3.015368938446045 + ], + [ + 5.636518478393555, + 0.8033758401870728, + 2.3285040855407715 + ], + [ + 5.636518478393555, + -1.004338264465332e-05, + 3.015368938446045 + ], + [ + 5.636518478393555, + -1.004338264465332e-05, + 2.3285040855407715 + ], + [ + 5.066144943237305, + 0.8033758401870728, + 3.015368938446045 + ], + [ + 5.066144943237305, + 0.8033758401870728, + 2.3285040855407715 + ], + [ + 5.066144943237305, + -1.004338264465332e-05, + 3.015368938446045 + ], + [ + 5.066144943237305, + -1.004338264465332e-05, + 2.3285040855407715 + ] + ], + "center": { + "x": 5.35133171081543, + "y": 0.40168288350105286, + "z": 2.671936511993408 + }, + "size": { + "x": 0.57037353515625, + "y": 0.803385853767395, + "z": 0.6868648529052734 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.6637420654296875, + -9.98377799987793e-06, + 2.8985416889190674 + ], + [ + 5.219473361968994, + -9.98377799987793e-06, + 3.028395175933838 + ], + [ + 5.048254489898682, + -9.98377799987793e-06, + 2.44260311126709 + ], + [ + 5.492523193359375, + -9.98377799987793e-06, + 2.3127496242523193 + ], + [ + 5.6637420654296875, + 0.8033754825592041, + 2.8985416889190674 + ], + [ + 5.219473361968994, + 0.8033754825592041, + 3.028395175933838 + ], + [ + 5.048254489898682, + 0.8033754825592041, + 2.44260311126709 + ], + [ + 5.492523193359375, + 0.8033754825592041, + 2.3127496242523193 + ] + ] + } + } + }, + { + "objectId": "DiningTable|4|1|0", + "object_info": { + "name": "DiningTable|4|1|0", + "position": { + "x": 5.355981826782227, + "y": -0.0031822919845581055, + "z": 3.724600076675415 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Laptop|surface|4|23", + "Book|surface|4|26" + ], + "distance": 2.7034060955047607, + "objectType": "DiningTable", + "objectId": "DiningTable|4|1|0", + "assetId": "Dining_Table_218_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.855982780456543, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 5.855982780456543, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 2.8305177688598633 + ] + ], + "center": { + "x": 5.355981826782227, + "y": 0.3905254304409027, + "z": 3.724600076675415 + }, + "size": { + "x": 1.0000019073486328, + "y": 0.7810438275337219, + "z": 1.7881646156311035 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.855982303619385, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 3.5762786865234375e-06, + 4.618681907653809 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 4.618682384490967 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 4.618681907653809 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 4.618682384490967 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 2.8305180072784424 + ] + ] + } + } + }, + { + "objectId": "door|2|4", + "object_info": { + "name": "door|2|4", + "position": { + "x": 6.539700508117676, + "y": -0.0005981922149658203, + "z": 2.0724358558654785 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1661734580993652, + "objectType": "Doorframe", + "objectId": "door|2|4", + "assetId": "Doorframe_Double_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.590658664703369, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.590658664703369, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.590658664703369, + 0.0, + 4.011923313140869 + ], + [ + 6.590658664703369, + 0.0, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 0.0, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 0.0, + 2.069113254547119 + ] + ], + "center": { + "x": 6.540999889373779, + "y": 1.0435373783111572, + "z": 3.040518283843994 + }, + "size": { + "x": 0.09931755065917969, + "y": 2.0870747566223145, + "z": 1.94281005859375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|3", + "object_info": { + "name": "door|2|3", + "position": { + "x": 9.811773300170898, + "y": -0.00026702880859375, + "z": 6.5231428146362305 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 7.364771842956543, + "objectType": "Doorway", + "objectId": "door|2|3", + "assetId": "Doorway_Double_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.727968215942383, + 2.095932960510254, + 6.545433044433594 + ], + [ + 10.727968215942383, + 2.095932960510254, + 4.553407669067383 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 4.553407669067383 + ], + [ + 9.760202407836914, + 2.095932960510254, + 6.545433044433594 + ], + [ + 9.760202407836914, + 2.095932960510254, + 4.553407669067383 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 4.553407669067383 + ] + ], + "center": { + "x": 10.244085311889648, + "y": 1.0479663610458374, + "z": 5.549420356750488 + }, + "size": { + "x": 0.9677658081054688, + "y": 2.095933198928833, + "z": 1.992025375366211 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "FloorLamp|4|2", + "object_info": { + "name": "FloorLamp|4|2", + "position": { + "x": 6.263036727905273, + "y": -0.0018747448921203613, + "z": 0.9616859555244446 + }, + "rotation": { + "x": 359.9669189453125, + "y": 269.9986572265625, + "z": 359.9627380371094 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 1.7853816747665405, + "objectType": "FloorLamp", + "objectId": "FloorLamp|4|2", + "assetId": "Floor_Lamp_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.517219543457031, + 2.0757031440734863, + 1.2152924537658691 + ], + [ + 6.517219543457031, + 2.0757031440734863, + 0.7076406478881836 + ], + [ + 6.517219543457031, + -0.0020160675048828125, + 1.2152924537658691 + ], + [ + 6.517219543457031, + -0.0020160675048828125, + 0.7076406478881836 + ], + [ + 6.009941101074219, + 2.0757031440734863, + 1.2152924537658691 + ], + [ + 6.009941101074219, + 2.0757031440734863, + 0.7076406478881836 + ], + [ + 6.009941101074219, + -0.0020160675048828125, + 1.2152924537658691 + ], + [ + 6.009941101074219, + -0.0020160675048828125, + 0.7076406478881836 + ] + ], + "center": { + "x": 6.263580322265625, + "y": 1.0368435382843018, + "z": 0.9614665508270264 + }, + "size": { + "x": 0.5072784423828125, + "y": 2.077719211578369, + "z": 0.5076518058776855 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.00874137878418, + -0.001891990890726447, + 1.213939905166626 + ], + [ + 6.008753776550293, + -0.0015617554308846593, + 0.7062857151031494 + ], + [ + 6.5160441398620605, + -0.0018547163344919682, + 0.706297755241394 + ], + [ + 6.516031742095947, + -0.002184951677918434, + 1.213951826095581 + ], + [ + 6.009941101074219, + 2.0755419731140137, + 1.2152912616729736 + ], + [ + 6.009953498840332, + 2.0758721828460693, + 0.7076371908187866 + ], + [ + 6.5172438621521, + 2.0755791664123535, + 0.7076491713523865 + ], + [ + 6.517231464385986, + 2.075248956680298, + 1.2153033018112183 + ] + ] + } + } + }, + { + "objectId": "Painting|3|7", + "object_info": { + "name": "Painting|3|7", + "position": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.831557273864746, + "objectType": "Painting", + "objectId": "Painting|3|7", + "assetId": "Wall_Decor_Photo_10", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.833455085754395, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.50425910949707 + ] + ], + "center": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.520129680633545 + }, + "size": { + "x": 0.7115726470947266, + "y": 0.4246177673339844, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Fridge|2|1", + "object_info": { + "name": "Fridge|2|1", + "position": { + "x": 8.027824401855469, + "y": 0.007394969463348389, + "z": 6.196259021759033 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Tomato|surface|2|5", + "Potato|surface|2|7" + ], + "distance": 6.000678539276123, + "objectType": "Fridge", + "objectId": "Fridge|2|1", + "assetId": "Fridge_15", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.576839447021484, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 8.576839447021484, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 8.576839447021484, + 0.0, + 6.515999794006348 + ], + [ + 8.576839447021484, + 0.0, + 5.736844062805176 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 7.494537353515625, + 0.0, + 6.515999794006348 + ], + [ + 7.494537353515625, + 0.0, + 5.736844062805176 + ] + ], + "center": { + "x": 8.035688400268555, + "y": 0.9413036108016968, + "z": 6.126421928405762 + }, + "size": { + "x": 1.0823020935058594, + "y": 1.8826072216033936, + "z": 0.7791557312011719 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|3|4", + "object_info": { + "name": "Painting|3|4", + "position": { + "x": 11.443442344665527, + "y": 1.4678616523742676, + "z": 5.477546215057373 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.9369797706604, + "objectType": "Painting", + "objectId": "Painting|3|4", + "assetId": "Wall_Decor_Painting_3", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.442000389099121, + 1.773220181465149, + 5.879675388336182 + ], + [ + 11.442000389099121, + 1.773220181465149, + 5.07399320602417 + ], + [ + 11.442000389099121, + 1.16008460521698, + 5.879675388336182 + ], + [ + 11.442000389099121, + 1.16008460521698, + 5.07399320602417 + ], + [ + 11.422650337219238, + 1.773220181465149, + 5.879675388336182 + ], + [ + 11.422650337219238, + 1.773220181465149, + 5.07399320602417 + ], + [ + 11.422650337219238, + 1.16008460521698, + 5.879675388336182 + ], + [ + 11.422650337219238, + 1.16008460521698, + 5.07399320602417 + ] + ], + "center": { + "x": 11.43232536315918, + "y": 1.4666523933410645, + "z": 5.476834297180176 + }, + "size": { + "x": 0.019350051879882812, + "y": 0.613135576248169, + "z": 0.8056821823120117 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 4.900000095367432, + "y": 0.9009997844696045, + "z": 1.2999999523162842 + }, + "agent_rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "agent_cameraHorizon": 30.000003814697266, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 4.900000095367432, + "y": 1.5759997367858887, + "z": 1.2999999523162842 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Fridge|2|1", + "Chair|4|1|1", + "DiningTable|4|1|0", + "door|2|3", + "door|2|4" + ], + "different_object": [ + "Painting|3|4", + "FloorLamp|4|2", + "Painting|3|7" + ] +} \ No newline at end of file diff --git a/train/train534/0/1_depth_npy.npy b/train/train534/0/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..e7f1794f70220f3cad8428d5be33ad248e579110 --- /dev/null +++ b/train/train534/0/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:93c8387e8577ec6d8be9de0597b514a2b2c23c0333233d2ba611d42f64f0727f +size 3145856 diff --git a/train/train534/0/1_semantic_sensor_npy.npy b/train/train534/0/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..fbad58eff9868154e7e09716108fdef790571339 --- /dev/null +++ b/train/train534/0/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:50a0baab6ebcbfee9972f72ed3156da8dc0169d74b2bfe8f4aa424682e4b0320 +size 2359424 diff --git a/train/train534/0/depth_0.png b/train/train534/0/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..78a873c2b6fd9bf79231ded1645a0b7b15d70084 Binary files /dev/null and b/train/train534/0/depth_0.png differ diff --git a/train/train534/0/depth_1.png b/train/train534/0/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..25b303e3dce5764e78b72291420dafb720eaaaa6 Binary files /dev/null and b/train/train534/0/depth_1.png differ diff --git a/train/train534/0/mask_questions.jsonl b/train/train534/0/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e5d8db699546bf296e2b68b55d83565769ed86d7 --- /dev/null +++ b/train/train534/0/mask_questions.jsonl @@ -0,0 +1,5 @@ +{"id": 11188, "folder_dir": "train534/0", "pair_name": "0-1:Fridge|2|1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. CreditCard\nB. Fridge\nC. Chair\nD. Drawer", "answer": "B", "object_name": "Fridge", "image_1": "train534/0/rgb_0.png", "image_2": "train534/0/rgb_1.png", "mask_image": "train534/0/rgb_1_mask_Fridge|2|1.png", "options": ["CreditCard", "Fridge", "Chair", "Drawer"]} +{"id": 11189, "folder_dir": "train534/0", "pair_name": "0-1:Chair|4|1|1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Fridge\nB. Chair\nC. Painting\nD. Pen", "answer": "B", "object_name": "Chair", "image_1": "train534/0/rgb_0.png", "image_2": "train534/0/rgb_1.png", "mask_image": "train534/0/rgb_1_mask_Chair|4|1|1.png", "options": ["Fridge", "Chair", "Painting", "Pen"]} +{"id": 11190, "folder_dir": "train534/0", "pair_name": "0-1:DiningTable|4|1|0", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. DiningTable\nB. Book\nC. CellPhone\nD. Fridge", "answer": "A", "object_name": "DiningTable", "image_1": "train534/0/rgb_0.png", "image_2": "train534/0/rgb_1.png", "mask_image": "train534/0/rgb_1_mask_DiningTable|4|1|0.png", "options": ["DiningTable", "Book", "CellPhone", "Fridge"]} +{"id": 11191, "folder_dir": "train534/0", "pair_name": "1-0:Fridge|2|1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Painting\nB. FloorLamp\nC. Chair\nD. Fridge", "answer": "D", "object_name": "Fridge", "image_1": "train534/0/rgb_1.png", "image_2": "train534/0/rgb_0.png", "mask_image": "train534/0/rgb_0_mask_Fridge|2|1.png", "options": ["Painting", "FloorLamp", "Chair", "Fridge"]} +{"id": 11192, "folder_dir": "train534/0", "pair_name": "1-0:Chair|4|1|1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Chair\nB. Painting\nC. Painting\nD. Fridge", "answer": "A", "object_name": "Chair", "image_1": "train534/0/rgb_1.png", "image_2": "train534/0/rgb_0.png", "mask_image": "train534/0/rgb_0_mask_Chair|4|1|1.png", "options": ["Chair", "Painting", "Painting", "Fridge"]} diff --git a/train/train534/0/questions_distance.jsonl b/train/train534/0/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9d42caed994c1223a066b1fa66d836ab9b89a4f5 --- /dev/null +++ b/train/train534/0/questions_distance.jsonl @@ -0,0 +1,2 @@ +{"id": 4556, "folder_dir": "train534/0", "query": "Which of the following objects is closest to Fridge in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Plate\nB. Vase\nC. Pen\nD. Other\n", "answer": "A", "src_object": "Fridge", "target_object": "Plate", "question": "Which of the following objects is closest to Fridge in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Plate", "semantic_id": "Plate|surface|4|19", "distance": 3.2752397628418777, "com": {"x": 4.8790998458862305, "y": 0.1018509715795517, "z": 6.368214130401611}}, {"text": "Vase", "semantic_id": "Vase|surface|4|24", "distance": 3.3688445445323785, "com": {"x": 4.7310686111450195, "y": 0.3073330521583557, "z": 6.28977108001709}}, {"text": "Pen", "semantic_id": "Pen|surface|4|25", "distance": 3.4199019474024865, "com": {"x": 4.730879783630371, "y": 0.09389401227235794, "z": 6.3627824783325195}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train534/0/rgb_0.png", "image_2": "train534/0/rgb_1.png"} +{"id": 4557, "folder_dir": "train534/0", "query": "Which of the following objects is closest to DiningTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Plate\nB. Vase\nC. Laptop\nD. Other\n", "answer": "C", "src_object": "DiningTable", "target_object": "Laptop", "question": "Which of the following objects is closest to DiningTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Plate", "semantic_id": "Plate|surface|4|19", "distance": 2.7017484397998337, "com": {"x": 4.8790998458862305, "y": 0.1018509715795517, "z": 6.368214130401611}}, {"text": "Vase", "semantic_id": "Vase|surface|4|24", "distance": 2.6415033172924987, "com": {"x": 4.7310686111450195, "y": 0.3073330521583557, "z": 6.28977108001709}}, {"text": "Laptop", "semantic_id": "Laptop|surface|4|23", "distance": 0.4872012114058171, "com": {"x": 5.23272705078125, "y": 0.8054084777832031, "z": 3.948308229446411}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train534/0/rgb_0.png", "image_2": "train534/0/rgb_1.png"} diff --git a/train/train534/0/rgb_0.png b/train/train534/0/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..f3b5c35c39d855af563b04ef2c5b165dee2961eb --- /dev/null +++ b/train/train534/0/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:df91ae126fe31db32ac9604bd750b4728d6e815034512cf1076e3437cd2c4031 +size 429956 diff --git a/train/train534/0/rgb_0_mask_Chair|4|1|1.png b/train/train534/0/rgb_0_mask_Chair|4|1|1.png new file mode 100644 index 0000000000000000000000000000000000000000..2434d19a1b922094414d2782846e4468258994c5 --- /dev/null +++ b/train/train534/0/rgb_0_mask_Chair|4|1|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dd862a9f683f67a4650df48113de038a3505d0005ca1e290643777dd9249a515 +size 361363 diff --git a/train/train534/0/rgb_0_mask_Fridge|2|1.png b/train/train534/0/rgb_0_mask_Fridge|2|1.png new file mode 100644 index 0000000000000000000000000000000000000000..5cfcf57f59549d9722ce222b1f854c9d928aac26 --- /dev/null +++ b/train/train534/0/rgb_0_mask_Fridge|2|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9372f341e875c37e67446e0192ab06f153d05f26d4eef42764b192b487b65771 +size 369431 diff --git a/train/train534/0/rgb_1.png b/train/train534/0/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..7befca365e4987f3626140732d9d9a6ed448c2d9 --- /dev/null +++ b/train/train534/0/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:68e5c73cd386965656c30332b0dad6799c370b4a93d3ba76bc8630104da1185f +size 449104 diff --git a/train/train534/0/rgb_1_mask_Chair|4|1|1.png b/train/train534/0/rgb_1_mask_Chair|4|1|1.png new file mode 100644 index 0000000000000000000000000000000000000000..d69bcb4d6465fe204bd2d047d7261f7d2e5cef6e --- /dev/null +++ b/train/train534/0/rgb_1_mask_Chair|4|1|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:64944dcb4b6ab4ac0e74767ec66bbca5806390228a42e34fafda25c32a3457af +size 361918 diff --git a/train/train534/0/rgb_1_mask_DiningTable|4|1|0.png b/train/train534/0/rgb_1_mask_DiningTable|4|1|0.png new file mode 100644 index 0000000000000000000000000000000000000000..02486310939668d046bdf5c4e4a973565be3f51b --- /dev/null +++ b/train/train534/0/rgb_1_mask_DiningTable|4|1|0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:db8be33db31dc22e7c39f7f011235400313fbe087ad29374d2e252bd49ff405a +size 382291 diff --git a/train/train534/0/rgb_1_mask_Fridge|2|1.png b/train/train534/0/rgb_1_mask_Fridge|2|1.png new file mode 100644 index 0000000000000000000000000000000000000000..8d9bf571e60a4b450b4a502fc33f367136c2e7fb --- /dev/null +++ b/train/train534/0/rgb_1_mask_Fridge|2|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d4d9e9c6dec1f183808b161c4496f1e127480b145dc4829dd87d7992486a91d6 +size 397824 diff --git a/train/train534/0/semantic_0.png b/train/train534/0/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..6d22527bfad6713383c87e218b7049f3101991a5 Binary files /dev/null and b/train/train534/0/semantic_0.png differ diff --git a/train/train534/0/semantic_1.png b/train/train534/0/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..e99d41d06754c296c35b90dcc4d537218c79d18b Binary files /dev/null and b/train/train534/0/semantic_1.png differ diff --git a/train/train534/1/0.json b/train/train534/1/0.json new file mode 100644 index 0000000000000000000000000000000000000000..10a5bf422cc7b1a330ceacb6403d3e2aa6af0aaa --- /dev/null +++ b/train/train534/1/0.json @@ -0,0 +1,3501 @@ +{ + "object": [ + { + "objectId": "Bed|8|0|0", + "object_info": { + "name": "Bed|8|0|0", + "position": { + "x": 1.1693596839904785, + "y": 0.0013431310653686523, + "z": 11.00014591217041 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": true, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "Pillow|8|0|2", + "AlarmClock|surface|8|46", + "Pillow|8|0|1" + ], + "distance": 5.629752159118652, + "objectType": "Bed", + "objectId": "Bed|8|0|0", + "assetId": "Bed_14", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.4283604621887207, + 0.7266330718994141, + 11.697378158569336 + ], + [ + 2.4283604621887207, + 0.7266330718994141, + 10.300910949707031 + ], + [ + 2.4283604621887207, + 0.0, + 11.697378158569336 + ], + [ + 2.4283604621887207, + 0.0, + 10.300910949707031 + ], + [ + 0.024999618530273438, + 0.7266330718994141, + 11.697378158569336 + ], + [ + 0.024999618530273438, + 0.7266330718994141, + 10.300910949707031 + ], + [ + 0.024999618530273438, + 0.0, + 11.697378158569336 + ], + [ + 0.024999618530273438, + 0.0, + 10.300910949707031 + ] + ], + "center": { + "x": 1.226680040359497, + "y": 0.36331653594970703, + "z": 10.999144554138184 + }, + "size": { + "x": 2.4033608436584473, + "y": 0.7266330718994141, + "z": 1.3964672088623047 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.4283604621887207, + 0.0, + 10.300910949707031 + ], + [ + 2.4283604621887207, + 0.0, + 11.697378158569336 + ], + [ + 0.02499985694885254, + 0.0, + 11.697378158569336 + ], + [ + 0.02499985694885254, + 0.0, + 10.300910949707031 + ], + [ + 2.4283604621887207, + 0.7266329526901245, + 10.300910949707031 + ], + [ + 2.4283604621887207, + 0.7266329526901245, + 11.697378158569336 + ], + [ + 0.02499985694885254, + 0.7266329526901245, + 11.697378158569336 + ], + [ + 0.02499985694885254, + 0.7266329526901245, + 10.300910949707031 + ] + ] + } + } + }, + { + "objectId": "Bed|10|0", + "object_info": { + "name": "Bed|10|0", + "position": { + "x": 1.039721131324768, + "y": 0.0003058016300201416, + "z": 15.716161727905273 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "Book|surface|10|51", + "Pillow|surface|10|53" + ], + "distance": 9.74522876739502, + "objectType": "Bed", + "objectId": "Bed|10|0", + "assetId": "Bed_13", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.0981407165527344, + 0.834065318107605, + 16.380998611450195 + ], + [ + 2.0981407165527344, + 0.834065318107605, + 15.053764343261719 + ], + [ + 2.0981407165527344, + 0.0, + 16.380998611450195 + ], + [ + 2.0981407165527344, + 0.0, + 15.053764343261719 + ], + [ + 0.02499973773956299, + 0.834065318107605, + 16.380998611450195 + ], + [ + 0.02499973773956299, + 0.834065318107605, + 15.053764343261719 + ], + [ + 0.02499973773956299, + 0.0, + 16.380998611450195 + ], + [ + 0.02499973773956299, + 0.0, + 15.053764343261719 + ] + ], + "center": { + "x": 1.0615702867507935, + "y": 0.4170326590538025, + "z": 15.717381477355957 + }, + "size": { + "x": 2.073141098022461, + "y": 0.834065318107605, + "z": 1.3272342681884766 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.0981407165527344, + -2.9802322387695312e-08, + 15.053763389587402 + ], + [ + 2.0981407165527344, + -2.9802322387695312e-08, + 16.381000518798828 + ], + [ + 0.02499997615814209, + -2.9802322387695312e-08, + 16.381000518798828 + ], + [ + 0.02499973773956299, + -2.9802322387695312e-08, + 15.053763389587402 + ], + [ + 2.0981407165527344, + 0.8340650796890259, + 15.053763389587402 + ], + [ + 2.0981407165527344, + 0.8340650796890259, + 16.381000518798828 + ], + [ + 0.02499997615814209, + 0.8340650796890259, + 16.381000518798828 + ], + [ + 0.02499973773956299, + 0.8340650796890259, + 15.053763389587402 + ] + ] + } + } + }, + { + "objectId": "Desk|8|2", + "object_info": { + "name": "Desk|8|2", + "position": { + "x": 5.171388149261475, + "y": 0.0018622875213623047, + "z": 8.43557071685791 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 45.0, + "salientMaterials": [ + "Wood", + "Plastic" + ], + "receptacleObjectIds": [ + "CD|surface|8|42", + "Pen|surface|8|41", + "Book|surface|8|44", + "Laptop|surface|8|49" + ], + "distance": 1.9563140869140625, + "objectType": "Desk", + "objectId": "Desk|8|2", + "assetId": "Desk_316_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.126389503479004, + 0.6948482990264893, + 9.69826889038086 + ], + [ + 6.126389503479004, + 0.6948482990264893, + 7.169990539550781 + ], + [ + 6.126389503479004, + -4.976987838745117e-06, + 9.69826889038086 + ], + [ + 6.126389503479004, + -4.976987838745117e-06, + 7.169990539550781 + ], + [ + 4.20938777923584, + 0.6948482990264893, + 9.69826889038086 + ], + [ + 4.20938777923584, + 0.6948482990264893, + 7.169990539550781 + ], + [ + 4.20938777923584, + -4.976987838745117e-06, + 9.69826889038086 + ], + [ + 4.20938777923584, + -4.976987838745117e-06, + 7.169990539550781 + ] + ], + "center": { + "x": 5.167888641357422, + "y": 0.34742167592048645, + "z": 8.43412971496582 + }, + "size": { + "x": 1.917001724243164, + "y": 0.6948533058166504, + "z": 2.528278350830078 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.20938777923584, + -4.559755325317383e-06, + 9.698270797729492 + ], + [ + 4.209388256072998, + -4.559755325317383e-06, + 7.1699910163879395 + ], + [ + 6.1263885498046875, + -4.559755325317383e-06, + 7.169991493225098 + ], + [ + 6.126388072967529, + -4.559755325317383e-06, + 9.698270797729492 + ], + [ + 4.20938777923584, + 0.6948479413986206, + 9.698270797729492 + ], + [ + 4.209388256072998, + 0.6948479413986206, + 7.1699910163879395 + ], + [ + 6.1263885498046875, + 0.6948479413986206, + 7.169991493225098 + ], + [ + 6.126388072967529, + 0.6948479413986206, + 9.698270797729492 + ] + ] + } + } + }, + { + "objectId": "Desk|8|2___0", + "object_info": { + "name": "Shelf", + "position": { + "x": 4.458556175231934, + "y": 0.5581046938896179, + "z": 9.43453598022461 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.7219936847686768, + "objectType": "Shelf", + "objectId": "Desk|8|2___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.656710624694824, + 0.6418635845184326, + 9.619237899780273 + ], + [ + 4.656710624694824, + 0.6418635845184326, + 9.249834060668945 + ], + [ + 4.656710624694824, + 0.4743458032608032, + 9.619237899780273 + ], + [ + 4.656710624694824, + 0.4743458032608032, + 9.249834060668945 + ], + [ + 4.260401725769043, + 0.6418635845184326, + 9.619237899780273 + ], + [ + 4.260401725769043, + 0.6418635845184326, + 9.249834060668945 + ], + [ + 4.260401725769043, + 0.4743458032608032, + 9.619237899780273 + ], + [ + 4.260401725769043, + 0.4743458032608032, + 9.249834060668945 + ] + ], + "center": { + "x": 4.458556175231934, + "y": 0.5581046938896179, + "z": 9.43453598022461 + }, + "size": { + "x": 0.39630889892578125, + "y": 0.1675177812576294, + "z": 0.3694038391113281 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Television|8|4|1", + "object_info": { + "name": "Television|8|4|1", + "position": { + "x": 3.69999098777771, + "y": 0.9854781627655029, + "z": 11.995824813842773 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.3505449295043945, + "objectType": "Television", + "objectId": "Television|8|4|1", + "assetId": "Television_3", + "parentReceptacles": [ + "Floor", + "TVStand|8|4|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.345638275146484, + 1.3736011981964111, + 12.002532958984375 + ], + [ + 4.345638275146484, + 1.3736011981964111, + 11.92562484741211 + ], + [ + 4.345638275146484, + 0.5935400724411011, + 12.002532958984375 + ], + [ + 4.345638275146484, + 0.5935400724411011, + 11.92562484741211 + ], + [ + 3.0543437004089355, + 1.3736011981964111, + 12.002532958984375 + ], + [ + 3.0543437004089355, + 1.3736011981964111, + 11.92562484741211 + ], + [ + 3.0543437004089355, + 0.5935400724411011, + 12.002532958984375 + ], + [ + 3.0543437004089355, + 0.5935400724411011, + 11.92562484741211 + ] + ], + "center": { + "x": 3.69999098777771, + "y": 0.9835706353187561, + "z": 11.964078903198242 + }, + "size": { + "x": 1.2912945747375488, + "y": 0.7800611257553101, + "z": 0.07690811157226562 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TissueBox|surface|8|40", + "object_info": { + "name": "TissueBox|surface|8|40", + "position": { + "x": 4.192534923553467, + "y": 0.08838467299938202, + "z": 11.891044616699219 + }, + "rotation": { + "x": 9.933490218827501e-06, + "y": 270.0, + "z": -6.31123566563474e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.3499999940395355, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 5.234639644622803, + "objectType": "TissueBox", + "objectId": "TissueBox|surface|8|40", + "assetId": "Tissue_Box_1", + "parentReceptacles": [ + "Floor", + "TVStand|8|4|0___1" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.243291854858398, + 0.23737308382987976, + 11.990455627441406 + ], + [ + 4.243291854858398, + 0.23737308382987976, + 11.791633605957031 + ], + [ + 4.243291854858398, + 0.08734139800071716, + 11.990455627441406 + ], + [ + 4.243291854858398, + 0.08734139800071716, + 11.791633605957031 + ], + [ + 4.141777992248535, + 0.23737308382987976, + 11.990455627441406 + ], + [ + 4.141777992248535, + 0.23737308382987976, + 11.791633605957031 + ], + [ + 4.141777992248535, + 0.08734139800071716, + 11.990455627441406 + ], + [ + 4.141777992248535, + 0.08734139800071716, + 11.791633605957031 + ] + ], + "center": { + "x": 4.192534923553467, + "y": 0.16235724091529846, + "z": 11.891044616699219 + }, + "size": { + "x": 0.10151386260986328, + "y": 0.1500316858291626, + "z": 0.198822021484375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.141777515411377, + 0.08734124153852463, + 11.990455627441406 + ], + [ + 4.141777515411377, + 0.08734126389026642, + 11.791633605957031 + ], + [ + 4.243291854858398, + 0.08734128624200821, + 11.791633605957031 + ], + [ + 4.243291854858398, + 0.08734126389026642, + 11.990455627441406 + ], + [ + 4.141777515411377, + 0.23737309873104095, + 11.990455627441406 + ], + [ + 4.141777515411377, + 0.23737312853336334, + 11.791633605957031 + ], + [ + 4.243291854858398, + 0.23737315833568573, + 11.791633605957031 + ], + [ + 4.243291854858398, + 0.23737312853336334, + 11.990455627441406 + ] + ] + } + } + }, + { + "objectId": "Pillow|8|0|1", + "object_info": { + "name": "Pillow|8|0|1", + "position": { + "x": 0.4326000511646271, + "y": 0.6531188488006592, + "z": 11.253528594970703 + }, + "rotation": { + "x": 4.0773781506686646e-07, + "y": 90.00000762939453, + "z": 3.7596305446641054e-07 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 6.243649482727051, + "objectType": "Pillow", + "objectId": "Pillow|8|0|1", + "assetId": "pillow_17", + "parentReceptacles": [ + "Bed|8|0|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.5878010988235474, + 0.7056188583374023, + 11.45791244506836 + ], + [ + 0.5878010988235474, + 0.7056188583374023, + 11.049144744873047 + ], + [ + 0.5878010988235474, + 0.5995187759399414, + 11.45791244506836 + ], + [ + 0.5878010988235474, + 0.5995187759399414, + 11.049144744873047 + ], + [ + 0.27499955892562866, + 0.7056188583374023, + 11.45791244506836 + ], + [ + 0.27499955892562866, + 0.7056188583374023, + 11.049144744873047 + ], + [ + 0.27499955892562866, + 0.5995187759399414, + 11.45791244506836 + ], + [ + 0.27499955892562866, + 0.5995187759399414, + 11.049144744873047 + ] + ], + "center": { + "x": 0.431400328874588, + "y": 0.6525688171386719, + "z": 11.253528594970703 + }, + "size": { + "x": 0.3128015398979187, + "y": 0.10610008239746094, + "z": 0.4087677001953125 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.5878009796142578, + 0.5995188355445862, + 11.049144744873047 + ], + [ + 0.5878010988235474, + 0.5995188355445862, + 11.45791244506836 + ], + [ + 0.2749997079372406, + 0.5995188355445862, + 11.45791244506836 + ], + [ + 0.27499955892562866, + 0.5995188355445862, + 11.049144744873047 + ], + [ + 0.5878009796142578, + 0.7056188583374023, + 11.049144744873047 + ], + [ + 0.5878010988235474, + 0.7056188583374023, + 11.45791244506836 + ], + [ + 0.2749997079372406, + 0.7056188583374023, + 11.45791244506836 + ], + [ + 0.27499955892562866, + 0.7056188583374023, + 11.049144744873047 + ] + ] + } + } + }, + { + "objectId": "door|8|9", + "object_info": { + "name": "door|8|9", + "position": { + "x": 6.1519999504089355, + "y": -0.0021260976791381836, + "z": 9.864584922790527 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.532970428466797, + "objectType": "Doorway", + "objectId": "door|8|9", + "assetId": "Doorway_Double_7", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.221621036529541, + 2.09407377243042, + 11.834157943725586 + ], + [ + 6.221621036529541, + 2.09407377243042, + 9.829507827758789 + ], + [ + 6.221621036529541, + -0.0015277862548828125, + 11.834157943725586 + ], + [ + 6.221621036529541, + -0.0015277862548828125, + 9.829507827758789 + ], + [ + 5.237067699432373, + 2.09407377243042, + 11.834157943725586 + ], + [ + 5.237067699432373, + 2.09407377243042, + 9.829507827758789 + ], + [ + 5.237067699432373, + -0.0015277862548828125, + 11.834157943725586 + ], + [ + 5.237067699432373, + -0.0015277862548828125, + 9.829507827758789 + ] + ], + "center": { + "x": 5.729344367980957, + "y": 1.0462729930877686, + "z": 10.831832885742188 + }, + "size": { + "x": 0.984553337097168, + "y": 2.0956015586853027, + "z": 2.004650115966797 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|8|10", + "object_info": { + "name": "door|8|10", + "position": { + "x": 0.11540400981903076, + "y": -0.0005984306335449219, + "z": 12.304997444152832 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 7.29042911529541, + "objectType": "Doorway", + "objectId": "door|8|10", + "assetId": "Doorway_Double_4", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.1300551891326904, + 2.1049132347106934, + 13.223016738891602 + ], + [ + 2.1300551891326904, + 2.1049132347106934, + 12.234426498413086 + ], + [ + 2.1300551891326904, + -2.384185791015625e-07, + 13.223016738891602 + ], + [ + 2.1300551891326904, + -2.384185791015625e-07, + 12.234426498413086 + ], + [ + 0.09113383293151855, + 2.1049132347106934, + 13.223016738891602 + ], + [ + 0.09113383293151855, + 2.1049132347106934, + 12.234426498413086 + ], + [ + 0.09113383293151855, + -2.384185791015625e-07, + 13.223016738891602 + ], + [ + 0.09113383293151855, + -2.384185791015625e-07, + 12.234426498413086 + ] + ], + "center": { + "x": 1.1105945110321045, + "y": 1.0524564981460571, + "z": 12.728721618652344 + }, + "size": { + "x": 2.038921356201172, + "y": 2.1049134731292725, + "z": 0.9885902404785156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "BaseballBat|surface|8|39", + "object_info": { + "name": "BaseballBat|surface|8|39", + "position": { + "x": 0.6274211406707764, + "y": 0.16067519783973694, + "z": 9.966955184936523 + }, + "rotation": { + "x": 359.920166015625, + "y": 171.89205932617188, + "z": 297.28564453125 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.8999999761581421, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 5.281338214874268, + "objectType": "BaseballBat", + "objectId": "BaseballBat|surface|8|39", + "assetId": "BaseballBat_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.8929065465927124, + 0.5113922357559204, + 10.048044204711914 + ], + [ + 0.8929065465927124, + 0.5113922357559204, + 9.83456802368164 + ], + [ + 0.8929065465927124, + -4.6133995056152344e-05, + 10.048044204711914 + ], + [ + 0.8929065465927124, + -4.6133995056152344e-05, + 9.83456802368164 + ], + [ + -2.6106834411621094e-05, + 0.5113922357559204, + 10.048044204711914 + ], + [ + -2.6106834411621094e-05, + 0.5113922357559204, + 9.83456802368164 + ], + [ + -2.6106834411621094e-05, + -4.6133995056152344e-05, + 10.048044204711914 + ], + [ + -2.6106834411621094e-05, + -4.6133995056152344e-05, + 9.83456802368164 + ] + ], + "center": { + "x": 0.4464402198791504, + "y": 0.25567305088043213, + "z": 9.941306114196777 + }, + "size": { + "x": 0.892932653427124, + "y": 0.5114383697509766, + "z": 0.21347618103027344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.8562569618225098, + 7.346272468566895e-05, + 9.954139709472656 + ], + [ + 0.892906665802002, + 0.07186964154243469, + 9.95946216583252 + ], + [ + 0.8802871704101562, + 0.07174494862556458, + 10.048043251037598 + ], + [ + 0.8436374664306641, + -5.123019218444824e-05, + 10.04272174835205 + ], + [ + 0.012593507766723633, + 0.43960124254226685, + 9.83456802368164 + ], + [ + 0.04924321174621582, + 0.5113974213600159, + 9.839890480041504 + ], + [ + 0.03662371635437012, + 0.5112727284431458, + 9.928471565246582 + ], + [ + -2.5987625122070312e-05, + 0.43947654962539673, + 9.923149108886719 + ] + ] + } + } + }, + { + "objectId": "BasketBall|8|5", + "object_info": { + "name": "BasketBall|8|5", + "position": { + "x": 3.415175437927246, + "y": 0.11968711763620377, + "z": 9.716373443603516 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6000000238418579, + "salientMaterials": [ + "Rubber" + ], + "receptacleObjectIds": null, + "distance": 3.345381498336792, + "objectType": "BasketBall", + "objectId": "BasketBall|8|5", + "assetId": "RoboTHOR_basketball_rhode_island_novelty_v", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.534862518310547, + 0.23937422037124634, + 9.836060523986816 + ], + [ + 3.534862518310547, + 0.23937422037124634, + 9.596686363220215 + ], + [ + 3.534862518310547, + 1.4901161193847656e-08, + 9.836060523986816 + ], + [ + 3.534862518310547, + 1.4901161193847656e-08, + 9.596686363220215 + ], + [ + 3.2954883575439453, + 0.23937422037124634, + 9.836060523986816 + ], + [ + 3.2954883575439453, + 0.23937422037124634, + 9.596686363220215 + ], + [ + 3.2954883575439453, + 1.4901161193847656e-08, + 9.836060523986816 + ], + [ + 3.2954883575439453, + 1.4901161193847656e-08, + 9.596686363220215 + ] + ], + "center": { + "x": 3.415175437927246, + "y": 0.11968711763620377, + "z": 9.716373443603516 + }, + "size": { + "x": 0.23937416076660156, + "y": 0.23937420547008514, + "z": 0.23937416076660156 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.2954883575439453, + 1.4901161193847656e-08, + 9.596686363220215 + ], + [ + 3.534862518310547, + 1.4901161193847656e-08, + 9.596686363220215 + ], + [ + 3.534862518310547, + 1.4901161193847656e-08, + 9.836060523986816 + ], + [ + 3.2954883575439453, + 1.4901161193847656e-08, + 9.836060523986816 + ], + [ + 3.2954883575439453, + 0.23937422037124634, + 9.596686363220215 + ], + [ + 3.534862518310547, + 0.23937422037124634, + 9.596686363220215 + ], + [ + 3.534862518310547, + 0.23937422037124634, + 9.836060523986816 + ], + [ + 3.2954883575439453, + 0.23937422037124634, + 9.836060523986816 + ] + ] + } + } + }, + { + "objectId": "Pen|surface|8|41", + "object_info": { + "name": "Pen|surface|8|41", + "position": { + "x": 5.058546543121338, + "y": 0.7004931569099426, + "z": 9.65007209777832 + }, + "rotation": { + "x": 5.0544193072710186e-05, + "y": 270.0, + "z": 0.006444811355322599 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Plastic", + "Metal" + ], + "receptacleObjectIds": null, + "distance": 2.9233238697052, + "objectType": "Pen", + "objectId": "Pen|surface|8|41", + "assetId": "Pen_3", + "parentReceptacles": [ + "Desk|8|2", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.151985168457031, + 0.7061380743980408, + 9.655716896057129 + ], + [ + 5.151985168457031, + 0.7061380743980408, + 9.644427299499512 + ], + [ + 5.151985168457031, + 0.6948482394218445, + 9.655716896057129 + ], + [ + 5.151985168457031, + 0.6948482394218445, + 9.644427299499512 + ], + [ + 4.952147483825684, + 0.7061380743980408, + 9.655716896057129 + ], + [ + 4.952147483825684, + 0.7061380743980408, + 9.644427299499512 + ], + [ + 4.952147483825684, + 0.6948482394218445, + 9.655716896057129 + ], + [ + 4.952147483825684, + 0.6948482394218445, + 9.644427299499512 + ] + ], + "center": { + "x": 5.052066326141357, + "y": 0.7004931569099426, + "z": 9.65007209777832 + }, + "size": { + "x": 0.19983768463134766, + "y": 0.011289834976196289, + "z": 0.011289596557617188 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.952147483825684, + 0.6948488354682922, + 9.655717849731445 + ], + [ + 4.952147483825684, + 0.694847583770752, + 9.644427299499512 + ], + [ + 5.1519856452941895, + 0.6948477625846863, + 9.644427299499512 + ], + [ + 5.1519856452941895, + 0.6948490142822266, + 9.655717849731445 + ], + [ + 4.952147483825684, + 0.706138551235199, + 9.655716896057129 + ], + [ + 4.952147483825684, + 0.7061372995376587, + 9.644426345825195 + ], + [ + 5.1519856452941895, + 0.706137478351593, + 9.644426345825195 + ], + [ + 5.1519856452941895, + 0.7061387300491333, + 9.655716896057129 + ] + ] + } + } + }, + { + "objectId": "TVStand|8|4|0___0", + "object_info": { + "name": "Shelf (3)", + "position": { + "x": 3.6999917030334473, + "y": 0.33361825346946716, + "z": 11.964078903198242 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "CreditCard|surface|8|43" + ], + "distance": 5.348930358886719, + "objectType": "Shelf", + "objectId": "TVStand|8|4|0___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.369781494140625, + 0.5477637052536011, + 12.25909423828125 + ], + [ + 4.369781494140625, + 0.5477637052536011, + 11.669063568115234 + ], + [ + 4.369781494140625, + 0.33351629972457886, + 12.25909423828125 + ], + [ + 4.369781494140625, + 0.33351629972457886, + 11.669063568115234 + ], + [ + 3.0302019119262695, + 0.5477637052536011, + 12.25909423828125 + ], + [ + 3.0302019119262695, + 0.5477637052536011, + 11.669063568115234 + ], + [ + 3.0302019119262695, + 0.33351629972457886, + 12.25909423828125 + ], + [ + 3.0302019119262695, + 0.33351629972457886, + 11.669063568115234 + ] + ], + "center": { + "x": 3.6999917030334473, + "y": 0.44064000248908997, + "z": 11.964078903198242 + }, + "size": { + "x": 1.3395795822143555, + "y": 0.21424740552902222, + "z": 0.5900306701660156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Pillow|surface|10|53", + "object_info": { + "name": "Pillow|surface|10|53", + "position": { + "x": 0.5592759251594543, + "y": 0.5951461791992188, + "z": 15.42216968536377 + }, + "rotation": { + "x": -2.3909933588583954e-06, + "y": 180.00003051757812, + "z": -4.176269158051582e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 9.636506080627441, + "objectType": "Pillow", + "objectId": "Pillow|surface|10|53", + "assetId": "pillow_1", + "parentReceptacles": [ + "Bed|10|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.8252037763595581, + 0.6503078937530518, + 15.577750205993652 + ], + [ + 0.8252037763595581, + 0.6503078937530518, + 15.266589164733887 + ], + [ + 0.8252037763595581, + 0.524630069732666, + 15.577750205993652 + ], + [ + 0.8252037763595581, + 0.524630069732666, + 15.266589164733887 + ], + [ + 0.2934669256210327, + 0.6503078937530518, + 15.577750205993652 + ], + [ + 0.2934669256210327, + 0.6503078937530518, + 15.266589164733887 + ], + [ + 0.2934669256210327, + 0.524630069732666, + 15.577750205993652 + ], + [ + 0.2934669256210327, + 0.524630069732666, + 15.266589164733887 + ] + ], + "center": { + "x": 0.5593353509902954, + "y": 0.5874689817428589, + "z": 15.42216968536377 + }, + "size": { + "x": 0.5317368507385254, + "y": 0.12567782402038574, + "z": 0.3111610412597656 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.2934668958187103, + 0.524630069732666, + 15.266589164733887 + ], + [ + 0.8252036571502686, + 0.5246301293373108, + 15.266589164733887 + ], + [ + 0.8252037763595581, + 0.5246301293373108, + 15.577750205993652 + ], + [ + 0.29346707463264465, + 0.524630069732666, + 15.577750205993652 + ], + [ + 0.2934668958187103, + 0.6503078937530518, + 15.266589164733887 + ], + [ + 0.8252036571502686, + 0.6503078937530518, + 15.266589164733887 + ], + [ + 0.8252037763595581, + 0.6503078937530518, + 15.577750205993652 + ], + [ + 0.29346707463264465, + 0.650307834148407, + 15.577750205993652 + ] + ] + } + } + }, + { + "objectId": "CreditCard|surface|8|43", + "object_info": { + "name": "CreditCard|surface|8|43", + "position": { + "x": 3.36313533782959, + "y": 0.3380860686302185, + "z": 11.818588256835938 + }, + "rotation": { + "x": 0.00023801486531738192, + "y": 270.0000915527344, + "z": -0.0003779786638915539 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.284964561462402, + "objectType": "CreditCard", + "objectId": "CreditCard|surface|8|43", + "assetId": "CreditCard_2", + "parentReceptacles": [ + "Floor", + "TVStand|8|4|0___0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.390134572982788, + 0.34223127365112305, + 11.86167049407959 + ], + [ + 3.390134572982788, + 0.34223127365112305, + 11.775506019592285 + ], + [ + 3.390134572982788, + 0.3377408981323242, + 11.86167049407959 + ], + [ + 3.390134572982788, + 0.3377408981323242, + 11.775506019592285 + ], + [ + 3.3361361026763916, + 0.34223127365112305, + 11.86167049407959 + ], + [ + 3.3361361026763916, + 0.34223127365112305, + 11.775506019592285 + ], + [ + 3.3361361026763916, + 0.3377408981323242, + 11.86167049407959 + ], + [ + 3.3361361026763916, + 0.3377408981323242, + 11.775506019592285 + ] + ], + "center": { + "x": 3.36313533782959, + "y": 0.33998608589172363, + "z": 11.818588256835938 + }, + "size": { + "x": 0.053998470306396484, + "y": 0.004490375518798828, + "z": 0.08616447448730469 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.3361361026763916, + 0.3377408981323242, + 11.86167049407959 + ], + [ + 3.3361361026763916, + 0.3377414643764496, + 11.775506019592285 + ], + [ + 3.390134572982788, + 0.3377417027950287, + 11.775506019592285 + ], + [ + 3.390134572982788, + 0.3377411365509033, + 11.86167049407959 + ], + [ + 3.3361361026763916, + 0.3422304689884186, + 11.86167049407959 + ], + [ + 3.3361361026763916, + 0.34223103523254395, + 11.775506019592285 + ], + [ + 3.390134572982788, + 0.34223127365112305, + 11.775506019592285 + ], + [ + 3.390134572982788, + 0.3422307074069977, + 11.86167049407959 + ] + ] + } + } + }, + { + "objectId": "HousePlant|surface|8|47", + "object_info": { + "name": "HousePlant|surface|8|47", + "position": { + "x": 3.69999098777771, + "y": 0.5935415029525757, + "z": 11.886411666870117 + }, + "rotation": { + "x": -4.086139142600587e-06, + "y": 90.0000228881836, + "z": 7.611060937051661e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 3.0, + "salientMaterials": [ + "Ceramic", + "Organic" + ], + "receptacleObjectIds": null, + "distance": 5.251645088195801, + "objectType": "HousePlant", + "objectId": "HousePlant|surface|8|47", + "assetId": "RoboTHOR_houseplant_ai2_2_v", + "parentReceptacles": [ + "Floor", + "TVStand|8|4|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.7351715564727783, + 0.7203415632247925, + 11.92216682434082 + ], + [ + 3.7351715564727783, + 0.7203415632247925, + 11.848112106323242 + ], + [ + 3.7351715564727783, + 0.5935415029525757, + 11.92216682434082 + ], + [ + 3.7351715564727783, + 0.5935415029525757, + 11.848112106323242 + ], + [ + 3.6648104190826416, + 0.7203415632247925, + 11.92216682434082 + ], + [ + 3.6648104190826416, + 0.7203415632247925, + 11.848112106323242 + ], + [ + 3.6648104190826416, + 0.5935415029525757, + 11.92216682434082 + ], + [ + 3.6648104190826416, + 0.5935415029525757, + 11.848112106323242 + ] + ], + "center": { + "x": 3.69999098777771, + "y": 0.6569415330886841, + "z": 11.885139465332031 + }, + "size": { + "x": 0.07036113739013672, + "y": 0.12680000066757202, + "z": 0.07405567169189453 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.735171318054199, + 0.5935415029525757, + 11.848112106323242 + ], + [ + 3.7351715564727783, + 0.5935415029525757, + 11.922167778015137 + ], + [ + 3.6648106575012207, + 0.5935415029525757, + 11.922167778015137 + ], + [ + 3.6648104190826416, + 0.5935415029525757, + 11.848112106323242 + ], + [ + 3.735171318054199, + 0.7203415036201477, + 11.848112106323242 + ], + [ + 3.7351715564727783, + 0.7203415036201477, + 11.922167778015137 + ], + [ + 3.6648106575012207, + 0.7203415036201477, + 11.922167778015137 + ], + [ + 3.6648104190826416, + 0.7203415036201477, + 11.848112106323242 + ] + ] + } + } + }, + { + "objectId": "TVStand|8|4|0___1", + "object_info": { + "name": "Shelf (4)", + "position": { + "x": 3.700188636779785, + "y": 0.08259887993335724, + "z": 11.964078903198242 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "TissueBox|surface|8|40" + ], + "distance": 5.38131046295166, + "objectType": "Shelf", + "objectId": "TVStand|8|4|0___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.369977951049805, + 0.2924346923828125, + 12.259093284606934 + ], + [ + 4.369977951049805, + 0.2924346923828125, + 11.66906452178955 + ], + [ + 4.369977951049805, + 0.08249694108963013, + 12.259093284606934 + ], + [ + 4.369977951049805, + 0.08249694108963013, + 11.66906452178955 + ], + [ + 3.0303993225097656, + 0.2924346923828125, + 12.259093284606934 + ], + [ + 3.0303993225097656, + 0.2924346923828125, + 11.66906452178955 + ], + [ + 3.0303993225097656, + 0.08249694108963013, + 12.259093284606934 + ], + [ + 3.0303993225097656, + 0.08249694108963013, + 11.66906452178955 + ] + ], + "center": { + "x": 3.700188636779785, + "y": 0.1874658167362213, + "z": 11.964078903198242 + }, + "size": { + "x": 1.339578628540039, + "y": 0.20993775129318237, + "z": 0.5900287628173828 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "AlarmClock|surface|8|46", + "object_info": { + "name": "AlarmClock|surface|8|46", + "position": { + "x": 1.2133268117904663, + "y": 0.6045764684677124, + "z": 11.482192993164062 + }, + "rotation": { + "x": 1.4038121207704535e-06, + "y": 90.0, + "z": -1.020457375489059e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.800000011920929, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 5.91519832611084, + "objectType": "AlarmClock", + "objectId": "AlarmClock|surface|8|46", + "assetId": "Alarm_Clock_26", + "parentReceptacles": [ + "Bed|8|0|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.2645089626312256, + 0.7852765321731567, + 11.563743591308594 + ], + [ + 1.2645089626312256, + 0.7852765321731567, + 11.400642395019531 + ], + [ + 1.2645089626312256, + 0.6038821935653687, + 11.563743591308594 + ], + [ + 1.2645089626312256, + 0.6038821935653687, + 11.400642395019531 + ], + [ + 1.162458896636963, + 0.7852765321731567, + 11.563743591308594 + ], + [ + 1.162458896636963, + 0.7852765321731567, + 11.400642395019531 + ], + [ + 1.162458896636963, + 0.6038821935653687, + 11.563743591308594 + ], + [ + 1.162458896636963, + 0.6038821935653687, + 11.400642395019531 + ] + ], + "center": { + "x": 1.2134839296340942, + "y": 0.6945793628692627, + "z": 11.482192993164062 + }, + "size": { + "x": 0.1020500659942627, + "y": 0.1813942790031433, + "z": 0.1631011962890625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.2645094394683838, + 0.6038811802864075, + 11.400641441345215 + ], + [ + 1.2645094394683838, + 0.6038811802864075, + 11.56374454498291 + ], + [ + 1.1624586582183838, + 0.6038811802864075, + 11.56374454498291 + ], + [ + 1.1624586582183838, + 0.6038811802864075, + 11.400641441345215 + ], + [ + 1.2645094394683838, + 0.785276472568512, + 11.400641441345215 + ], + [ + 1.2645094394683838, + 0.785276472568512, + 11.56374454498291 + ], + [ + 1.1624586582183838, + 0.785276472568512, + 11.56374454498291 + ], + [ + 1.1624586582183838, + 0.785276472568512, + 11.400641441345215 + ] + ] + } + } + }, + { + "objectId": "Laptop|surface|8|49", + "object_info": { + "name": "Laptop|surface|8|49", + "position": { + "x": 5.845492362976074, + "y": 0.6948482990264893, + "z": 8.501824378967285 + }, + "rotation": { + "x": 8.537737699043646e-07, + "y": 7.806301255186554e-06, + "z": -1.681661160546355e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 0.30363672971725464, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 2.299999952316284, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 2.0764129161834717, + "objectType": "Laptop", + "objectId": "Laptop|surface|8|49", + "assetId": "Laptop_2", + "parentReceptacles": [ + "Desk|8|2", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.022186756134033, + 0.8448636531829834, + 8.645284652709961 + ], + [ + 6.022186756134033, + 0.8448636531829834, + 8.36271858215332 + ], + [ + 6.022186756134033, + 0.6948482990264893, + 8.645284652709961 + ], + [ + 6.022186756134033, + 0.6948482990264893, + 8.36271858215332 + ], + [ + 5.668797969818115, + 0.8448636531829834, + 8.645284652709961 + ], + [ + 5.668797969818115, + 0.8448636531829834, + 8.36271858215332 + ], + [ + 5.668797969818115, + 0.6948482990264893, + 8.645284652709961 + ], + [ + 5.668797969818115, + 0.6948482990264893, + 8.36271858215332 + ] + ], + "center": { + "x": 5.845492362976074, + "y": 0.7698559761047363, + "z": 8.50400161743164 + }, + "size": { + "x": 0.35338878631591797, + "y": 0.15001535415649414, + "z": 0.2825660705566406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.022186756134033, + 0.6948482990264893, + 8.645285606384277 + ], + [ + 5.668797969818115, + 0.6948482990264893, + 8.645285606384277 + ], + [ + 5.668797969818115, + 0.6948482990264893, + 8.36271858215332 + ], + [ + 6.022186756134033, + 0.6948482990264893, + 8.36271858215332 + ], + [ + 6.022186756134033, + 0.8448635935783386, + 8.645285606384277 + ], + [ + 5.668797969818115, + 0.8448635935783386, + 8.645285606384277 + ], + [ + 5.668797969818115, + 0.8448635935783386, + 8.36271858215332 + ], + [ + 6.022186756134033, + 0.8448635935783386, + 8.36271858215332 + ] + ] + } + } + }, + { + "objectId": "window|10|0", + "object_info": { + "name": "window|10|0", + "position": { + "x": 7.456660000570992e-07, + "y": 1.0646860599517822, + "z": 12.407532691955566 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 7.388975620269775, + "objectType": "Window", + "objectId": "window|10|0", + "assetId": "Window_Hung_48x32", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.12203670293092728, + 1.936255693435669, + 13.678718566894531 + ], + [ + 0.12203670293092728, + 1.936255693435669, + 12.406747817993164 + ], + [ + 0.12203670293092728, + 1.0637445449829102, + 13.678718566894531 + ], + [ + 0.12203670293092728, + 1.0637445449829102, + 12.406747817993164 + ], + [ + -0.12203680723905563, + 1.936255693435669, + 13.678718566894531 + ], + [ + -0.12203680723905563, + 1.936255693435669, + 12.406747817993164 + ], + [ + -0.12203680723905563, + 1.0637445449829102, + 13.678718566894531 + ], + [ + -0.12203680723905563, + 1.0637445449829102, + 12.406747817993164 + ] + ], + "center": { + "x": -5.21540641784668e-08, + "y": 1.5000001192092896, + "z": 13.042733192443848 + }, + "size": { + "x": 0.2440735101699829, + "y": 0.8725111484527588, + "z": 1.2719707489013672 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|8|1", + "object_info": { + "name": "Dresser|8|1", + "position": { + "x": 0.21858592331409454, + "y": -0.00011309981346130371, + "z": 9.337211608886719 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 5.295222282409668, + "objectType": "Dresser", + "objectId": "Dresser|8|1", + "assetId": "RoboTHOR_dresser_aspelund", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.4121735095977783, + 0.8201158046722412, + 9.83220100402832 + ], + [ + 0.4121735095977783, + 0.8201158046722412, + 8.842222213745117 + ], + [ + 0.4121735095977783, + 0.00011914968490600586, + 9.83220100402832 + ], + [ + 0.4121735095977783, + 0.00011914968490600586, + 8.842222213745117 + ], + [ + 0.024998337030410767, + 0.8201158046722412, + 9.83220100402832 + ], + [ + 0.024998337030410767, + 0.8201158046722412, + 8.842222213745117 + ], + [ + 0.024998337030410767, + 0.00011914968490600586, + 9.83220100402832 + ], + [ + 0.024998337030410767, + 0.00011914968490600586, + 8.842222213745117 + ] + ], + "center": { + "x": 0.21858592331409454, + "y": 0.4101174771785736, + "z": 9.337211608886719 + }, + "size": { + "x": 0.38717517256736755, + "y": 0.8199966549873352, + "z": 0.9899787902832031 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.41217321157455444, + 0.00011926889419555664, + 8.842223167419434 + ], + [ + 0.412173330783844, + 0.00011926889419555664, + 9.832200050354004 + ], + [ + 0.02499862015247345, + 0.00011926889419555664, + 9.832200050354004 + ], + [ + 0.0249985009431839, + 0.00011926889419555664, + 8.842223167419434 + ], + [ + 0.41217321157455444, + 0.820115327835083, + 8.842223167419434 + ], + [ + 0.412173330783844, + 0.820115327835083, + 9.832200050354004 + ], + [ + 0.02499862015247345, + 0.820115327835083, + 9.832200050354004 + ], + [ + 0.0249985009431839, + 0.820115327835083, + 8.842223167419434 + ] + ] + } + } + }, + { + "objectId": "Book|surface|8|44", + "object_info": { + "name": "Book|surface|8|44", + "position": { + "x": 5.797760009765625, + "y": 0.6953659057617188, + "z": 7.334192752838135 + }, + "rotation": { + "x": -0.000526796153280884, + "y": -0.00034581118961796165, + "z": 0.00023820478236302733 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 1.2171144485473633, + "objectType": "Book", + "objectId": "Book|surface|8|44", + "assetId": "RoboTHOR_book_ai2_2_v", + "parentReceptacles": [ + "Desk|8|2", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.894169807434082, + 0.7247844934463501, + 7.451348304748535 + ], + [ + 5.894169807434082, + 0.7247844934463501, + 7.217037200927734 + ], + [ + 5.894169807434082, + 0.6948479413986206, + 7.451348304748535 + ], + [ + 5.894169807434082, + 0.6948479413986206, + 7.217037200927734 + ], + [ + 5.701054573059082, + 0.7247844934463501, + 7.451348304748535 + ], + [ + 5.701054573059082, + 0.7247844934463501, + 7.217037200927734 + ], + [ + 5.701054573059082, + 0.6948479413986206, + 7.451348304748535 + ], + [ + 5.701054573059082, + 0.6948479413986206, + 7.217037200927734 + ] + ], + "center": { + "x": 5.797612190246582, + "y": 0.7098162174224854, + "z": 7.334192752838135 + }, + "size": { + "x": 0.193115234375, + "y": 0.029936552047729492, + "z": 0.23431110382080078 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.894168376922607, + 0.6948508620262146, + 7.451348781585693 + ], + [ + 5.701054096221924, + 0.6948500275611877, + 7.451347827911377 + ], + [ + 5.701055526733398, + 0.6948478817939758, + 7.217036724090576 + ], + [ + 5.894169807434082, + 0.6948486566543579, + 7.217038154602051 + ], + [ + 5.894168376922607, + 0.724784791469574, + 7.451348304748535 + ], + [ + 5.701054096221924, + 0.7247840166091919, + 7.451347351074219 + ], + [ + 5.701055526733398, + 0.72478187084198, + 7.217036724090576 + ], + [ + 5.894169807434082, + 0.7247826457023621, + 7.217037677764893 + ] + ] + } + } + }, + { + "objectId": "TVStand|8|4|0", + "object_info": { + "name": "TVStand|8|4|0", + "position": { + "x": 3.69999098777771, + "y": 0.0007930994033813477, + "z": 11.964078903198242 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": [ + "HousePlant|surface|8|47", + "Television|8|4|1" + ], + "distance": 5.3943963050842285, + "objectType": "TVStand", + "objectId": "TVStand|8|4|0", + "assetId": "TV_Stand_211_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.409902572631836, + 0.5935413837432861, + 12.279998779296875 + ], + [ + 4.409902572631836, + 0.5935413837432861, + 11.64815902709961 + ], + [ + 4.409902572631836, + 2.5033950805664062e-06, + 12.279998779296875 + ], + [ + 4.409902572631836, + 2.5033950805664062e-06, + 11.64815902709961 + ], + [ + 2.990079402923584, + 0.5935413837432861, + 12.279998779296875 + ], + [ + 2.990079402923584, + 0.5935413837432861, + 11.64815902709961 + ], + [ + 2.990079402923584, + 2.5033950805664062e-06, + 12.279998779296875 + ], + [ + 2.990079402923584, + 2.5033950805664062e-06, + 11.64815902709961 + ] + ], + "center": { + "x": 3.69999098777771, + "y": 0.29677194356918335, + "z": 11.964078903198242 + }, + "size": { + "x": 1.419823169708252, + "y": 0.5935388803482056, + "z": 0.6318397521972656 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.990079402923584, + 2.5033950805664062e-06, + 11.64815902709961 + ], + [ + 4.409902572631836, + 2.5033950805664062e-06, + 11.64815902709961 + ], + [ + 4.409902572631836, + 2.5033950805664062e-06, + 12.279998779296875 + ], + [ + 2.990079402923584, + 2.5033950805664062e-06, + 12.279998779296875 + ], + [ + 2.990079402923584, + 0.5935415029525757, + 11.64815902709961 + ], + [ + 4.409902572631836, + 0.5935415029525757, + 11.64815902709961 + ], + [ + 4.409902572631836, + 0.5935415029525757, + 12.279998779296875 + ], + [ + 2.990079402923584, + 0.5935415029525757, + 12.279998779296875 + ] + ] + } + } + }, + { + "objectId": "Pillow|8|0|2", + "object_info": { + "name": "Pillow|8|0|2", + "position": { + "x": 0.4326000213623047, + "y": 0.6531188488006592, + "z": 10.744760513305664 + }, + "rotation": { + "x": -9.208028473040031e-07, + "y": 90.0, + "z": 4.7345059783765464e-07 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 5.887231826782227, + "objectType": "Pillow", + "objectId": "Pillow|8|0|2", + "assetId": "pillow_17", + "parentReceptacles": [ + "Bed|8|0|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.5878010392189026, + 0.7056188583374023, + 10.94914436340332 + ], + [ + 0.5878010392189026, + 0.7056188583374023, + 10.540376663208008 + ], + [ + 0.5878010392189026, + 0.5995187759399414, + 10.94914436340332 + ], + [ + 0.5878010392189026, + 0.5995187759399414, + 10.540376663208008 + ], + [ + 0.27499955892562866, + 0.7056188583374023, + 10.94914436340332 + ], + [ + 0.27499955892562866, + 0.7056188583374023, + 10.540376663208008 + ], + [ + 0.27499955892562866, + 0.5995187759399414, + 10.94914436340332 + ], + [ + 0.27499955892562866, + 0.5995187759399414, + 10.540376663208008 + ] + ], + "center": { + "x": 0.4314002990722656, + "y": 0.6525688171386719, + "z": 10.744760513305664 + }, + "size": { + "x": 0.3128014802932739, + "y": 0.10610008239746094, + "z": 0.4087677001953125 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.5878009796142578, + 0.5995188355445862, + 10.540376663208008 + ], + [ + 0.5878010392189026, + 0.5995188355445862, + 10.94914436340332 + ], + [ + 0.27499961853027344, + 0.5995188355445862, + 10.94914436340332 + ], + [ + 0.27499955892562866, + 0.5995188355445862, + 10.540376663208008 + ], + [ + 0.5878009796142578, + 0.7056188583374023, + 10.540376663208008 + ], + [ + 0.5878010392189026, + 0.7056188583374023, + 10.94914436340332 + ], + [ + 0.27499961853027344, + 0.7056188583374023, + 10.94914436340332 + ], + [ + 0.27499955892562866, + 0.7056188583374023, + 10.540376663208008 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 4.599999904632568, + "y": 0.9009997844696045, + "z": 7.0 + }, + "agent_rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "agent_cameraHorizon": 30.000003814697266, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 4.599999904632568, + "y": 1.5759997367858887, + "z": 7.0 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Bed|8|0|0", + "BaseballBat|surface|8|39", + "Dresser|8|1", + "AlarmClock|surface|8|46", + "door|8|10", + "Pillow|8|0|1", + "Pillow|8|0|2" + ], + "different_object": [ + "window|10|0", + "TVStand|8|4|0___1", + "TVStand|8|4|0", + "Television|8|4|1", + "TissueBox|surface|8|40", + "Book|surface|8|44", + "Desk|8|2", + "Bed|10|0", + "HousePlant|surface|8|47", + "Pen|surface|8|41", + "Desk|8|2___0", + "CreditCard|surface|8|43", + "Pillow|surface|10|53", + "BasketBall|8|5", + "Laptop|surface|8|49", + "TVStand|8|4|0___0", + "door|8|9" + ] +} \ No newline at end of file diff --git a/train/train534/1/0_depth_npy.npy b/train/train534/1/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..6c21850735b80ee331ed9749600cd3b168148d04 --- /dev/null +++ b/train/train534/1/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d87e65124f5cb7f02524f509c4628d7457367ca5b1e0dd560913e8cec0dbd804 +size 3145856 diff --git a/train/train534/1/0_semantic_sensor_npy.npy b/train/train534/1/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..58416a9a63782fcee7df03ebb3b73f39cec8e6ae --- /dev/null +++ b/train/train534/1/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a4d71c8b176e06ebde01ba931fb4ff5f5a396ce109fc1997e7d69fe468b044f0 +size 2359424 diff --git a/train/train534/1/1.json b/train/train534/1/1.json new file mode 100644 index 0000000000000000000000000000000000000000..4ab974b46bdf1fae76662484ab3b708101e5d3e0 --- /dev/null +++ b/train/train534/1/1.json @@ -0,0 +1,2055 @@ +{ + "object": [ + { + "objectId": "Bed|8|0|0", + "object_info": { + "name": "Bed|8|0|0", + "position": { + "x": 1.1693596839904785, + "y": 0.0013431310653686523, + "z": 11.00014591217041 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": true, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "Pillow|8|0|2", + "AlarmClock|surface|8|46", + "Pillow|8|0|1" + ], + "distance": 5.629752159118652, + "objectType": "Bed", + "objectId": "Bed|8|0|0", + "assetId": "Bed_14", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.4283604621887207, + 0.7266330718994141, + 11.697378158569336 + ], + [ + 2.4283604621887207, + 0.7266330718994141, + 10.300910949707031 + ], + [ + 2.4283604621887207, + 0.0, + 11.697378158569336 + ], + [ + 2.4283604621887207, + 0.0, + 10.300910949707031 + ], + [ + 0.024999618530273438, + 0.7266330718994141, + 11.697378158569336 + ], + [ + 0.024999618530273438, + 0.7266330718994141, + 10.300910949707031 + ], + [ + 0.024999618530273438, + 0.0, + 11.697378158569336 + ], + [ + 0.024999618530273438, + 0.0, + 10.300910949707031 + ] + ], + "center": { + "x": 1.226680040359497, + "y": 0.36331653594970703, + "z": 10.999144554138184 + }, + "size": { + "x": 2.4033608436584473, + "y": 0.7266330718994141, + "z": 1.3964672088623047 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.4283604621887207, + 0.0, + 10.300910949707031 + ], + [ + 2.4283604621887207, + 0.0, + 11.697378158569336 + ], + [ + 0.02499985694885254, + 0.0, + 11.697378158569336 + ], + [ + 0.02499985694885254, + 0.0, + 10.300910949707031 + ], + [ + 2.4283604621887207, + 0.7266329526901245, + 10.300910949707031 + ], + [ + 2.4283604621887207, + 0.7266329526901245, + 11.697378158569336 + ], + [ + 0.02499985694885254, + 0.7266329526901245, + 11.697378158569336 + ], + [ + 0.02499985694885254, + 0.7266329526901245, + 10.300910949707031 + ] + ] + } + } + }, + { + "objectId": "Chair|8|3|1", + "object_info": { + "name": "Chair|8|3|1", + "position": { + "x": 1.776987910270691, + "y": -0.0011480152606964111, + "z": 7.974319934844971 + }, + "rotation": { + "x": 0.0, + "y": 293.58062744140625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 14.999999046325684, + "salientMaterials": [ + "Metal", + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 3.3394055366516113, + "objectType": "Chair", + "objectId": "Chair|8|3|1", + "assetId": "Chair_313_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.2262954711914062, + 0.8486077785491943, + 8.388392448425293 + ], + [ + 2.2262954711914062, + 0.8486077785491943, + 7.540034294128418 + ], + [ + 2.2262954711914062, + -3.3676624298095703e-06, + 8.388392448425293 + ], + [ + 2.2262954711914062, + -3.3676624298095703e-06, + 7.540034294128418 + ], + [ + 1.379481315612793, + 0.8486077785491943, + 8.388392448425293 + ], + [ + 1.379481315612793, + 0.8486077785491943, + 7.540034294128418 + ], + [ + 1.379481315612793, + -3.3676624298095703e-06, + 8.388392448425293 + ], + [ + 1.379481315612793, + -3.3676624298095703e-06, + 7.540034294128418 + ] + ], + "center": { + "x": 1.8028883934020996, + "y": 0.42430219054222107, + "z": 7.9642133712768555 + }, + "size": { + "x": 0.8468141555786133, + "y": 0.8486111164093018, + "z": 0.848358154296875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.6376242637634277, + -3.2186508178710938e-06, + 8.388392448425293 + ], + [ + 1.3794810771942139, + -3.2186508178710938e-06, + 7.796981334686279 + ], + [ + 1.9681521654129028, + -3.2186508178710938e-06, + 7.540034294128418 + ], + [ + 2.2262954711914062, + -3.2186508178710938e-06, + 8.13144588470459 + ], + [ + 1.6376242637634277, + 0.8486073017120361, + 8.388392448425293 + ], + [ + 1.3794810771942139, + 0.8486073017120361, + 7.796981334686279 + ], + [ + 1.9681521654129028, + 0.8486073017120361, + 7.540034294128418 + ], + [ + 2.2262954711914062, + 0.8486073017120361, + 8.13144588470459 + ] + ] + } + } + }, + { + "objectId": "Pillow|8|0|1", + "object_info": { + "name": "Pillow|8|0|1", + "position": { + "x": 0.4326000511646271, + "y": 0.6531188488006592, + "z": 11.253528594970703 + }, + "rotation": { + "x": 4.0773781506686646e-07, + "y": 90.00000762939453, + "z": 3.7596305446641054e-07 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 6.243649482727051, + "objectType": "Pillow", + "objectId": "Pillow|8|0|1", + "assetId": "pillow_17", + "parentReceptacles": [ + "Bed|8|0|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.5878010988235474, + 0.7056188583374023, + 11.45791244506836 + ], + [ + 0.5878010988235474, + 0.7056188583374023, + 11.049144744873047 + ], + [ + 0.5878010988235474, + 0.5995187759399414, + 11.45791244506836 + ], + [ + 0.5878010988235474, + 0.5995187759399414, + 11.049144744873047 + ], + [ + 0.27499955892562866, + 0.7056188583374023, + 11.45791244506836 + ], + [ + 0.27499955892562866, + 0.7056188583374023, + 11.049144744873047 + ], + [ + 0.27499955892562866, + 0.5995187759399414, + 11.45791244506836 + ], + [ + 0.27499955892562866, + 0.5995187759399414, + 11.049144744873047 + ] + ], + "center": { + "x": 0.431400328874588, + "y": 0.6525688171386719, + "z": 11.253528594970703 + }, + "size": { + "x": 0.3128015398979187, + "y": 0.10610008239746094, + "z": 0.4087677001953125 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.5878009796142578, + 0.5995188355445862, + 11.049144744873047 + ], + [ + 0.5878010988235474, + 0.5995188355445862, + 11.45791244506836 + ], + [ + 0.2749997079372406, + 0.5995188355445862, + 11.45791244506836 + ], + [ + 0.27499955892562866, + 0.5995188355445862, + 11.049144744873047 + ], + [ + 0.5878009796142578, + 0.7056188583374023, + 11.049144744873047 + ], + [ + 0.5878010988235474, + 0.7056188583374023, + 11.45791244506836 + ], + [ + 0.2749997079372406, + 0.7056188583374023, + 11.45791244506836 + ], + [ + 0.27499955892562866, + 0.7056188583374023, + 11.049144744873047 + ] + ] + } + } + }, + { + "objectId": "Mug|surface|8|38", + "object_info": { + "name": "Mug|surface|8|38", + "position": { + "x": 1.3506437540054321, + "y": 0.7589521408081055, + "z": 7.4635138511657715 + }, + "rotation": { + "x": -1.0361535714764614e-05, + "y": 5.163270202501735e-07, + "z": -8.537737812730484e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 3.476334810256958, + "objectType": "Mug", + "objectId": "Mug|surface|8|38", + "assetId": "RoboTHOR_mug_ai2_1_v", + "parentReceptacles": [ + "DiningTable|8|3|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.4055852890014648, + 0.8429752588272095, + 7.519526481628418 + ], + [ + 1.4055852890014648, + 0.8429752588272095, + 7.407500267028809 + ], + [ + 1.4055852890014648, + 0.7581900358200073, + 7.519526481628418 + ], + [ + 1.4055852890014648, + 0.7581900358200073, + 7.407500267028809 + ], + [ + 1.2632503509521484, + 0.8429752588272095, + 7.519526481628418 + ], + [ + 1.2632503509521484, + 0.8429752588272095, + 7.407500267028809 + ], + [ + 1.2632503509521484, + 0.7581900358200073, + 7.519526481628418 + ], + [ + 1.2632503509521484, + 0.7581900358200073, + 7.407500267028809 + ] + ], + "center": { + "x": 1.3344178199768066, + "y": 0.8005826473236084, + "z": 7.463513374328613 + }, + "size": { + "x": 0.1423349380493164, + "y": 0.08478522300720215, + "z": 0.11202621459960938 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.405585527420044, + 0.7581897974014282, + 7.519526958465576 + ], + [ + 1.2632502317428589, + 0.758189857006073, + 7.519526958465576 + ], + [ + 1.2632502317428589, + 0.7581897974014282, + 7.407500743865967 + ], + [ + 1.405585527420044, + 0.7581897974014282, + 7.407500743865967 + ], + [ + 1.405585527420044, + 0.8429754376411438, + 7.519526958465576 + ], + [ + 1.2632502317428589, + 0.8429754972457886, + 7.519526958465576 + ], + [ + 1.2632502317428589, + 0.8429754376411438, + 7.407500743865967 + ], + [ + 1.405585527420044, + 0.8429754376411438, + 7.407500743865967 + ] + ] + } + } + }, + { + "objectId": "door|8|10", + "object_info": { + "name": "door|8|10", + "position": { + "x": 0.11540400981903076, + "y": -0.0005984306335449219, + "z": 12.304997444152832 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 7.29042911529541, + "objectType": "Doorway", + "objectId": "door|8|10", + "assetId": "Doorway_Double_4", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.1300551891326904, + 2.1049132347106934, + 13.223016738891602 + ], + [ + 2.1300551891326904, + 2.1049132347106934, + 12.234426498413086 + ], + [ + 2.1300551891326904, + -2.384185791015625e-07, + 13.223016738891602 + ], + [ + 2.1300551891326904, + -2.384185791015625e-07, + 12.234426498413086 + ], + [ + 0.09113383293151855, + 2.1049132347106934, + 13.223016738891602 + ], + [ + 0.09113383293151855, + 2.1049132347106934, + 12.234426498413086 + ], + [ + 0.09113383293151855, + -2.384185791015625e-07, + 13.223016738891602 + ], + [ + 0.09113383293151855, + -2.384185791015625e-07, + 12.234426498413086 + ] + ], + "center": { + "x": 1.1105945110321045, + "y": 1.0524564981460571, + "z": 12.728721618652344 + }, + "size": { + "x": 2.038921356201172, + "y": 2.1049134731292725, + "z": 0.9885902404785156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "BaseballBat|surface|8|39", + "object_info": { + "name": "BaseballBat|surface|8|39", + "position": { + "x": 0.6274211406707764, + "y": 0.16067519783973694, + "z": 9.966955184936523 + }, + "rotation": { + "x": 359.920166015625, + "y": 171.89205932617188, + "z": 297.28564453125 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.8999999761581421, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 5.281338214874268, + "objectType": "BaseballBat", + "objectId": "BaseballBat|surface|8|39", + "assetId": "BaseballBat_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.8929065465927124, + 0.5113922357559204, + 10.048044204711914 + ], + [ + 0.8929065465927124, + 0.5113922357559204, + 9.83456802368164 + ], + [ + 0.8929065465927124, + -4.6133995056152344e-05, + 10.048044204711914 + ], + [ + 0.8929065465927124, + -4.6133995056152344e-05, + 9.83456802368164 + ], + [ + -2.6106834411621094e-05, + 0.5113922357559204, + 10.048044204711914 + ], + [ + -2.6106834411621094e-05, + 0.5113922357559204, + 9.83456802368164 + ], + [ + -2.6106834411621094e-05, + -4.6133995056152344e-05, + 10.048044204711914 + ], + [ + -2.6106834411621094e-05, + -4.6133995056152344e-05, + 9.83456802368164 + ] + ], + "center": { + "x": 0.4464402198791504, + "y": 0.25567305088043213, + "z": 9.941306114196777 + }, + "size": { + "x": 0.892932653427124, + "y": 0.5114383697509766, + "z": 0.21347618103027344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.8562569618225098, + 7.346272468566895e-05, + 9.954139709472656 + ], + [ + 0.892906665802002, + 0.07186964154243469, + 9.95946216583252 + ], + [ + 0.8802871704101562, + 0.07174494862556458, + 10.048043251037598 + ], + [ + 0.8436374664306641, + -5.123019218444824e-05, + 10.04272174835205 + ], + [ + 0.012593507766723633, + 0.43960124254226685, + 9.83456802368164 + ], + [ + 0.04924321174621582, + 0.5113974213600159, + 9.839890480041504 + ], + [ + 0.03662371635437012, + 0.5112727284431458, + 9.928471565246582 + ], + [ + -2.5987625122070312e-05, + 0.43947654962539673, + 9.923149108886719 + ] + ] + } + } + }, + { + "objectId": "door|6|8", + "object_info": { + "name": "door|6|8", + "position": { + "x": 3.1732568740844727, + "y": -0.0021260976791381836, + "z": 6.1519999504089355 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.9129451513290405, + "objectType": "Doorway", + "objectId": "door|6|8", + "assetId": "Doorway_Double_7", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.2083330154418945, + 2.0940732955932617, + 6.221621513366699 + ], + [ + 3.2083330154418945, + 2.0940732955932617, + 5.237069129943848 + ], + [ + 3.2083330154418945, + -0.0015277862548828125, + 6.221621513366699 + ], + [ + 3.2083330154418945, + -0.0015277862548828125, + 5.237069129943848 + ], + [ + 1.2036848068237305, + 2.0940732955932617, + 6.221621513366699 + ], + [ + 1.2036848068237305, + 2.0940732955932617, + 5.237069129943848 + ], + [ + 1.2036848068237305, + -0.0015277862548828125, + 6.221621513366699 + ], + [ + 1.2036848068237305, + -0.0015277862548828125, + 5.237069129943848 + ] + ], + "center": { + "x": 2.2060089111328125, + "y": 1.0462727546691895, + "z": 5.729345321655273 + }, + "size": { + "x": 2.004648208618164, + "y": 2.0956010818481445, + "z": 0.9845523834228516 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|8|1___0", + "object_info": { + "name": "Drawer", + "position": { + "x": 0.4000285267829895, + "y": 0.621476411819458, + "z": 9.337211608886719 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "KeyChain|surface|8|48", + "CellPhone|surface|8|37" + ], + "distance": 5.068929672241211, + "objectType": "Drawer", + "objectId": "Dresser|8|1___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.4016520380973816, + 0.7731000781059265, + 9.785972595214844 + ], + [ + 0.4016520380973816, + 0.7731000781059265, + 8.888450622558594 + ], + [ + 0.4016520380973816, + 0.46906381845474243, + 9.785972595214844 + ], + [ + 0.4016520380973816, + 0.46906381845474243, + 8.888450622558594 + ], + [ + 0.07536649703979492, + 0.7731000781059265, + 9.785972595214844 + ], + [ + 0.07536649703979492, + 0.7731000781059265, + 8.888450622558594 + ], + [ + 0.07536649703979492, + 0.46906381845474243, + 9.785972595214844 + ], + [ + 0.07536649703979492, + 0.46906381845474243, + 8.888450622558594 + ] + ], + "center": { + "x": 0.23850926756858826, + "y": 0.6210819482803345, + "z": 9.337211608886719 + }, + "size": { + "x": 0.32628554105758667, + "y": 0.3040362596511841, + "z": 0.89752197265625 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|8|1___1", + "object_info": { + "name": "Drawer (1)", + "position": { + "x": 0.4000285267829895, + "y": 0.3075198531150818, + "z": 9.337211608886719 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.095893859863281, + "objectType": "Drawer", + "objectId": "Dresser|8|1___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.4016520380973816, + 0.45914363861083984, + 9.785972595214844 + ], + [ + 0.4016520380973816, + 0.45914363861083984, + 8.888450622558594 + ], + [ + 0.4016520380973816, + 0.155107319355011, + 9.785972595214844 + ], + [ + 0.4016520380973816, + 0.155107319355011, + 8.888450622558594 + ], + [ + 0.07536649703979492, + 0.45914363861083984, + 9.785972595214844 + ], + [ + 0.07536649703979492, + 0.45914363861083984, + 8.888450622558594 + ], + [ + 0.07536649703979492, + 0.155107319355011, + 9.785972595214844 + ], + [ + 0.07536649703979492, + 0.155107319355011, + 8.888450622558594 + ] + ], + "center": { + "x": 0.23850926756858826, + "y": 0.3071254789829254, + "z": 9.337211608886719 + }, + "size": { + "x": 0.32628554105758667, + "y": 0.30403631925582886, + "z": 0.89752197265625 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Pen|surface|8|45", + "object_info": { + "name": "Pen|surface|8|45", + "position": { + "x": 1.4312074184417725, + "y": 0.7638348937034607, + "z": 8.47132682800293 + }, + "rotation": { + "x": 3.5112694604322314e-05, + "y": 6.374039003276266e-07, + "z": 0.02029590681195259 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Plastic", + "Metal" + ], + "receptacleObjectIds": null, + "distance": 3.741144895553589, + "objectType": "Pen", + "objectId": "Pen|surface|8|45", + "assetId": "Pen_3", + "parentReceptacles": [ + "DiningTable|8|3|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.4368525743484497, + 0.7694798111915588, + 8.577726364135742 + ], + [ + 1.4368525743484497, + 0.7694798111915588, + 8.377887725830078 + ], + [ + 1.4368525743484497, + 0.7581899762153625, + 8.577726364135742 + ], + [ + 1.4368525743484497, + 0.7581899762153625, + 8.377887725830078 + ], + [ + 1.4255622625350952, + 0.7694798111915588, + 8.577726364135742 + ], + [ + 1.4255622625350952, + 0.7694798111915588, + 8.377887725830078 + ], + [ + 1.4255622625350952, + 0.7581899762153625, + 8.577726364135742 + ], + [ + 1.4255622625350952, + 0.7581899762153625, + 8.377887725830078 + ] + ], + "center": { + "x": 1.4312074184417725, + "y": 0.7638348937034607, + "z": 8.47780704498291 + }, + "size": { + "x": 0.011290311813354492, + "y": 0.011289834976196289, + "z": 0.19983863830566406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.436854600906372, + 0.7581919431686401, + 8.577725410461426 + ], + [ + 1.4255642890930176, + 0.7581879496574402, + 8.577725410461426 + ], + [ + 1.4255642890930176, + 0.7581880688667297, + 8.377887725830078 + ], + [ + 1.436854600906372, + 0.7581921219825745, + 8.377887725830078 + ], + [ + 1.4368505477905273, + 0.7694816589355469, + 8.577725410461426 + ], + [ + 1.4255603551864624, + 0.7694776654243469, + 8.577725410461426 + ], + [ + 1.4255603551864624, + 0.7694777846336365, + 8.377887725830078 + ], + [ + 1.4368505477905273, + 0.7694817781448364, + 8.377887725830078 + ] + ] + } + } + }, + { + "objectId": "AlarmClock|surface|8|46", + "object_info": { + "name": "AlarmClock|surface|8|46", + "position": { + "x": 1.2133268117904663, + "y": 0.6045764684677124, + "z": 11.482192993164062 + }, + "rotation": { + "x": 1.4038121207704535e-06, + "y": 90.0, + "z": -1.020457375489059e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.800000011920929, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 5.91519832611084, + "objectType": "AlarmClock", + "objectId": "AlarmClock|surface|8|46", + "assetId": "Alarm_Clock_26", + "parentReceptacles": [ + "Bed|8|0|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.2645089626312256, + 0.7852765321731567, + 11.563743591308594 + ], + [ + 1.2645089626312256, + 0.7852765321731567, + 11.400642395019531 + ], + [ + 1.2645089626312256, + 0.6038821935653687, + 11.563743591308594 + ], + [ + 1.2645089626312256, + 0.6038821935653687, + 11.400642395019531 + ], + [ + 1.162458896636963, + 0.7852765321731567, + 11.563743591308594 + ], + [ + 1.162458896636963, + 0.7852765321731567, + 11.400642395019531 + ], + [ + 1.162458896636963, + 0.6038821935653687, + 11.563743591308594 + ], + [ + 1.162458896636963, + 0.6038821935653687, + 11.400642395019531 + ] + ], + "center": { + "x": 1.2134839296340942, + "y": 0.6945793628692627, + "z": 11.482192993164062 + }, + "size": { + "x": 0.1020500659942627, + "y": 0.1813942790031433, + "z": 0.1631011962890625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.2645094394683838, + 0.6038811802864075, + 11.400641441345215 + ], + [ + 1.2645094394683838, + 0.6038811802864075, + 11.56374454498291 + ], + [ + 1.1624586582183838, + 0.6038811802864075, + 11.56374454498291 + ], + [ + 1.1624586582183838, + 0.6038811802864075, + 11.400641441345215 + ], + [ + 1.2645094394683838, + 0.785276472568512, + 11.400641441345215 + ], + [ + 1.2645094394683838, + 0.785276472568512, + 11.56374454498291 + ], + [ + 1.1624586582183838, + 0.785276472568512, + 11.56374454498291 + ], + [ + 1.1624586582183838, + 0.785276472568512, + 11.400641441345215 + ] + ] + } + } + }, + { + "objectId": "Dresser|8|1", + "object_info": { + "name": "Dresser|8|1", + "position": { + "x": 0.21858592331409454, + "y": -0.00011309981346130371, + "z": 9.337211608886719 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 5.295222282409668, + "objectType": "Dresser", + "objectId": "Dresser|8|1", + "assetId": "RoboTHOR_dresser_aspelund", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.4121735095977783, + 0.8201158046722412, + 9.83220100402832 + ], + [ + 0.4121735095977783, + 0.8201158046722412, + 8.842222213745117 + ], + [ + 0.4121735095977783, + 0.00011914968490600586, + 9.83220100402832 + ], + [ + 0.4121735095977783, + 0.00011914968490600586, + 8.842222213745117 + ], + [ + 0.024998337030410767, + 0.8201158046722412, + 9.83220100402832 + ], + [ + 0.024998337030410767, + 0.8201158046722412, + 8.842222213745117 + ], + [ + 0.024998337030410767, + 0.00011914968490600586, + 9.83220100402832 + ], + [ + 0.024998337030410767, + 0.00011914968490600586, + 8.842222213745117 + ] + ], + "center": { + "x": 0.21858592331409454, + "y": 0.4101174771785736, + "z": 9.337211608886719 + }, + "size": { + "x": 0.38717517256736755, + "y": 0.8199966549873352, + "z": 0.9899787902832031 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.41217321157455444, + 0.00011926889419555664, + 8.842223167419434 + ], + [ + 0.412173330783844, + 0.00011926889419555664, + 9.832200050354004 + ], + [ + 0.02499862015247345, + 0.00011926889419555664, + 9.832200050354004 + ], + [ + 0.0249985009431839, + 0.00011926889419555664, + 8.842223167419434 + ], + [ + 0.41217321157455444, + 0.820115327835083, + 8.842223167419434 + ], + [ + 0.412173330783844, + 0.820115327835083, + 9.832200050354004 + ], + [ + 0.02499862015247345, + 0.820115327835083, + 9.832200050354004 + ], + [ + 0.0249985009431839, + 0.820115327835083, + 8.842223167419434 + ] + ] + } + } + }, + { + "objectId": "DiningTable|8|3|0", + "object_info": { + "name": "DiningTable|8|3|0", + "position": { + "x": 1.3556437492370605, + "y": -0.0002084672451019287, + "z": 7.9664201736450195 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": [ + "Mug|surface|8|38", + "Pen|surface|8|45" + ], + "distance": 3.7166528701782227, + "objectType": "DiningTable", + "objectId": "DiningTable|8|3|0", + "assetId": "Dining_Table_27_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.7029261589050293, + 0.7581900358200073, + 8.651354789733887 + ], + [ + 1.7029261589050293, + 0.7581900358200073, + 7.277035713195801 + ], + [ + 1.7029261589050293, + 0.0, + 8.651354789733887 + ], + [ + 1.7029261589050293, + 0.0, + 7.277035713195801 + ], + [ + 1.0064747333526611, + 0.7581900358200073, + 8.651354789733887 + ], + [ + 1.0064747333526611, + 0.7581900358200073, + 7.277035713195801 + ], + [ + 1.0064747333526611, + 0.0, + 8.651354789733887 + ], + [ + 1.0064747333526611, + 0.0, + 7.277035713195801 + ] + ], + "center": { + "x": 1.3547004461288452, + "y": 0.37909501791000366, + "z": 7.964195251464844 + }, + "size": { + "x": 0.6964514255523682, + "y": 0.7581900358200073, + "z": 1.374319076538086 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.0064747333526611, + 2.9802322387695312e-08, + 8.651354789733887 + ], + [ + 1.0064748525619507, + 2.9802322387695312e-08, + 7.277035713195801 + ], + [ + 1.7029261589050293, + 2.9802322387695312e-08, + 7.277035713195801 + ], + [ + 1.7029261589050293, + 2.9802322387695312e-08, + 8.651354789733887 + ], + [ + 1.0064747333526611, + 0.7581897974014282, + 8.651354789733887 + ], + [ + 1.0064748525619507, + 0.7581897974014282, + 7.277035713195801 + ], + [ + 1.7029261589050293, + 0.7581897974014282, + 7.277035713195801 + ], + [ + 1.7029261589050293, + 0.7581897974014282, + 8.651354789733887 + ] + ] + } + } + }, + { + "objectId": "Pillow|8|0|2", + "object_info": { + "name": "Pillow|8|0|2", + "position": { + "x": 0.4326000213623047, + "y": 0.6531188488006592, + "z": 10.744760513305664 + }, + "rotation": { + "x": -9.208028473040031e-07, + "y": 90.0, + "z": 4.7345059783765464e-07 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 5.887231826782227, + "objectType": "Pillow", + "objectId": "Pillow|8|0|2", + "assetId": "pillow_17", + "parentReceptacles": [ + "Bed|8|0|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.5878010392189026, + 0.7056188583374023, + 10.94914436340332 + ], + [ + 0.5878010392189026, + 0.7056188583374023, + 10.540376663208008 + ], + [ + 0.5878010392189026, + 0.5995187759399414, + 10.94914436340332 + ], + [ + 0.5878010392189026, + 0.5995187759399414, + 10.540376663208008 + ], + [ + 0.27499955892562866, + 0.7056188583374023, + 10.94914436340332 + ], + [ + 0.27499955892562866, + 0.7056188583374023, + 10.540376663208008 + ], + [ + 0.27499955892562866, + 0.5995187759399414, + 10.94914436340332 + ], + [ + 0.27499955892562866, + 0.5995187759399414, + 10.540376663208008 + ] + ], + "center": { + "x": 0.4314002990722656, + "y": 0.6525688171386719, + "z": 10.744760513305664 + }, + "size": { + "x": 0.3128014802932739, + "y": 0.10610008239746094, + "z": 0.4087677001953125 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.5878009796142578, + 0.5995188355445862, + 10.540376663208008 + ], + [ + 0.5878010392189026, + 0.5995188355445862, + 10.94914436340332 + ], + [ + 0.27499961853027344, + 0.5995188355445862, + 10.94914436340332 + ], + [ + 0.27499955892562866, + 0.5995188355445862, + 10.540376663208008 + ], + [ + 0.5878009796142578, + 0.7056188583374023, + 10.540376663208008 + ], + [ + 0.5878010392189026, + 0.7056188583374023, + 10.94914436340332 + ], + [ + 0.27499961853027344, + 0.7056188583374023, + 10.94914436340332 + ], + [ + 0.27499955892562866, + 0.7056188583374023, + 10.540376663208008 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 4.599999904632568, + "y": 0.9009997844696045, + "z": 7.0 + }, + "agent_rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "agent_cameraHorizon": 30.000003814697266, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 4.599999904632568, + "y": 1.5759997367858887, + "z": 7.0 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Bed|8|0|0", + "BaseballBat|surface|8|39", + "Dresser|8|1", + "AlarmClock|surface|8|46", + "door|8|10", + "Pillow|8|0|1", + "Pillow|8|0|2" + ], + "different_object": [ + "Chair|8|3|1", + "door|6|8", + "Dresser|8|1___1", + "Mug|surface|8|38", + "Pen|surface|8|45", + "Dresser|8|1___0", + "DiningTable|8|3|0" + ] +} \ No newline at end of file diff --git a/train/train534/1/1_depth_npy.npy b/train/train534/1/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..8090211c991d5b394a6fbf9690cca7a205c61ff4 --- /dev/null +++ b/train/train534/1/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c04c8e23d8173b226c0b12efe3315417ec70e3ee9f647354ea5d8d7516cdf897 +size 3145856 diff --git a/train/train534/1/1_semantic_sensor_npy.npy b/train/train534/1/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..4506a1a39b608a81ee717f903975be265b2abf59 --- /dev/null +++ b/train/train534/1/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:faa39ebc43281843a28498d8d32b50a4a4e176b80a4d36b494bc30f3d14190bf +size 2359424 diff --git a/train/train534/1/depth_0.png b/train/train534/1/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..822a6e50aa065623cabb5e8ddd7047b9d1231fe0 Binary files /dev/null and b/train/train534/1/depth_0.png differ diff --git a/train/train534/1/depth_1.png b/train/train534/1/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..f0fa054e9c3d2dcd28cf239349559acce210aa2e Binary files /dev/null and b/train/train534/1/depth_1.png differ diff --git a/train/train534/1/mask_questions.jsonl b/train/train534/1/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/train/train534/1/rgb_0.png b/train/train534/1/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..3278b79d577475a64e8559eb62b2c9322cf19c52 --- /dev/null +++ b/train/train534/1/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e632d36ed58bf9c489af9b285abca6634f3d83c02f49c83338ec9ee3a13b7351 +size 675081 diff --git a/train/train534/1/rgb_1.png b/train/train534/1/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..a46027f950ef7dafd0f4f41de45621070ccffc94 --- /dev/null +++ b/train/train534/1/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8c86c6abdb16a619301eb29b085b9dd07f57eb419131cb3fe82344e556cdb0b2 +size 613610 diff --git a/train/train534/1/semantic_0.png b/train/train534/1/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..dc2a6af48058d63a2479c074d8652728809e8289 Binary files /dev/null and b/train/train534/1/semantic_0.png differ diff --git a/train/train534/1/semantic_1.png b/train/train534/1/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..deebbab877cdcb7014f8628ec72d98c94d035a6a Binary files /dev/null and b/train/train534/1/semantic_1.png differ diff --git a/train/train534/2/0.json b/train/train534/2/0.json new file mode 100644 index 0000000000000000000000000000000000000000..9b1d45974ab8ff0a4c696b8bece9a9bc75512a29 --- /dev/null +++ b/train/train534/2/0.json @@ -0,0 +1,1748 @@ +{ + "object": [ + { + "objectId": "Bed|8|0|0", + "object_info": { + "name": "Bed|8|0|0", + "position": { + "x": 1.1693596839904785, + "y": 0.0013431310653686523, + "z": 11.00014591217041 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": true, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "Pillow|8|0|2", + "AlarmClock|surface|8|46", + "Pillow|8|0|1" + ], + "distance": 5.629752159118652, + "objectType": "Bed", + "objectId": "Bed|8|0|0", + "assetId": "Bed_14", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.4283604621887207, + 0.7266330718994141, + 11.697378158569336 + ], + [ + 2.4283604621887207, + 0.7266330718994141, + 10.300910949707031 + ], + [ + 2.4283604621887207, + 0.0, + 11.697378158569336 + ], + [ + 2.4283604621887207, + 0.0, + 10.300910949707031 + ], + [ + 0.024999618530273438, + 0.7266330718994141, + 11.697378158569336 + ], + [ + 0.024999618530273438, + 0.7266330718994141, + 10.300910949707031 + ], + [ + 0.024999618530273438, + 0.0, + 11.697378158569336 + ], + [ + 0.024999618530273438, + 0.0, + 10.300910949707031 + ] + ], + "center": { + "x": 1.226680040359497, + "y": 0.36331653594970703, + "z": 10.999144554138184 + }, + "size": { + "x": 2.4033608436584473, + "y": 0.7266330718994141, + "z": 1.3964672088623047 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.4283604621887207, + 0.0, + 10.300910949707031 + ], + [ + 2.4283604621887207, + 0.0, + 11.697378158569336 + ], + [ + 0.02499985694885254, + 0.0, + 11.697378158569336 + ], + [ + 0.02499985694885254, + 0.0, + 10.300910949707031 + ], + [ + 2.4283604621887207, + 0.7266329526901245, + 10.300910949707031 + ], + [ + 2.4283604621887207, + 0.7266329526901245, + 11.697378158569336 + ], + [ + 0.02499985694885254, + 0.7266329526901245, + 11.697378158569336 + ], + [ + 0.02499985694885254, + 0.7266329526901245, + 10.300910949707031 + ] + ] + } + } + }, + { + "objectId": "Desk|8|2", + "object_info": { + "name": "Desk|8|2", + "position": { + "x": 5.171388149261475, + "y": 0.0018622875213623047, + "z": 8.43557071685791 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 45.0, + "salientMaterials": [ + "Wood", + "Plastic" + ], + "receptacleObjectIds": [ + "CD|surface|8|42", + "Pen|surface|8|41", + "Book|surface|8|44", + "Laptop|surface|8|49" + ], + "distance": 1.9563140869140625, + "objectType": "Desk", + "objectId": "Desk|8|2", + "assetId": "Desk_316_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.126389503479004, + 0.6948482990264893, + 9.69826889038086 + ], + [ + 6.126389503479004, + 0.6948482990264893, + 7.169990539550781 + ], + [ + 6.126389503479004, + -4.976987838745117e-06, + 9.69826889038086 + ], + [ + 6.126389503479004, + -4.976987838745117e-06, + 7.169990539550781 + ], + [ + 4.20938777923584, + 0.6948482990264893, + 9.69826889038086 + ], + [ + 4.20938777923584, + 0.6948482990264893, + 7.169990539550781 + ], + [ + 4.20938777923584, + -4.976987838745117e-06, + 9.69826889038086 + ], + [ + 4.20938777923584, + -4.976987838745117e-06, + 7.169990539550781 + ] + ], + "center": { + "x": 5.167888641357422, + "y": 0.34742167592048645, + "z": 8.43412971496582 + }, + "size": { + "x": 1.917001724243164, + "y": 0.6948533058166504, + "z": 2.528278350830078 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.20938777923584, + -4.559755325317383e-06, + 9.698270797729492 + ], + [ + 4.209388256072998, + -4.559755325317383e-06, + 7.1699910163879395 + ], + [ + 6.1263885498046875, + -4.559755325317383e-06, + 7.169991493225098 + ], + [ + 6.126388072967529, + -4.559755325317383e-06, + 9.698270797729492 + ], + [ + 4.20938777923584, + 0.6948479413986206, + 9.698270797729492 + ], + [ + 4.209388256072998, + 0.6948479413986206, + 7.1699910163879395 + ], + [ + 6.1263885498046875, + 0.6948479413986206, + 7.169991493225098 + ], + [ + 6.126388072967529, + 0.6948479413986206, + 9.698270797729492 + ] + ] + } + } + }, + { + "objectId": "Desk|8|2___0", + "object_info": { + "name": "Shelf", + "position": { + "x": 4.458556175231934, + "y": 0.5581046938896179, + "z": 9.43453598022461 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.7219936847686768, + "objectType": "Shelf", + "objectId": "Desk|8|2___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.656710624694824, + 0.6418635845184326, + 9.619237899780273 + ], + [ + 4.656710624694824, + 0.6418635845184326, + 9.249834060668945 + ], + [ + 4.656710624694824, + 0.4743458032608032, + 9.619237899780273 + ], + [ + 4.656710624694824, + 0.4743458032608032, + 9.249834060668945 + ], + [ + 4.260401725769043, + 0.6418635845184326, + 9.619237899780273 + ], + [ + 4.260401725769043, + 0.6418635845184326, + 9.249834060668945 + ], + [ + 4.260401725769043, + 0.4743458032608032, + 9.619237899780273 + ], + [ + 4.260401725769043, + 0.4743458032608032, + 9.249834060668945 + ] + ], + "center": { + "x": 4.458556175231934, + "y": 0.5581046938896179, + "z": 9.43453598022461 + }, + "size": { + "x": 0.39630889892578125, + "y": 0.1675177812576294, + "z": 0.3694038391113281 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TissueBox|surface|8|40", + "object_info": { + "name": "TissueBox|surface|8|40", + "position": { + "x": 4.192534923553467, + "y": 0.08838467299938202, + "z": 11.891044616699219 + }, + "rotation": { + "x": 9.933490218827501e-06, + "y": 270.0, + "z": -6.31123566563474e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.3499999940395355, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 5.234639644622803, + "objectType": "TissueBox", + "objectId": "TissueBox|surface|8|40", + "assetId": "Tissue_Box_1", + "parentReceptacles": [ + "Floor", + "TVStand|8|4|0___1" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.243291854858398, + 0.23737308382987976, + 11.990455627441406 + ], + [ + 4.243291854858398, + 0.23737308382987976, + 11.791633605957031 + ], + [ + 4.243291854858398, + 0.08734139800071716, + 11.990455627441406 + ], + [ + 4.243291854858398, + 0.08734139800071716, + 11.791633605957031 + ], + [ + 4.141777992248535, + 0.23737308382987976, + 11.990455627441406 + ], + [ + 4.141777992248535, + 0.23737308382987976, + 11.791633605957031 + ], + [ + 4.141777992248535, + 0.08734139800071716, + 11.990455627441406 + ], + [ + 4.141777992248535, + 0.08734139800071716, + 11.791633605957031 + ] + ], + "center": { + "x": 4.192534923553467, + "y": 0.16235724091529846, + "z": 11.891044616699219 + }, + "size": { + "x": 0.10151386260986328, + "y": 0.1500316858291626, + "z": 0.198822021484375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.141777515411377, + 0.08734124153852463, + 11.990455627441406 + ], + [ + 4.141777515411377, + 0.08734126389026642, + 11.791633605957031 + ], + [ + 4.243291854858398, + 0.08734128624200821, + 11.791633605957031 + ], + [ + 4.243291854858398, + 0.08734126389026642, + 11.990455627441406 + ], + [ + 4.141777515411377, + 0.23737309873104095, + 11.990455627441406 + ], + [ + 4.141777515411377, + 0.23737312853336334, + 11.791633605957031 + ], + [ + 4.243291854858398, + 0.23737315833568573, + 11.791633605957031 + ], + [ + 4.243291854858398, + 0.23737312853336334, + 11.990455627441406 + ] + ] + } + } + }, + { + "objectId": "door|8|9", + "object_info": { + "name": "door|8|9", + "position": { + "x": 6.1519999504089355, + "y": -0.0021260976791381836, + "z": 9.864584922790527 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.532970428466797, + "objectType": "Doorway", + "objectId": "door|8|9", + "assetId": "Doorway_Double_7", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.221621036529541, + 2.09407377243042, + 11.834157943725586 + ], + [ + 6.221621036529541, + 2.09407377243042, + 9.829507827758789 + ], + [ + 6.221621036529541, + -0.0015277862548828125, + 11.834157943725586 + ], + [ + 6.221621036529541, + -0.0015277862548828125, + 9.829507827758789 + ], + [ + 5.237067699432373, + 2.09407377243042, + 11.834157943725586 + ], + [ + 5.237067699432373, + 2.09407377243042, + 9.829507827758789 + ], + [ + 5.237067699432373, + -0.0015277862548828125, + 11.834157943725586 + ], + [ + 5.237067699432373, + -0.0015277862548828125, + 9.829507827758789 + ] + ], + "center": { + "x": 5.729344367980957, + "y": 1.0462729930877686, + "z": 10.831832885742188 + }, + "size": { + "x": 0.984553337097168, + "y": 2.0956015586853027, + "z": 2.004650115966797 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|8|10", + "object_info": { + "name": "door|8|10", + "position": { + "x": 0.11540400981903076, + "y": -0.0005984306335449219, + "z": 12.304997444152832 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 7.29042911529541, + "objectType": "Doorway", + "objectId": "door|8|10", + "assetId": "Doorway_Double_4", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.1300551891326904, + 2.1049132347106934, + 13.223016738891602 + ], + [ + 2.1300551891326904, + 2.1049132347106934, + 12.234426498413086 + ], + [ + 2.1300551891326904, + -2.384185791015625e-07, + 13.223016738891602 + ], + [ + 2.1300551891326904, + -2.384185791015625e-07, + 12.234426498413086 + ], + [ + 0.09113383293151855, + 2.1049132347106934, + 13.223016738891602 + ], + [ + 0.09113383293151855, + 2.1049132347106934, + 12.234426498413086 + ], + [ + 0.09113383293151855, + -2.384185791015625e-07, + 13.223016738891602 + ], + [ + 0.09113383293151855, + -2.384185791015625e-07, + 12.234426498413086 + ] + ], + "center": { + "x": 1.1105945110321045, + "y": 1.0524564981460571, + "z": 12.728721618652344 + }, + "size": { + "x": 2.038921356201172, + "y": 2.1049134731292725, + "z": 0.9885902404785156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "BasketBall|8|5", + "object_info": { + "name": "BasketBall|8|5", + "position": { + "x": 3.415175437927246, + "y": 0.11968711763620377, + "z": 9.716373443603516 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6000000238418579, + "salientMaterials": [ + "Rubber" + ], + "receptacleObjectIds": null, + "distance": 3.345381498336792, + "objectType": "BasketBall", + "objectId": "BasketBall|8|5", + "assetId": "RoboTHOR_basketball_rhode_island_novelty_v", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.534862518310547, + 0.23937422037124634, + 9.836060523986816 + ], + [ + 3.534862518310547, + 0.23937422037124634, + 9.596686363220215 + ], + [ + 3.534862518310547, + 1.4901161193847656e-08, + 9.836060523986816 + ], + [ + 3.534862518310547, + 1.4901161193847656e-08, + 9.596686363220215 + ], + [ + 3.2954883575439453, + 0.23937422037124634, + 9.836060523986816 + ], + [ + 3.2954883575439453, + 0.23937422037124634, + 9.596686363220215 + ], + [ + 3.2954883575439453, + 1.4901161193847656e-08, + 9.836060523986816 + ], + [ + 3.2954883575439453, + 1.4901161193847656e-08, + 9.596686363220215 + ] + ], + "center": { + "x": 3.415175437927246, + "y": 0.11968711763620377, + "z": 9.716373443603516 + }, + "size": { + "x": 0.23937416076660156, + "y": 0.23937420547008514, + "z": 0.23937416076660156 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.2954883575439453, + 1.4901161193847656e-08, + 9.596686363220215 + ], + [ + 3.534862518310547, + 1.4901161193847656e-08, + 9.596686363220215 + ], + [ + 3.534862518310547, + 1.4901161193847656e-08, + 9.836060523986816 + ], + [ + 3.2954883575439453, + 1.4901161193847656e-08, + 9.836060523986816 + ], + [ + 3.2954883575439453, + 0.23937422037124634, + 9.596686363220215 + ], + [ + 3.534862518310547, + 0.23937422037124634, + 9.596686363220215 + ], + [ + 3.534862518310547, + 0.23937422037124634, + 9.836060523986816 + ], + [ + 3.2954883575439453, + 0.23937422037124634, + 9.836060523986816 + ] + ] + } + } + }, + { + "objectId": "Pen|surface|8|41", + "object_info": { + "name": "Pen|surface|8|41", + "position": { + "x": 5.058546543121338, + "y": 0.7004931569099426, + "z": 9.65007209777832 + }, + "rotation": { + "x": 5.0544193072710186e-05, + "y": 270.0, + "z": 0.006444811355322599 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Plastic", + "Metal" + ], + "receptacleObjectIds": null, + "distance": 2.9233238697052, + "objectType": "Pen", + "objectId": "Pen|surface|8|41", + "assetId": "Pen_3", + "parentReceptacles": [ + "Desk|8|2", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.151985168457031, + 0.7061380743980408, + 9.655716896057129 + ], + [ + 5.151985168457031, + 0.7061380743980408, + 9.644427299499512 + ], + [ + 5.151985168457031, + 0.6948482394218445, + 9.655716896057129 + ], + [ + 5.151985168457031, + 0.6948482394218445, + 9.644427299499512 + ], + [ + 4.952147483825684, + 0.7061380743980408, + 9.655716896057129 + ], + [ + 4.952147483825684, + 0.7061380743980408, + 9.644427299499512 + ], + [ + 4.952147483825684, + 0.6948482394218445, + 9.655716896057129 + ], + [ + 4.952147483825684, + 0.6948482394218445, + 9.644427299499512 + ] + ], + "center": { + "x": 5.052066326141357, + "y": 0.7004931569099426, + "z": 9.65007209777832 + }, + "size": { + "x": 0.19983768463134766, + "y": 0.011289834976196289, + "z": 0.011289596557617188 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.952147483825684, + 0.6948488354682922, + 9.655717849731445 + ], + [ + 4.952147483825684, + 0.694847583770752, + 9.644427299499512 + ], + [ + 5.1519856452941895, + 0.6948477625846863, + 9.644427299499512 + ], + [ + 5.1519856452941895, + 0.6948490142822266, + 9.655717849731445 + ], + [ + 4.952147483825684, + 0.706138551235199, + 9.655716896057129 + ], + [ + 4.952147483825684, + 0.7061372995376587, + 9.644426345825195 + ], + [ + 5.1519856452941895, + 0.706137478351593, + 9.644426345825195 + ], + [ + 5.1519856452941895, + 0.7061387300491333, + 9.655716896057129 + ] + ] + } + } + }, + { + "objectId": "TVStand|8|4|0___1", + "object_info": { + "name": "Shelf (4)", + "position": { + "x": 3.700188636779785, + "y": 0.08259887993335724, + "z": 11.964078903198242 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "TissueBox|surface|8|40" + ], + "distance": 5.38131046295166, + "objectType": "Shelf", + "objectId": "TVStand|8|4|0___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.369977951049805, + 0.2924346923828125, + 12.259093284606934 + ], + [ + 4.369977951049805, + 0.2924346923828125, + 11.66906452178955 + ], + [ + 4.369977951049805, + 0.08249694108963013, + 12.259093284606934 + ], + [ + 4.369977951049805, + 0.08249694108963013, + 11.66906452178955 + ], + [ + 3.0303993225097656, + 0.2924346923828125, + 12.259093284606934 + ], + [ + 3.0303993225097656, + 0.2924346923828125, + 11.66906452178955 + ], + [ + 3.0303993225097656, + 0.08249694108963013, + 12.259093284606934 + ], + [ + 3.0303993225097656, + 0.08249694108963013, + 11.66906452178955 + ] + ], + "center": { + "x": 3.700188636779785, + "y": 0.1874658167362213, + "z": 11.964078903198242 + }, + "size": { + "x": 1.339578628540039, + "y": 0.20993775129318237, + "z": 0.5900287628173828 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Laptop|surface|8|49", + "object_info": { + "name": "Laptop|surface|8|49", + "position": { + "x": 5.845492362976074, + "y": 0.6948482990264893, + "z": 8.501824378967285 + }, + "rotation": { + "x": 8.537737699043646e-07, + "y": 7.806301255186554e-06, + "z": -1.681661160546355e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 0.30363672971725464, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 2.299999952316284, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 2.0764129161834717, + "objectType": "Laptop", + "objectId": "Laptop|surface|8|49", + "assetId": "Laptop_2", + "parentReceptacles": [ + "Desk|8|2", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.022186756134033, + 0.8448636531829834, + 8.645284652709961 + ], + [ + 6.022186756134033, + 0.8448636531829834, + 8.36271858215332 + ], + [ + 6.022186756134033, + 0.6948482990264893, + 8.645284652709961 + ], + [ + 6.022186756134033, + 0.6948482990264893, + 8.36271858215332 + ], + [ + 5.668797969818115, + 0.8448636531829834, + 8.645284652709961 + ], + [ + 5.668797969818115, + 0.8448636531829834, + 8.36271858215332 + ], + [ + 5.668797969818115, + 0.6948482990264893, + 8.645284652709961 + ], + [ + 5.668797969818115, + 0.6948482990264893, + 8.36271858215332 + ] + ], + "center": { + "x": 5.845492362976074, + "y": 0.7698559761047363, + "z": 8.50400161743164 + }, + "size": { + "x": 0.35338878631591797, + "y": 0.15001535415649414, + "z": 0.2825660705566406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.022186756134033, + 0.6948482990264893, + 8.645285606384277 + ], + [ + 5.668797969818115, + 0.6948482990264893, + 8.645285606384277 + ], + [ + 5.668797969818115, + 0.6948482990264893, + 8.36271858215332 + ], + [ + 6.022186756134033, + 0.6948482990264893, + 8.36271858215332 + ], + [ + 6.022186756134033, + 0.8448635935783386, + 8.645285606384277 + ], + [ + 5.668797969818115, + 0.8448635935783386, + 8.645285606384277 + ], + [ + 5.668797969818115, + 0.8448635935783386, + 8.36271858215332 + ], + [ + 6.022186756134033, + 0.8448635935783386, + 8.36271858215332 + ] + ] + } + } + }, + { + "objectId": "Book|surface|8|44", + "object_info": { + "name": "Book|surface|8|44", + "position": { + "x": 5.797760009765625, + "y": 0.6953659057617188, + "z": 7.334192752838135 + }, + "rotation": { + "x": -0.000526796153280884, + "y": -0.00034581118961796165, + "z": 0.00023820478236302733 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 1.2171144485473633, + "objectType": "Book", + "objectId": "Book|surface|8|44", + "assetId": "RoboTHOR_book_ai2_2_v", + "parentReceptacles": [ + "Desk|8|2", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.894169807434082, + 0.7247844934463501, + 7.451348304748535 + ], + [ + 5.894169807434082, + 0.7247844934463501, + 7.217037200927734 + ], + [ + 5.894169807434082, + 0.6948479413986206, + 7.451348304748535 + ], + [ + 5.894169807434082, + 0.6948479413986206, + 7.217037200927734 + ], + [ + 5.701054573059082, + 0.7247844934463501, + 7.451348304748535 + ], + [ + 5.701054573059082, + 0.7247844934463501, + 7.217037200927734 + ], + [ + 5.701054573059082, + 0.6948479413986206, + 7.451348304748535 + ], + [ + 5.701054573059082, + 0.6948479413986206, + 7.217037200927734 + ] + ], + "center": { + "x": 5.797612190246582, + "y": 0.7098162174224854, + "z": 7.334192752838135 + }, + "size": { + "x": 0.193115234375, + "y": 0.029936552047729492, + "z": 0.23431110382080078 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.894168376922607, + 0.6948508620262146, + 7.451348781585693 + ], + [ + 5.701054096221924, + 0.6948500275611877, + 7.451347827911377 + ], + [ + 5.701055526733398, + 0.6948478817939758, + 7.217036724090576 + ], + [ + 5.894169807434082, + 0.6948486566543579, + 7.217038154602051 + ], + [ + 5.894168376922607, + 0.724784791469574, + 7.451348304748535 + ], + [ + 5.701054096221924, + 0.7247840166091919, + 7.451347351074219 + ], + [ + 5.701055526733398, + 0.72478187084198, + 7.217036724090576 + ], + [ + 5.894169807434082, + 0.7247826457023621, + 7.217037677764893 + ] + ] + } + } + }, + { + "objectId": "TVStand|8|4|0", + "object_info": { + "name": "TVStand|8|4|0", + "position": { + "x": 3.69999098777771, + "y": 0.0007930994033813477, + "z": 11.964078903198242 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": [ + "HousePlant|surface|8|47", + "Television|8|4|1" + ], + "distance": 5.3943963050842285, + "objectType": "TVStand", + "objectId": "TVStand|8|4|0", + "assetId": "TV_Stand_211_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.409902572631836, + 0.5935413837432861, + 12.279998779296875 + ], + [ + 4.409902572631836, + 0.5935413837432861, + 11.64815902709961 + ], + [ + 4.409902572631836, + 2.5033950805664062e-06, + 12.279998779296875 + ], + [ + 4.409902572631836, + 2.5033950805664062e-06, + 11.64815902709961 + ], + [ + 2.990079402923584, + 0.5935413837432861, + 12.279998779296875 + ], + [ + 2.990079402923584, + 0.5935413837432861, + 11.64815902709961 + ], + [ + 2.990079402923584, + 2.5033950805664062e-06, + 12.279998779296875 + ], + [ + 2.990079402923584, + 2.5033950805664062e-06, + 11.64815902709961 + ] + ], + "center": { + "x": 3.69999098777771, + "y": 0.29677194356918335, + "z": 11.964078903198242 + }, + "size": { + "x": 1.419823169708252, + "y": 0.5935388803482056, + "z": 0.6318397521972656 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.990079402923584, + 2.5033950805664062e-06, + 11.64815902709961 + ], + [ + 4.409902572631836, + 2.5033950805664062e-06, + 11.64815902709961 + ], + [ + 4.409902572631836, + 2.5033950805664062e-06, + 12.279998779296875 + ], + [ + 2.990079402923584, + 2.5033950805664062e-06, + 12.279998779296875 + ], + [ + 2.990079402923584, + 0.5935415029525757, + 11.64815902709961 + ], + [ + 4.409902572631836, + 0.5935415029525757, + 11.64815902709961 + ], + [ + 4.409902572631836, + 0.5935415029525757, + 12.279998779296875 + ], + [ + 2.990079402923584, + 0.5935415029525757, + 12.279998779296875 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 4.699999809265137, + "y": 0.9009997844696045, + "z": 7.0 + }, + "agent_rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "agent_cameraHorizon": 60.00001525878906, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 4.699999809265137, + "y": 1.5759997367858887, + "z": 7.0 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Laptop|surface|8|49", + "Book|surface|8|44", + "Desk|8|2" + ], + "different_object": [ + "TVStand|8|4|0", + "Bed|8|0|0", + "door|8|10", + "TissueBox|surface|8|40", + "Pen|surface|8|41", + "Desk|8|2___0", + "TVStand|8|4|0___1", + "BasketBall|8|5", + "door|8|9" + ] +} \ No newline at end of file diff --git a/train/train534/2/0_depth_npy.npy b/train/train534/2/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..3fd77f846e6ae0129993f7da9039a1301005715f --- /dev/null +++ b/train/train534/2/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:abd106a57472b21f4e71c8cbea315e27d01a26c150114deac3fcebe796152b26 +size 3145856 diff --git a/train/train534/2/0_semantic_sensor_npy.npy b/train/train534/2/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..ea3457341aae3224aa66526a2d21a1269ed0e4ff --- /dev/null +++ b/train/train534/2/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:115f7f2d0db8266c60c8199ea2e4115d28961b81dfa43eb28cb0e98aaa589181 +size 2359424 diff --git a/train/train534/2/1.json b/train/train534/2/1.json new file mode 100644 index 0000000000000000000000000000000000000000..c74822a6970dcae8a2e338f8ada54b1b398b1ca5 --- /dev/null +++ b/train/train534/2/1.json @@ -0,0 +1,734 @@ +{ + "object": [ + { + "objectId": "Painting|8|6", + "object_info": { + "name": "Painting|8|6", + "position": { + "x": 4.749623775482178, + "y": 1.5180227756500244, + "z": 6.1536865234375 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 0.8580834865570068, + "objectType": "Painting", + "objectId": "Painting|8|6", + "assetId": "Wall_Decor_Painting_6", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.149818420410156, + 1.818844199180603, + 6.177036762237549 + ], + [ + 5.149818420410156, + 1.818844199180603, + 6.169662952423096 + ], + [ + 5.149818420410156, + 1.2174609899520874, + 6.177036762237549 + ], + [ + 5.149818420410156, + 1.2174609899520874, + 6.169662952423096 + ], + [ + 4.352423667907715, + 1.818844199180603, + 6.177036762237549 + ], + [ + 4.352423667907715, + 1.818844199180603, + 6.169662952423096 + ], + [ + 4.352423667907715, + 1.2174609899520874, + 6.177036762237549 + ], + [ + 4.352423667907715, + 1.2174609899520874, + 6.169662952423096 + ] + ], + "center": { + "x": 4.7511210441589355, + "y": 1.5181525945663452, + "z": 6.173349857330322 + }, + "size": { + "x": 0.7973947525024414, + "y": 0.6013832092285156, + "z": 0.007373809814453125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Desk|8|2", + "object_info": { + "name": "Desk|8|2", + "position": { + "x": 5.171388149261475, + "y": 0.0018622875213623047, + "z": 8.43557071685791 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 45.0, + "salientMaterials": [ + "Wood", + "Plastic" + ], + "receptacleObjectIds": [ + "CD|surface|8|42", + "Pen|surface|8|41", + "Book|surface|8|44", + "Laptop|surface|8|49" + ], + "distance": 1.9563140869140625, + "objectType": "Desk", + "objectId": "Desk|8|2", + "assetId": "Desk_316_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.126389503479004, + 0.6948482990264893, + 9.69826889038086 + ], + [ + 6.126389503479004, + 0.6948482990264893, + 7.169990539550781 + ], + [ + 6.126389503479004, + -4.976987838745117e-06, + 9.69826889038086 + ], + [ + 6.126389503479004, + -4.976987838745117e-06, + 7.169990539550781 + ], + [ + 4.20938777923584, + 0.6948482990264893, + 9.69826889038086 + ], + [ + 4.20938777923584, + 0.6948482990264893, + 7.169990539550781 + ], + [ + 4.20938777923584, + -4.976987838745117e-06, + 9.69826889038086 + ], + [ + 4.20938777923584, + -4.976987838745117e-06, + 7.169990539550781 + ] + ], + "center": { + "x": 5.167888641357422, + "y": 0.34742167592048645, + "z": 8.43412971496582 + }, + "size": { + "x": 1.917001724243164, + "y": 0.6948533058166504, + "z": 2.528278350830078 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.20938777923584, + -4.559755325317383e-06, + 9.698270797729492 + ], + [ + 4.209388256072998, + -4.559755325317383e-06, + 7.1699910163879395 + ], + [ + 6.1263885498046875, + -4.559755325317383e-06, + 7.169991493225098 + ], + [ + 6.126388072967529, + -4.559755325317383e-06, + 9.698270797729492 + ], + [ + 4.20938777923584, + 0.6948479413986206, + 9.698270797729492 + ], + [ + 4.209388256072998, + 0.6948479413986206, + 7.1699910163879395 + ], + [ + 6.1263885498046875, + 0.6948479413986206, + 7.169991493225098 + ], + [ + 6.126388072967529, + 0.6948479413986206, + 9.698270797729492 + ] + ] + } + } + }, + { + "objectId": "Painting|8|7", + "object_info": { + "name": "Painting|8|7", + "position": { + "x": 5.579046726226807, + "y": 1.0734796524047852, + "z": 6.155557155609131 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 1.0346158742904663, + "objectType": "Painting", + "objectId": "Painting|8|7", + "assetId": "Wall_Decor_Painting_3", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.981175899505615, + 1.378838062286377, + 6.17634916305542 + ], + [ + 5.981175899505615, + 1.378838062286377, + 6.1570000648498535 + ], + [ + 5.981175899505615, + 0.7657027244567871, + 6.17634916305542 + ], + [ + 5.981175899505615, + 0.7657027244567871, + 6.1570000648498535 + ], + [ + 5.1754937171936035, + 1.378838062286377, + 6.17634916305542 + ], + [ + 5.1754937171936035, + 1.378838062286377, + 6.1570000648498535 + ], + [ + 5.1754937171936035, + 0.7657027244567871, + 6.17634916305542 + ], + [ + 5.1754937171936035, + 0.7657027244567871, + 6.1570000648498535 + ] + ], + "center": { + "x": 5.578334808349609, + "y": 1.072270393371582, + "z": 6.166674613952637 + }, + "size": { + "x": 0.8056821823120117, + "y": 0.6131353378295898, + "z": 0.019349098205566406 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Laptop|surface|8|49", + "object_info": { + "name": "Laptop|surface|8|49", + "position": { + "x": 5.845492362976074, + "y": 0.6948482990264893, + "z": 8.501824378967285 + }, + "rotation": { + "x": 8.537737699043646e-07, + "y": 7.806301255186554e-06, + "z": -1.681661160546355e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 0.30363672971725464, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 2.299999952316284, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 2.0764129161834717, + "objectType": "Laptop", + "objectId": "Laptop|surface|8|49", + "assetId": "Laptop_2", + "parentReceptacles": [ + "Desk|8|2", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.022186756134033, + 0.8448636531829834, + 8.645284652709961 + ], + [ + 6.022186756134033, + 0.8448636531829834, + 8.36271858215332 + ], + [ + 6.022186756134033, + 0.6948482990264893, + 8.645284652709961 + ], + [ + 6.022186756134033, + 0.6948482990264893, + 8.36271858215332 + ], + [ + 5.668797969818115, + 0.8448636531829834, + 8.645284652709961 + ], + [ + 5.668797969818115, + 0.8448636531829834, + 8.36271858215332 + ], + [ + 5.668797969818115, + 0.6948482990264893, + 8.645284652709961 + ], + [ + 5.668797969818115, + 0.6948482990264893, + 8.36271858215332 + ] + ], + "center": { + "x": 5.845492362976074, + "y": 0.7698559761047363, + "z": 8.50400161743164 + }, + "size": { + "x": 0.35338878631591797, + "y": 0.15001535415649414, + "z": 0.2825660705566406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.022186756134033, + 0.6948482990264893, + 8.645285606384277 + ], + [ + 5.668797969818115, + 0.6948482990264893, + 8.645285606384277 + ], + [ + 5.668797969818115, + 0.6948482990264893, + 8.36271858215332 + ], + [ + 6.022186756134033, + 0.6948482990264893, + 8.36271858215332 + ], + [ + 6.022186756134033, + 0.8448635935783386, + 8.645285606384277 + ], + [ + 5.668797969818115, + 0.8448635935783386, + 8.645285606384277 + ], + [ + 5.668797969818115, + 0.8448635935783386, + 8.36271858215332 + ], + [ + 6.022186756134033, + 0.8448635935783386, + 8.36271858215332 + ] + ] + } + } + }, + { + "objectId": "Book|surface|8|44", + "object_info": { + "name": "Book|surface|8|44", + "position": { + "x": 5.797760009765625, + "y": 0.6953659057617188, + "z": 7.334192752838135 + }, + "rotation": { + "x": -0.000526796153280884, + "y": -0.00034581118961796165, + "z": 0.00023820478236302733 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 1.2171144485473633, + "objectType": "Book", + "objectId": "Book|surface|8|44", + "assetId": "RoboTHOR_book_ai2_2_v", + "parentReceptacles": [ + "Desk|8|2", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.894169807434082, + 0.7247844934463501, + 7.451348304748535 + ], + [ + 5.894169807434082, + 0.7247844934463501, + 7.217037200927734 + ], + [ + 5.894169807434082, + 0.6948479413986206, + 7.451348304748535 + ], + [ + 5.894169807434082, + 0.6948479413986206, + 7.217037200927734 + ], + [ + 5.701054573059082, + 0.7247844934463501, + 7.451348304748535 + ], + [ + 5.701054573059082, + 0.7247844934463501, + 7.217037200927734 + ], + [ + 5.701054573059082, + 0.6948479413986206, + 7.451348304748535 + ], + [ + 5.701054573059082, + 0.6948479413986206, + 7.217037200927734 + ] + ], + "center": { + "x": 5.797612190246582, + "y": 0.7098162174224854, + "z": 7.334192752838135 + }, + "size": { + "x": 0.193115234375, + "y": 0.029936552047729492, + "z": 0.23431110382080078 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.894168376922607, + 0.6948508620262146, + 7.451348781585693 + ], + [ + 5.701054096221924, + 0.6948500275611877, + 7.451347827911377 + ], + [ + 5.701055526733398, + 0.6948478817939758, + 7.217036724090576 + ], + [ + 5.894169807434082, + 0.6948486566543579, + 7.217038154602051 + ], + [ + 5.894168376922607, + 0.724784791469574, + 7.451348304748535 + ], + [ + 5.701054096221924, + 0.7247840166091919, + 7.451347351074219 + ], + [ + 5.701055526733398, + 0.72478187084198, + 7.217036724090576 + ], + [ + 5.894169807434082, + 0.7247826457023621, + 7.217037677764893 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 4.699999809265137, + "y": 0.9009997844696045, + "z": 6.900000095367432 + }, + "agent_rotation": { + "x": -0.0, + "y": 90.0, + "z": 0.0 + }, + "agent_cameraHorizon": 30.000003814697266, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 4.699999809265137, + "y": 1.5759997367858887, + "z": 6.900000095367432 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Laptop|surface|8|49", + "Book|surface|8|44", + "Desk|8|2" + ], + "different_object": [ + "Painting|8|7", + "Painting|8|6" + ] +} \ No newline at end of file diff --git a/train/train534/2/1_depth_npy.npy b/train/train534/2/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..3c4bd2b88a6342b136f236dcd3278ebc8282ef0f --- /dev/null +++ b/train/train534/2/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:330f33c7204d40aa7e9945b21d4cb614171aba71007d08d123a2def70651741e +size 3145856 diff --git a/train/train534/2/1_semantic_sensor_npy.npy b/train/train534/2/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..6937e6f75dd4e6542d79cd1ca707d1ce26a90c8e --- /dev/null +++ b/train/train534/2/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:873922b3ba81d3c2425f8aa1e91e42f8a533210c248969f9e58315644bfc1664 +size 2359424 diff --git a/train/train534/2/depth_0.png b/train/train534/2/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..34244e1f6ae519fa176a3900cdb0d2de3f0fc98c Binary files /dev/null and b/train/train534/2/depth_0.png differ diff --git a/train/train534/2/depth_1.png b/train/train534/2/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..95c08a2de331cce216204d169b391d431ea5ef77 Binary files /dev/null and b/train/train534/2/depth_1.png differ diff --git a/train/train534/2/mask_questions.jsonl b/train/train534/2/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/train/train534/2/rgb_0.png b/train/train534/2/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..4146659c01f144e0121f1730e3f5be3f4824b5dd --- /dev/null +++ b/train/train534/2/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:052528e62df95bbc97783909ff9e33ff603c7d92b30918df9ae0da3c4864c6fc +size 881321 diff --git a/train/train534/2/rgb_1.png b/train/train534/2/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..f2d1c9ae72bb64cb8d18c22bf6b96035ca431cfb --- /dev/null +++ b/train/train534/2/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0d8cfffd2f2116b1680b68400bf3a93005fe890bc54ed488df5f933572699685 +size 530122 diff --git a/train/train534/2/semantic_0.png b/train/train534/2/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..48969963942b03b31be61f65be117ad78b16f18f Binary files /dev/null and b/train/train534/2/semantic_0.png differ diff --git a/train/train534/2/semantic_1.png b/train/train534/2/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..078c44672c46ae845ceb13be7576abd1098ac320 Binary files /dev/null and b/train/train534/2/semantic_1.png differ diff --git a/train/train534/3/0.json b/train/train534/3/0.json new file mode 100644 index 0000000000000000000000000000000000000000..f7a8b0017121eee908e6ccb105a8446474c24ddf --- /dev/null +++ b/train/train534/3/0.json @@ -0,0 +1,634 @@ +{ + "object": [ + { + "objectId": "door|2|4", + "object_info": { + "name": "door|2|4", + "position": { + "x": 6.539700508117676, + "y": -0.0005981922149658203, + "z": 2.0724358558654785 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1661734580993652, + "objectType": "Doorframe", + "objectId": "door|2|4", + "assetId": "Doorframe_Double_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.590658664703369, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.590658664703369, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.590658664703369, + 0.0, + 4.011923313140869 + ], + [ + 6.590658664703369, + 0.0, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 0.0, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 0.0, + 2.069113254547119 + ] + ], + "center": { + "x": 6.540999889373779, + "y": 1.0435373783111572, + "z": 3.040518283843994 + }, + "size": { + "x": 0.09931755065917969, + "y": 2.0870747566223145, + "z": 1.94281005859375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|3", + "object_info": { + "name": "door|2|3", + "position": { + "x": 9.811773300170898, + "y": -0.00026702880859375, + "z": 6.5231428146362305 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 7.364771842956543, + "objectType": "Doorway", + "objectId": "door|2|3", + "assetId": "Doorway_Double_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.727968215942383, + 2.095932960510254, + 6.545433044433594 + ], + [ + 10.727968215942383, + 2.095932960510254, + 4.553407669067383 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 4.553407669067383 + ], + [ + 9.760202407836914, + 2.095932960510254, + 6.545433044433594 + ], + [ + 9.760202407836914, + 2.095932960510254, + 4.553407669067383 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 4.553407669067383 + ] + ], + "center": { + "x": 10.244085311889648, + "y": 1.0479663610458374, + "z": 5.549420356750488 + }, + "size": { + "x": 0.9677658081054688, + "y": 2.095933198928833, + "z": 1.992025375366211 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "FloorLamp|4|2", + "object_info": { + "name": "FloorLamp|4|2", + "position": { + "x": 6.263036727905273, + "y": -0.0018747448921203613, + "z": 0.9616859555244446 + }, + "rotation": { + "x": 359.9669189453125, + "y": 269.9986572265625, + "z": 359.9627380371094 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 1.7853816747665405, + "objectType": "FloorLamp", + "objectId": "FloorLamp|4|2", + "assetId": "Floor_Lamp_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.517219543457031, + 2.0757031440734863, + 1.2152924537658691 + ], + [ + 6.517219543457031, + 2.0757031440734863, + 0.7076406478881836 + ], + [ + 6.517219543457031, + -0.0020160675048828125, + 1.2152924537658691 + ], + [ + 6.517219543457031, + -0.0020160675048828125, + 0.7076406478881836 + ], + [ + 6.009941101074219, + 2.0757031440734863, + 1.2152924537658691 + ], + [ + 6.009941101074219, + 2.0757031440734863, + 0.7076406478881836 + ], + [ + 6.009941101074219, + -0.0020160675048828125, + 1.2152924537658691 + ], + [ + 6.009941101074219, + -0.0020160675048828125, + 0.7076406478881836 + ] + ], + "center": { + "x": 6.263580322265625, + "y": 1.0368435382843018, + "z": 0.9614665508270264 + }, + "size": { + "x": 0.5072784423828125, + "y": 2.077719211578369, + "z": 0.5076518058776855 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.00874137878418, + -0.001891990890726447, + 1.213939905166626 + ], + [ + 6.008753776550293, + -0.0015617554308846593, + 0.7062857151031494 + ], + [ + 6.5160441398620605, + -0.0018547163344919682, + 0.706297755241394 + ], + [ + 6.516031742095947, + -0.002184951677918434, + 1.213951826095581 + ], + [ + 6.009941101074219, + 2.0755419731140137, + 1.2152912616729736 + ], + [ + 6.009953498840332, + 2.0758721828460693, + 0.7076371908187866 + ], + [ + 6.5172438621521, + 2.0755791664123535, + 0.7076491713523865 + ], + [ + 6.517231464385986, + 2.075248956680298, + 1.2153033018112183 + ] + ] + } + } + }, + { + "objectId": "Painting|3|7", + "object_info": { + "name": "Painting|3|7", + "position": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.831557273864746, + "objectType": "Painting", + "objectId": "Painting|3|7", + "assetId": "Wall_Decor_Photo_10", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.833455085754395, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.50425910949707 + ] + ], + "center": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.520129680633545 + }, + "size": { + "x": 0.7115726470947266, + "y": 0.4246177673339844, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|3|4", + "object_info": { + "name": "Painting|3|4", + "position": { + "x": 11.443442344665527, + "y": 1.4678616523742676, + "z": 5.477546215057373 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.9369797706604, + "objectType": "Painting", + "objectId": "Painting|3|4", + "assetId": "Wall_Decor_Painting_3", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.442000389099121, + 1.773220181465149, + 5.879675388336182 + ], + [ + 11.442000389099121, + 1.773220181465149, + 5.07399320602417 + ], + [ + 11.442000389099121, + 1.16008460521698, + 5.879675388336182 + ], + [ + 11.442000389099121, + 1.16008460521698, + 5.07399320602417 + ], + [ + 11.422650337219238, + 1.773220181465149, + 5.879675388336182 + ], + [ + 11.422650337219238, + 1.773220181465149, + 5.07399320602417 + ], + [ + 11.422650337219238, + 1.16008460521698, + 5.879675388336182 + ], + [ + 11.422650337219238, + 1.16008460521698, + 5.07399320602417 + ] + ], + "center": { + "x": 11.43232536315918, + "y": 1.4666523933410645, + "z": 5.476834297180176 + }, + "size": { + "x": 0.019350051879882812, + "y": 0.613135576248169, + "z": 0.8056821823120117 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 5.199999809265137, + "y": 0.9009997844696045, + "z": 1.2999999523162842 + }, + "agent_rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "agent_cameraHorizon": -30.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 5.199999809265137, + "y": 1.5759997367858887, + "z": 1.2999999523162842 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "door|2|4", + "door|2|3", + "Painting|3|7" + ], + "different_object": [ + "Painting|3|4", + "FloorLamp|4|2" + ] +} \ No newline at end of file diff --git a/train/train534/3/0_depth_npy.npy b/train/train534/3/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..61ed6212f16af9cd25273c1a80e5059f87151f46 --- /dev/null +++ b/train/train534/3/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7f59aea51b16c39033839b911e43b41a5c13a617b384ef8d43521284eaa84fa9 +size 3145856 diff --git a/train/train534/3/0_semantic_sensor_npy.npy b/train/train534/3/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..d10acd8cc71b9742302d84b9118ce995011a3366 --- /dev/null +++ b/train/train534/3/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:43030abbe24ca2737b838fdaf4b9b4a5d8c441fec5386c69d7bab55125b20b30 +size 2359424 diff --git a/train/train534/3/1.json b/train/train534/3/1.json new file mode 100644 index 0000000000000000000000000000000000000000..d4ee3ae4ad4bd4efee3979856b1c983f15e31516 --- /dev/null +++ b/train/train534/3/1.json @@ -0,0 +1,2733 @@ +{ + "object": [ + { + "objectId": "Book|surface|4|22", + "object_info": { + "name": "Book|surface|4|22", + "position": { + "x": 4.434379577636719, + "y": 0.27263882756233215, + "z": 6.329527378082275 + }, + "rotation": { + "x": 0.002365913474932313, + "y": 90.0003890991211, + "z": 0.25729310512542725 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 5.127967834472656, + "objectType": "Book", + "objectId": "Book|surface|4|22", + "assetId": "Book_20", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.586941719055176, + 0.30716240406036377, + 6.458010673522949 + ], + [ + 4.586941719055176, + 0.30716240406036377, + 6.2023820877075195 + ], + [ + 4.586941719055176, + 0.2722126245498657, + 6.458010673522949 + ], + [ + 4.586941719055176, + 0.2722126245498657, + 6.2023820877075195 + ], + [ + 4.2818193435668945, + 0.30716240406036377, + 6.458010673522949 + ], + [ + 4.2818193435668945, + 0.30716240406036377, + 6.2023820877075195 + ], + [ + 4.2818193435668945, + 0.2722126245498657, + 6.458010673522949 + ], + [ + 4.2818193435668945, + 0.2722126245498657, + 6.2023820877075195 + ] + ], + "center": { + "x": 4.434380531311035, + "y": 0.28968751430511475, + "z": 6.330196380615234 + }, + "size": { + "x": 0.30512237548828125, + "y": 0.03494977951049805, + "z": 0.2556285858154297 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.586939334869385, + 0.2724279761314392, + 6.202378273010254 + ], + [ + 4.586941242218018, + 0.2712807059288025, + 6.45785665512085 + ], + [ + 4.2818193435668945, + 0.2712933123111725, + 6.457858562469482 + ], + [ + 4.281817436218262, + 0.2724405825138092, + 6.202380657196045 + ], + [ + 4.586940765380859, + 0.3073573708534241, + 6.202535152435303 + ], + [ + 4.586942672729492, + 0.30621010065078735, + 6.458013534545898 + ], + [ + 4.281820774078369, + 0.30622270703315735, + 6.458015441894531 + ], + [ + 4.281818866729736, + 0.30736997723579407, + 6.202537536621094 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___1", + "object_info": { + "name": "Drawer (1)", + "position": { + "x": 3.606998920440674, + "y": 0.39762961864471436, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.130039691925049, + "objectType": "Drawer", + "objectId": "Dresser|4|3___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.4907017946243286, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.4907017946243286, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.30300021171569824, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.30300021171569824, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.4907017946243286, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.4907017946243286, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.30300021171569824, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.30300021171569824, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.3968510031700134, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CellPhone|surface|4|17", + "object_info": { + "name": "CellPhone|surface|4|17", + "position": { + "x": 3.606998920440674, + "y": 0.6999126672744751, + "z": 6.400298118591309 + }, + "rotation": { + "x": 4.23526716986089e-06, + "y": 180.00010681152344, + "z": -0.0013795691775158048 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1599999964237213, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 5.279437065124512, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|4|17", + "assetId": "Cellphone_8", + "parentReceptacles": [ + "Dresser|4|3", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.645237445831299, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.645237445831299, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.645237445831299, + 0.6992031335830688, + 6.473209381103516 + ], + [ + 3.645237445831299, + 0.6992031335830688, + 6.327386856079102 + ], + [ + 3.568760395050049, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.568760395050049, + 0.6992031335830688, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.6992031335830688, + 6.327386856079102 + ] + ], + "center": { + "x": 3.606998920440674, + "y": 0.7046447992324829, + "z": 6.400298118591309 + }, + "size": { + "x": 0.07647705078125, + "y": 0.010883331298828125, + "z": 0.14582252502441406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.568760395050049, + 0.6992031335830688, + 6.327386856079102 + ], + [ + 3.6452372074127197, + 0.6992049813270569, + 6.327386856079102 + ], + [ + 3.645237445831299, + 0.6992050409317017, + 6.473209381103516 + ], + [ + 3.568760633468628, + 0.6992031931877136, + 6.473209381103516 + ], + [ + 3.5687601566314697, + 0.7100846171379089, + 6.327386856079102 + ], + [ + 3.6452369689941406, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.6452372074127197, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.7100846171379089, + 6.473209381103516 + ] + ] + } + } + }, + { + "objectId": "Vase|surface|4|24", + "object_info": { + "name": "Vase|surface|4|24", + "position": { + "x": 4.730817794799805, + "y": 0.27228501439094543, + "z": 6.289771556854248 + }, + "rotation": { + "x": -1.976354042199091e-06, + "y": 90.0000228881836, + "z": 9.469399060435535e-07 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 5.0788726806640625, + "objectType": "Vase", + "objectId": "Vase|surface|4|24", + "assetId": "Vase_Flat_5", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.8065643310546875, + 0.34241700172424316, + 6.365267753601074 + ], + [ + 4.8065643310546875, + 0.34241700172424316, + 6.2142744064331055 + ], + [ + 4.8065643310546875, + 0.27224910259246826, + 6.365267753601074 + ], + [ + 4.8065643310546875, + 0.27224910259246826, + 6.2142744064331055 + ], + [ + 4.655572891235352, + 0.34241700172424316, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.34241700172424316, + 6.2142744064331055 + ], + [ + 4.655572891235352, + 0.27224910259246826, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.27224910259246826, + 6.2142744064331055 + ] + ], + "center": { + "x": 4.7310686111450195, + "y": 0.3073330521583557, + "z": 6.28977108001709 + }, + "size": { + "x": 0.15099143981933594, + "y": 0.0701678991317749, + "z": 0.15099334716796875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.806564807891846, + 0.2722490131855011, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.2722490131855011, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.2722490131855011, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.2722490131855011, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.3424171209335327, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.3424171209335327, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.3424171209335327, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.3424171209335327, + 6.2142744064331055 + ] + ] + } + } + }, + { + "objectId": "TVStand|4|0|0", + "object_info": { + "name": "TVStand|4|0|0", + "position": { + "x": 4.588324069976807, + "y": 0.0009346157312393188, + "z": 6.329517364501953 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": [ + "Television|4|0|1" + ], + "distance": 5.161177635192871, + "objectType": "TVStand", + "objectId": "TVStand|4|0|0", + "assetId": "TV_Stand_220_1", + "parentReceptacles": [ + "Floor", + "Plate|surface|4|19" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.207240104675293, + 0.4502491354942322, + 6.515999794006348 + ], + [ + 5.207240104675293, + 0.4502491354942322, + 6.146122932434082 + ], + [ + 5.207240104675293, + 2.8312206268310547e-07, + 6.515999794006348 + ], + [ + 5.207240104675293, + 2.8312206268310547e-07, + 6.146122932434082 + ], + [ + 3.969435691833496, + 0.4502491354942322, + 6.515999794006348 + ], + [ + 3.969435691833496, + 0.4502491354942322, + 6.146122932434082 + ], + [ + 3.969435691833496, + 2.8312206268310547e-07, + 6.515999794006348 + ], + [ + 3.969435691833496, + 2.8312206268310547e-07, + 6.146122932434082 + ] + ], + "center": { + "x": 4.5883378982543945, + "y": 0.22512470185756683, + "z": 6.331061363220215 + }, + "size": { + "x": 1.2378044128417969, + "y": 0.4502488374710083, + "z": 0.3698768615722656 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.969435930252075, + 2.682209014892578e-07, + 6.14612340927124 + ], + [ + 5.207239627838135, + 2.682209014892578e-07, + 6.14612340927124 + ], + [ + 5.207239627838135, + 2.682209014892578e-07, + 6.515999794006348 + ], + [ + 3.969435930252075, + 2.682209014892578e-07, + 6.515999794006348 + ], + [ + 3.969435930252075, + 0.4502490758895874, + 6.14612340927124 + ], + [ + 5.207239627838135, + 0.4502490758895874, + 6.14612340927124 + ], + [ + 5.207239627838135, + 0.4502490758895874, + 6.515999794006348 + ], + [ + 3.969435930252075, + 0.4502490758895874, + 6.515999794006348 + ] + ] + } + } + }, + { + "objectId": "DiningTable|4|1|0", + "object_info": { + "name": "DiningTable|4|1|0", + "position": { + "x": 5.355981826782227, + "y": -0.0031822919845581055, + "z": 3.724600076675415 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Laptop|surface|4|23", + "Book|surface|4|26" + ], + "distance": 2.7034060955047607, + "objectType": "DiningTable", + "objectId": "DiningTable|4|1|0", + "assetId": "Dining_Table_218_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.855982780456543, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 5.855982780456543, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 2.8305177688598633 + ] + ], + "center": { + "x": 5.355981826782227, + "y": 0.3905254304409027, + "z": 3.724600076675415 + }, + "size": { + "x": 1.0000019073486328, + "y": 0.7810438275337219, + "z": 1.7881646156311035 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.855982303619385, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 3.5762786865234375e-06, + 4.618681907653809 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 4.618682384490967 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 4.618681907653809 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 4.618682384490967 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 2.8305180072784424 + ] + ] + } + } + }, + { + "objectId": "Chair|4|1|2", + "object_info": { + "name": "Chair|4|1|2", + "position": { + "x": 5.356987476348877, + "y": 0.0031416714191436768, + "z": 4.78104829788208 + }, + "rotation": { + "x": -0.0, + "y": 174.24070739746094, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 3.6936275959014893, + "objectType": "Chair", + "objectId": "Chair|4|1|2", + "assetId": "Chair_224_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.615507125854492, + 0.8033755421638489, + 5.103589057922363 + ], + [ + 5.615507125854492, + 0.8033755421638489, + 4.454636573791504 + ], + [ + 5.615507125854492, + -1.0073184967041016e-05, + 5.103589057922363 + ], + [ + 5.615507125854492, + -1.0073184967041016e-05, + 4.454636573791504 + ], + [ + 5.106142044067383, + 0.8033755421638489, + 5.103589057922363 + ], + [ + 5.106142044067383, + 0.8033755421638489, + 4.454636573791504 + ], + [ + 5.106142044067383, + -1.0073184967041016e-05, + 5.103589057922363 + ], + [ + 5.106142044067383, + -1.0073184967041016e-05, + 4.454636573791504 + ] + ], + "center": { + "x": 5.3608245849609375, + "y": 0.4016827344894409, + "z": 4.779112815856934 + }, + "size": { + "x": 0.5093650817871094, + "y": 0.8033856153488159, + "z": 0.6489524841308594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.15634822845459, + -9.98377799987793e-06, + 4.451790809631348 + ], + [ + 5.61686897277832, + -9.98377799987793e-06, + 4.4982380867004395 + ], + [ + 5.5556254386901855, + -9.98377799987793e-06, + 5.105459213256836 + ], + [ + 5.095105171203613, + -9.98377799987793e-06, + 5.059011936187744 + ], + [ + 5.15634822845459, + 0.8033754825592041, + 4.451790809631348 + ], + [ + 5.61686897277832, + 0.8033754825592041, + 4.4982380867004395 + ], + [ + 5.5556254386901855, + 0.8033754825592041, + 5.105459213256836 + ], + [ + 5.095105171203613, + 0.8033754825592041, + 5.059011936187744 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___0", + "object_info": { + "name": "Drawer", + "position": { + "x": 3.606998920440674, + "y": 0.5816994309425354, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.115259647369385, + "objectType": "Drawer", + "objectId": "Dresser|4|3___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.6747716069221497, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.6747716069221497, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.4870700240135193, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.4870700240135193, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.6747716069221497, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.6747716069221497, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.4870700240135193, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.4870700240135193, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.5809208154678345, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|4", + "object_info": { + "name": "door|2|4", + "position": { + "x": 6.539700508117676, + "y": -0.0005981922149658203, + "z": 2.0724358558654785 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1661734580993652, + "objectType": "Doorframe", + "objectId": "door|2|4", + "assetId": "Doorframe_Double_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.590658664703369, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.590658664703369, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.590658664703369, + 0.0, + 4.011923313140869 + ], + [ + 6.590658664703369, + 0.0, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 0.0, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 0.0, + 2.069113254547119 + ] + ], + "center": { + "x": 6.540999889373779, + "y": 1.0435373783111572, + "z": 3.040518283843994 + }, + "size": { + "x": 0.09931755065917969, + "y": 2.0870747566223145, + "z": 1.94281005859375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|4|3", + "object_info": { + "name": "Dresser|4|3", + "position": { + "x": 3.606998920440674, + "y": -4.786252975463867e-05, + "z": 6.362965106964111 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Watch|surface|4|16", + "CellPhone|surface|4|17" + ], + "distance": 5.316083908081055, + "objectType": "Dresser", + "objectId": "Dresser|4|3", + "assetId": "RoboTHOR_dresser_rast_v", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.917998790740967, + 0.6992043256759644, + 6.518101692199707 + ], + [ + 3.917998790740967, + 0.6992043256759644, + 6.203625679016113 + ], + [ + 3.917998790740967, + 3.838539123535156e-05, + 6.518101692199707 + ], + [ + 3.917998790740967, + 3.838539123535156e-05, + 6.203625679016113 + ], + [ + 3.295999050140381, + 0.6992043256759644, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992043256759644, + 6.203625679016113 + ], + [ + 3.295999050140381, + 3.838539123535156e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 3.838539123535156e-05, + 6.203625679016113 + ] + ], + "center": { + "x": 3.606998920440674, + "y": 0.34962135553359985, + "z": 6.36086368560791 + }, + "size": { + "x": 0.6219997406005859, + "y": 0.699165940284729, + "z": 0.31447601318359375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.295999050140381, + 3.8564205169677734e-05, + 6.20362663269043 + ], + [ + 3.917998790740967, + 3.8564205169677734e-05, + 6.20362663269043 + ], + [ + 3.917998790740967, + 3.8564205169677734e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 3.8564205169677734e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992037892341614, + 6.20362663269043 + ], + [ + 3.917998790740967, + 0.6992037892341614, + 6.20362663269043 + ], + [ + 3.917998790740967, + 0.6992037892341614, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992037892341614, + 6.518101692199707 + ] + ] + } + } + }, + { + "objectId": "CreditCard|surface|4|21", + "object_info": { + "name": "CreditCard|surface|4|21", + "position": { + "x": 4.137941837310791, + "y": 0.27259376645088196, + "z": 6.3295159339904785 + }, + "rotation": { + "x": 0.00015720646479167044, + "y": 90.0001449584961, + "z": -0.00030558553407900035 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.15470552444458, + "objectType": "CreditCard", + "objectId": "CreditCard|surface|4|21", + "assetId": "CreditCard_3", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.164941310882568, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.164941310882568, + 0.27673888206481934, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.27224868535995483, + 6.372598171234131 + ], + [ + 4.164941310882568, + 0.27224868535995483, + 6.286433696746826 + ], + [ + 4.110942363739014, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27673888206481934, + 6.286433696746826 + ], + [ + 4.110942363739014, + 0.27224868535995483, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27224868535995483, + 6.286433696746826 + ] + ], + "center": { + "x": 4.137941837310791, + "y": 0.2744937837123871, + "z": 6.3295159339904785 + }, + "size": { + "x": 0.05399894714355469, + "y": 0.004490196704864502, + "z": 0.08616447448730469 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.16494083404541, + 0.27224868535995483, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.27224916219711304, + 6.372598171234131 + ], + [ + 4.110942840576172, + 0.2722492814064026, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.2722488343715668, + 6.286433696746826 + ], + [ + 4.16494083404541, + 0.2767382860183716, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.2767387330532074, + 6.372598171234131 + ], + [ + 4.110942840576172, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27673840522766113, + 6.286433696746826 + ] + ] + } + } + }, + { + "objectId": "Painting|4|6", + "object_info": { + "name": "Painting|4|6", + "position": { + "x": 6.538111209869385, + "y": 1.4183659553527832, + "z": 4.80001974105835 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.008447170257568, + "objectType": "Painting", + "objectId": "Painting|4|6", + "assetId": "Wall_Decor_Painting_8", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.5360002517700195, + 1.681741714477539, + 5.152198791503906 + ], + [ + 6.5360002517700195, + 1.681741714477539, + 4.4491167068481445 + ], + [ + 6.5360002517700195, + 1.1549901962280273, + 5.152198791503906 + ], + [ + 6.5360002517700195, + 1.1549901962280273, + 4.4491167068481445 + ], + [ + 6.518789291381836, + 1.681741714477539, + 5.152198791503906 + ], + [ + 6.518789291381836, + 1.681741714477539, + 4.4491167068481445 + ], + [ + 6.518789291381836, + 1.1549901962280273, + 5.152198791503906 + ], + [ + 6.518789291381836, + 1.1549901962280273, + 4.4491167068481445 + ] + ], + "center": { + "x": 6.527394771575928, + "y": 1.4183659553527832, + "z": 4.800657749176025 + }, + "size": { + "x": 0.017210960388183594, + "y": 0.5267515182495117, + "z": 0.7030820846557617 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TVStand|4|0|0___1", + "object_info": { + "name": "Shelf", + "position": { + "x": 4.588322162628174, + "y": 0.2684445381164551, + "z": 6.3295159339904785 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Watch|surface|4|20", + "Book|surface|4|22", + "KeyChain|surface|4|18", + "Vase|surface|4|24", + "CreditCard|surface|4|21" + ], + "distance": 5.121303558349609, + "objectType": "DiningTable", + "objectId": "TVStand|4|0|0___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.18937349319458, + 0.3674442172050476, + 6.494719982147217 + ], + [ + 5.18937349319458, + 0.3674442172050476, + 6.16431188583374 + ], + [ + 5.18937349319458, + 0.26823681592941284, + 6.494719982147217 + ], + [ + 5.18937349319458, + 0.26823681592941284, + 6.16431188583374 + ], + [ + 3.9872708320617676, + 0.3674442172050476, + 6.494719982147217 + ], + [ + 3.9872708320617676, + 0.3674442172050476, + 6.16431188583374 + ], + [ + 3.9872708320617676, + 0.26823681592941284, + 6.494719982147217 + ], + [ + 3.9872708320617676, + 0.26823681592941284, + 6.16431188583374 + ] + ], + "center": { + "x": 4.588322162628174, + "y": 0.3178405165672302, + "z": 6.3295159339904785 + }, + "size": { + "x": 1.2021026611328125, + "y": 0.09920740127563477, + "z": 0.33040809631347656 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Watch|surface|4|16", + "object_info": { + "name": "Watch|surface|4|16", + "position": { + "x": 3.6847031116485596, + "y": 0.7003282308578491, + "z": 6.288086414337158 + }, + "rotation": { + "x": 1.9947741031646729, + "y": 180.00387573242188, + "z": 1.19093656539917 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07000000029802322, + "salientMaterials": [ + "Metal", + "Glass", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.153391361236572, + "objectType": "Watch", + "objectId": "Watch|surface|4|16", + "assetId": "Watch_2", + "parentReceptacles": [ + "Dresser|4|3", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.7239737510681152, + 0.7344659566879272, + 6.313935279846191 + ], + [ + 3.7239737510681152, + 0.7344659566879272, + 6.265624046325684 + ], + [ + 3.7239737510681152, + 0.6990219354629517, + 6.313935279846191 + ], + [ + 3.7239737510681152, + 0.6990219354629517, + 6.265624046325684 + ], + [ + 3.6450982093811035, + 0.7344659566879272, + 6.313935279846191 + ], + [ + 3.6450982093811035, + 0.7344659566879272, + 6.265624046325684 + ], + [ + 3.6450982093811035, + 0.6990219354629517, + 6.313935279846191 + ], + [ + 3.6450982093811035, + 0.6990219354629517, + 6.265624046325684 + ] + ], + "center": { + "x": 3.6845359802246094, + "y": 0.7167439460754395, + "z": 6.2897796630859375 + }, + "size": { + "x": 0.07887554168701172, + "y": 0.035444021224975586, + "z": 0.04831123352050781 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.644953966140747, + 0.6981589794158936, + 6.265713691711426 + ], + [ + 3.723494052886963, + 0.6965271830558777, + 6.265765190124512 + ], + [ + 3.723497152328491, + 0.6982251405715942, + 6.314515590667725 + ], + [ + 3.6449573040008545, + 0.6998568773269653, + 6.314464092254639 + ], + [ + 3.645716905593872, + 0.7348403334617615, + 6.2644362449646 + ], + [ + 3.724256992340088, + 0.7332085967063904, + 6.2644877433776855 + ], + [ + 3.724260091781616, + 0.7349065542221069, + 6.31323766708374 + ], + [ + 3.6457202434539795, + 0.736538290977478, + 6.313186168670654 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___2", + "object_info": { + "name": "Drawer (2)", + "position": { + "x": 3.606998920440674, + "y": 0.20109392702579498, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.1530375480651855, + "objectType": "Drawer", + "objectId": "Dresser|4|3___2", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.29416608810424805, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.29416608810424805, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.10646450519561768, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.10646450519561768, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.29416608810424805, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.29416608810424805, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.10646450519561768, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.10646450519561768, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.20031529664993286, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|3", + "object_info": { + "name": "door|2|3", + "position": { + "x": 9.811773300170898, + "y": -0.00026702880859375, + "z": 6.5231428146362305 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 7.364771842956543, + "objectType": "Doorway", + "objectId": "door|2|3", + "assetId": "Doorway_Double_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.727968215942383, + 2.095932960510254, + 6.545433044433594 + ], + [ + 10.727968215942383, + 2.095932960510254, + 4.553407669067383 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 4.553407669067383 + ], + [ + 9.760202407836914, + 2.095932960510254, + 6.545433044433594 + ], + [ + 9.760202407836914, + 2.095932960510254, + 4.553407669067383 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 4.553407669067383 + ] + ], + "center": { + "x": 10.244085311889648, + "y": 1.0479663610458374, + "z": 5.549420356750488 + }, + "size": { + "x": 0.9677658081054688, + "y": 2.095933198928833, + "z": 1.992025375366211 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|3|7", + "object_info": { + "name": "Painting|3|7", + "position": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.831557273864746, + "objectType": "Painting", + "objectId": "Painting|3|7", + "assetId": "Wall_Decor_Photo_10", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.833455085754395, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.50425910949707 + ] + ], + "center": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.520129680633545 + }, + "size": { + "x": 0.7115726470947266, + "y": 0.4246177673339844, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|4|4", + "object_info": { + "name": "Painting|4|4", + "position": { + "x": 3.608247995376587, + "y": 1.9246368408203125, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.503932476043701, + "objectType": "Painting", + "objectId": "Painting|4|4", + "assetId": "Wall_Decor_Photo_1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.9420716762542725, + 2.1772351264953613, + 6.5360002517700195 + ], + [ + 3.9420716762542725, + 2.1772351264953613, + 6.50425910949707 + ], + [ + 3.9420716762542725, + 1.6720385551452637, + 6.5360002517700195 + ], + [ + 3.9420716762542725, + 1.6720385551452637, + 6.50425910949707 + ], + [ + 3.2744243144989014, + 2.1772351264953613, + 6.5360002517700195 + ], + [ + 3.2744243144989014, + 2.1772351264953613, + 6.50425910949707 + ], + [ + 3.2744243144989014, + 1.6720385551452637, + 6.5360002517700195 + ], + [ + 3.2744243144989014, + 1.6720385551452637, + 6.50425910949707 + ] + ], + "center": { + "x": 3.608247995376587, + "y": 1.9246368408203125, + "z": 6.520129680633545 + }, + "size": { + "x": 0.6676473617553711, + "y": 0.5051965713500977, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Fridge|2|1", + "object_info": { + "name": "Fridge|2|1", + "position": { + "x": 8.027824401855469, + "y": 0.007394969463348389, + "z": 6.196259021759033 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Tomato|surface|2|5", + "Potato|surface|2|7" + ], + "distance": 6.000678539276123, + "objectType": "Fridge", + "objectId": "Fridge|2|1", + "assetId": "Fridge_15", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.576839447021484, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 8.576839447021484, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 8.576839447021484, + 0.0, + 6.515999794006348 + ], + [ + 8.576839447021484, + 0.0, + 5.736844062805176 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 7.494537353515625, + 0.0, + 6.515999794006348 + ], + [ + 7.494537353515625, + 0.0, + 5.736844062805176 + ] + ], + "center": { + "x": 8.035688400268555, + "y": 0.9413036108016968, + "z": 6.126421928405762 + }, + "size": { + "x": 1.0823020935058594, + "y": 1.8826072216033936, + "z": 0.7791557312011719 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Television|4|0|1", + "object_info": { + "name": "Television|4|0|1", + "position": { + "x": 4.5883378982543945, + "y": 0.9386330842971802, + "z": 6.25775671005249 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.010506629943848, + "objectType": "Television", + "objectId": "Television|4|0|1", + "assetId": "Television_23", + "parentReceptacles": [ + "Floor", + "TVStand|4|0|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.0883378982543945, + 1.2561266422271729, + 6.508190631866455 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.153933048248291 + ], + [ + 5.0883378982543945, + 0.4502493143081665, + 6.508190631866455 + ], + [ + 5.0883378982543945, + 0.4502493143081665, + 6.153933048248291 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.508190631866455 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.153933048248291 + ], + [ + 4.0883378982543945, + 0.4502493143081665, + 6.508190631866455 + ], + [ + 4.0883378982543945, + 0.4502493143081665, + 6.153933048248291 + ] + ], + "center": { + "x": 4.5883378982543945, + "y": 0.8531879782676697, + "z": 6.331061840057373 + }, + "size": { + "x": 1.0, + "y": 0.8058773279190063, + "z": 0.35425758361816406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.0883378982543945, + 0.4502493441104889, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 0.4502493441104889, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 0.4502493441104889, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 0.4502493441104889, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.508191108703613 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 5.199999809265137, + "y": 0.9009997844696045, + "z": 1.2999999523162842 + }, + "agent_rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "agent_cameraHorizon": -30.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 5.199999809265137, + "y": 1.5759997367858887, + "z": 1.2999999523162842 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "door|2|4", + "door|2|3", + "Painting|3|7" + ], + "different_object": [ + "Fridge|2|1", + "CellPhone|surface|4|17", + "Dresser|4|3", + "Book|surface|4|22", + "DiningTable|4|1|0", + "Dresser|4|3___0", + "TVStand|4|0|0___1", + "Watch|surface|4|16", + "Dresser|4|3___2", + "CreditCard|surface|4|21", + "Vase|surface|4|24", + "Painting|4|6", + "Dresser|4|3___1", + "Television|4|0|1", + "Painting|4|4", + "Chair|4|1|2", + "TVStand|4|0|0" + ] +} \ No newline at end of file diff --git a/train/train534/3/1_depth_npy.npy b/train/train534/3/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..c7f0ed435248ac29e19a6d08903a38a92e85e10e --- /dev/null +++ b/train/train534/3/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:41653694ff43bda7aeb1b5e782d44c264a56f65cb46fc196d04dcdb0fcb94b3a +size 3145856 diff --git a/train/train534/3/1_semantic_sensor_npy.npy b/train/train534/3/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..9eca891343d758ecd9650a2df7fd41d85315f931 --- /dev/null +++ b/train/train534/3/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0903989acf87dc1ea27c974a6395a9d85ca7a3a021e0b86bfd904ea090818066 +size 2359424 diff --git a/train/train534/3/depth_0.png b/train/train534/3/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..6434bd9b15dfa0475b46915937bc0eb5cf54b9f4 Binary files /dev/null and b/train/train534/3/depth_0.png differ diff --git a/train/train534/3/depth_1.png b/train/train534/3/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..4ddc76db69fc926a2d9f54f85772c2ec83a995d8 Binary files /dev/null and b/train/train534/3/depth_1.png differ diff --git a/train/train534/3/mask_questions.jsonl b/train/train534/3/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/train/train534/3/questions_direction.jsonl b/train/train534/3/questions_direction.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a0181e47245137560b158933a1e46c6b31818ee2 --- /dev/null +++ b/train/train534/3/questions_direction.jsonl @@ -0,0 +1,6 @@ +{"id": 18048, "folder_dir": "train534/3", "pair_name": "FloorLamp-Book", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of FloorLamp. Where is the centroid position of Book in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "FloorLamp", "tgt_object": "Book", "src_com": {"x": 6.263580322265625, "y": 1.0368435382843018, "z": 0.9614665508270264}, "tgt_com": {"x": 4.434380531311035, "y": 0.28968751430511475, "z": 6.330196380615234}, "agent_pos": {"x": 5.199999809265137, "y": 1.5759997367858887, "z": 1.2999999523162842}, "image_1": "train534/3/rgb_0.png", "image_2": "train534/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 18049, "folder_dir": "train534/3", "pair_name": "FloorLamp-Chair", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of FloorLamp. Where is the centroid position of Chair in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "FloorLamp", "tgt_object": "Chair", "src_com": {"x": 6.263580322265625, "y": 1.0368435382843018, "z": 0.9614665508270264}, "tgt_com": {"x": 5.3608245849609375, "y": 0.4016827344894409, "z": 4.779112815856934}, "agent_pos": {"x": 5.199999809265137, "y": 1.5759997367858887, "z": 1.2999999523162842}, "image_1": "train534/3/rgb_0.png", "image_2": "train534/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 18050, "folder_dir": "train534/3", "pair_name": "FloorLamp-Television", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of FloorLamp. Where is the centroid position of Television in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "FloorLamp", "tgt_object": "Television", "src_com": {"x": 6.263580322265625, "y": 1.0368435382843018, "z": 0.9614665508270264}, "tgt_com": {"x": 4.5883378982543945, "y": 0.8531879782676697, "z": 6.331061840057373}, "agent_pos": {"x": 5.199999809265137, "y": 1.5759997367858887, "z": 1.2999999523162842}, "image_1": "train534/3/rgb_0.png", "image_2": "train534/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 18051, "folder_dir": "train534/3", "pair_name": "Book-FloorLamp", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Book. Where is the centroid position of FloorLamp in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Book", "tgt_object": "FloorLamp", "src_com": {"x": 4.434380531311035, "y": 0.28968751430511475, "z": 6.330196380615234}, "tgt_com": {"x": 6.263580322265625, "y": 1.0368435382843018, "z": 0.9614665508270264}, "agent_pos": {"x": 5.199999809265137, "y": 1.5759997367858887, "z": 1.2999999523162842}, "image_1": "train534/3/rgb_1.png", "image_2": "train534/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 18052, "folder_dir": "train534/3", "pair_name": "Chair-FloorLamp", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Chair. Where is the centroid position of FloorLamp in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Chair", "tgt_object": "FloorLamp", "src_com": {"x": 5.3608245849609375, "y": 0.4016827344894409, "z": 4.779112815856934}, "tgt_com": {"x": 6.263580322265625, "y": 1.0368435382843018, "z": 0.9614665508270264}, "agent_pos": {"x": 5.199999809265137, "y": 1.5759997367858887, "z": 1.2999999523162842}, "image_1": "train534/3/rgb_1.png", "image_2": "train534/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 18053, "folder_dir": "train534/3", "pair_name": "Television-FloorLamp", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Television. Where is the centroid position of FloorLamp in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Television", "tgt_object": "FloorLamp", "src_com": {"x": 4.5883378982543945, "y": 0.8531879782676697, "z": 6.331061840057373}, "tgt_com": {"x": 6.263580322265625, "y": 1.0368435382843018, "z": 0.9614665508270264}, "agent_pos": {"x": 5.199999809265137, "y": 1.5759997367858887, "z": 1.2999999523162842}, "image_1": "train534/3/rgb_1.png", "image_2": "train534/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} diff --git a/train/train534/3/rgb_0.png b/train/train534/3/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..172c63b49e444b5ab095e55a15851ef27925e11a --- /dev/null +++ b/train/train534/3/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:94e81269fddaf93b41a17fffcc1e2d5c5851916d394eff97cd77cb3a3c0cb475 +size 193695 diff --git a/train/train534/3/rgb_1.png b/train/train534/3/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..da2c9d5886a5731c2b833577e0b4550626caa105 --- /dev/null +++ b/train/train534/3/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cad9c03fcec980906481362d37a74b39e8d9550ec635fed1eacb9c0829179b84 +size 244091 diff --git a/train/train534/3/semantic_0.png b/train/train534/3/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..b1408724fe5271baa427d242fca9638154ae2e38 Binary files /dev/null and b/train/train534/3/semantic_0.png differ diff --git a/train/train534/3/semantic_1.png b/train/train534/3/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..955221a1931a65d9f4f15b6f02b69aa9d401dd18 Binary files /dev/null and b/train/train534/3/semantic_1.png differ diff --git a/train/train534/4/0.json b/train/train534/4/0.json new file mode 100644 index 0000000000000000000000000000000000000000..9079afcc75414ddc2de84ae8a393c76c597abb12 --- /dev/null +++ b/train/train534/4/0.json @@ -0,0 +1,2622 @@ +{ + "object": [ + { + "objectId": "Book|surface|4|22", + "object_info": { + "name": "Book|surface|4|22", + "position": { + "x": 4.434379577636719, + "y": 0.27263882756233215, + "z": 6.329527378082275 + }, + "rotation": { + "x": 0.002365913474932313, + "y": 90.0003890991211, + "z": 0.25729310512542725 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 5.127967834472656, + "objectType": "Book", + "objectId": "Book|surface|4|22", + "assetId": "Book_20", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.586941719055176, + 0.30716240406036377, + 6.458010673522949 + ], + [ + 4.586941719055176, + 0.30716240406036377, + 6.2023820877075195 + ], + [ + 4.586941719055176, + 0.2722126245498657, + 6.458010673522949 + ], + [ + 4.586941719055176, + 0.2722126245498657, + 6.2023820877075195 + ], + [ + 4.2818193435668945, + 0.30716240406036377, + 6.458010673522949 + ], + [ + 4.2818193435668945, + 0.30716240406036377, + 6.2023820877075195 + ], + [ + 4.2818193435668945, + 0.2722126245498657, + 6.458010673522949 + ], + [ + 4.2818193435668945, + 0.2722126245498657, + 6.2023820877075195 + ] + ], + "center": { + "x": 4.434380531311035, + "y": 0.28968751430511475, + "z": 6.330196380615234 + }, + "size": { + "x": 0.30512237548828125, + "y": 0.03494977951049805, + "z": 0.2556285858154297 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.586939334869385, + 0.2724279761314392, + 6.202378273010254 + ], + [ + 4.586941242218018, + 0.2712807059288025, + 6.45785665512085 + ], + [ + 4.2818193435668945, + 0.2712933123111725, + 6.457858562469482 + ], + [ + 4.281817436218262, + 0.2724405825138092, + 6.202380657196045 + ], + [ + 4.586940765380859, + 0.3073573708534241, + 6.202535152435303 + ], + [ + 4.586942672729492, + 0.30621010065078735, + 6.458013534545898 + ], + [ + 4.281820774078369, + 0.30622270703315735, + 6.458015441894531 + ], + [ + 4.281818866729736, + 0.30736997723579407, + 6.202537536621094 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___1", + "object_info": { + "name": "Drawer (1)", + "position": { + "x": 3.606998920440674, + "y": 0.39762961864471436, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.130039691925049, + "objectType": "Drawer", + "objectId": "Dresser|4|3___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.4907017946243286, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.4907017946243286, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.30300021171569824, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.30300021171569824, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.4907017946243286, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.4907017946243286, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.30300021171569824, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.30300021171569824, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.3968510031700134, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CellPhone|surface|4|17", + "object_info": { + "name": "CellPhone|surface|4|17", + "position": { + "x": 3.606998920440674, + "y": 0.6999126672744751, + "z": 6.400298118591309 + }, + "rotation": { + "x": 4.23526716986089e-06, + "y": 180.00010681152344, + "z": -0.0013795691775158048 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1599999964237213, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 5.279437065124512, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|4|17", + "assetId": "Cellphone_8", + "parentReceptacles": [ + "Dresser|4|3", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.645237445831299, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.645237445831299, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.645237445831299, + 0.6992031335830688, + 6.473209381103516 + ], + [ + 3.645237445831299, + 0.6992031335830688, + 6.327386856079102 + ], + [ + 3.568760395050049, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.568760395050049, + 0.6992031335830688, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.6992031335830688, + 6.327386856079102 + ] + ], + "center": { + "x": 3.606998920440674, + "y": 0.7046447992324829, + "z": 6.400298118591309 + }, + "size": { + "x": 0.07647705078125, + "y": 0.010883331298828125, + "z": 0.14582252502441406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.568760395050049, + 0.6992031335830688, + 6.327386856079102 + ], + [ + 3.6452372074127197, + 0.6992049813270569, + 6.327386856079102 + ], + [ + 3.645237445831299, + 0.6992050409317017, + 6.473209381103516 + ], + [ + 3.568760633468628, + 0.6992031931877136, + 6.473209381103516 + ], + [ + 3.5687601566314697, + 0.7100846171379089, + 6.327386856079102 + ], + [ + 3.6452369689941406, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.6452372074127197, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.7100846171379089, + 6.473209381103516 + ] + ] + } + } + }, + { + "objectId": "Vase|surface|4|24", + "object_info": { + "name": "Vase|surface|4|24", + "position": { + "x": 4.730817794799805, + "y": 0.27228501439094543, + "z": 6.289771556854248 + }, + "rotation": { + "x": -1.976354042199091e-06, + "y": 90.0000228881836, + "z": 9.469399060435535e-07 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 5.0788726806640625, + "objectType": "Vase", + "objectId": "Vase|surface|4|24", + "assetId": "Vase_Flat_5", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.8065643310546875, + 0.34241700172424316, + 6.365267753601074 + ], + [ + 4.8065643310546875, + 0.34241700172424316, + 6.2142744064331055 + ], + [ + 4.8065643310546875, + 0.27224910259246826, + 6.365267753601074 + ], + [ + 4.8065643310546875, + 0.27224910259246826, + 6.2142744064331055 + ], + [ + 4.655572891235352, + 0.34241700172424316, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.34241700172424316, + 6.2142744064331055 + ], + [ + 4.655572891235352, + 0.27224910259246826, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.27224910259246826, + 6.2142744064331055 + ] + ], + "center": { + "x": 4.7310686111450195, + "y": 0.3073330521583557, + "z": 6.28977108001709 + }, + "size": { + "x": 0.15099143981933594, + "y": 0.0701678991317749, + "z": 0.15099334716796875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.806564807891846, + 0.2722490131855011, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.2722490131855011, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.2722490131855011, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.2722490131855011, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.3424171209335327, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.3424171209335327, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.3424171209335327, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.3424171209335327, + 6.2142744064331055 + ] + ] + } + } + }, + { + "objectId": "TVStand|4|0|0", + "object_info": { + "name": "TVStand|4|0|0", + "position": { + "x": 4.588324069976807, + "y": 0.0009346157312393188, + "z": 6.329517364501953 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": [ + "Television|4|0|1" + ], + "distance": 5.161177635192871, + "objectType": "TVStand", + "objectId": "TVStand|4|0|0", + "assetId": "TV_Stand_220_1", + "parentReceptacles": [ + "Floor", + "Plate|surface|4|19" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.207240104675293, + 0.4502491354942322, + 6.515999794006348 + ], + [ + 5.207240104675293, + 0.4502491354942322, + 6.146122932434082 + ], + [ + 5.207240104675293, + 2.8312206268310547e-07, + 6.515999794006348 + ], + [ + 5.207240104675293, + 2.8312206268310547e-07, + 6.146122932434082 + ], + [ + 3.969435691833496, + 0.4502491354942322, + 6.515999794006348 + ], + [ + 3.969435691833496, + 0.4502491354942322, + 6.146122932434082 + ], + [ + 3.969435691833496, + 2.8312206268310547e-07, + 6.515999794006348 + ], + [ + 3.969435691833496, + 2.8312206268310547e-07, + 6.146122932434082 + ] + ], + "center": { + "x": 4.5883378982543945, + "y": 0.22512470185756683, + "z": 6.331061363220215 + }, + "size": { + "x": 1.2378044128417969, + "y": 0.4502488374710083, + "z": 0.3698768615722656 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.969435930252075, + 2.682209014892578e-07, + 6.14612340927124 + ], + [ + 5.207239627838135, + 2.682209014892578e-07, + 6.14612340927124 + ], + [ + 5.207239627838135, + 2.682209014892578e-07, + 6.515999794006348 + ], + [ + 3.969435930252075, + 2.682209014892578e-07, + 6.515999794006348 + ], + [ + 3.969435930252075, + 0.4502490758895874, + 6.14612340927124 + ], + [ + 5.207239627838135, + 0.4502490758895874, + 6.14612340927124 + ], + [ + 5.207239627838135, + 0.4502490758895874, + 6.515999794006348 + ], + [ + 3.969435930252075, + 0.4502490758895874, + 6.515999794006348 + ] + ] + } + } + }, + { + "objectId": "DiningTable|4|1|0", + "object_info": { + "name": "DiningTable|4|1|0", + "position": { + "x": 5.355981826782227, + "y": -0.0031822919845581055, + "z": 3.724600076675415 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Laptop|surface|4|23", + "Book|surface|4|26" + ], + "distance": 2.7034060955047607, + "objectType": "DiningTable", + "objectId": "DiningTable|4|1|0", + "assetId": "Dining_Table_218_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.855982780456543, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 5.855982780456543, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 2.8305177688598633 + ] + ], + "center": { + "x": 5.355981826782227, + "y": 0.3905254304409027, + "z": 3.724600076675415 + }, + "size": { + "x": 1.0000019073486328, + "y": 0.7810438275337219, + "z": 1.7881646156311035 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.855982303619385, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 3.5762786865234375e-06, + 4.618681907653809 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 4.618682384490967 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 4.618681907653809 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 4.618682384490967 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 2.8305180072784424 + ] + ] + } + } + }, + { + "objectId": "Chair|4|1|2", + "object_info": { + "name": "Chair|4|1|2", + "position": { + "x": 5.356987476348877, + "y": 0.0031416714191436768, + "z": 4.78104829788208 + }, + "rotation": { + "x": -0.0, + "y": 174.24070739746094, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 3.6936275959014893, + "objectType": "Chair", + "objectId": "Chair|4|1|2", + "assetId": "Chair_224_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.615507125854492, + 0.8033755421638489, + 5.103589057922363 + ], + [ + 5.615507125854492, + 0.8033755421638489, + 4.454636573791504 + ], + [ + 5.615507125854492, + -1.0073184967041016e-05, + 5.103589057922363 + ], + [ + 5.615507125854492, + -1.0073184967041016e-05, + 4.454636573791504 + ], + [ + 5.106142044067383, + 0.8033755421638489, + 5.103589057922363 + ], + [ + 5.106142044067383, + 0.8033755421638489, + 4.454636573791504 + ], + [ + 5.106142044067383, + -1.0073184967041016e-05, + 5.103589057922363 + ], + [ + 5.106142044067383, + -1.0073184967041016e-05, + 4.454636573791504 + ] + ], + "center": { + "x": 5.3608245849609375, + "y": 0.4016827344894409, + "z": 4.779112815856934 + }, + "size": { + "x": 0.5093650817871094, + "y": 0.8033856153488159, + "z": 0.6489524841308594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.15634822845459, + -9.98377799987793e-06, + 4.451790809631348 + ], + [ + 5.61686897277832, + -9.98377799987793e-06, + 4.4982380867004395 + ], + [ + 5.5556254386901855, + -9.98377799987793e-06, + 5.105459213256836 + ], + [ + 5.095105171203613, + -9.98377799987793e-06, + 5.059011936187744 + ], + [ + 5.15634822845459, + 0.8033754825592041, + 4.451790809631348 + ], + [ + 5.61686897277832, + 0.8033754825592041, + 4.4982380867004395 + ], + [ + 5.5556254386901855, + 0.8033754825592041, + 5.105459213256836 + ], + [ + 5.095105171203613, + 0.8033754825592041, + 5.059011936187744 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___0", + "object_info": { + "name": "Drawer", + "position": { + "x": 3.606998920440674, + "y": 0.5816994309425354, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.115259647369385, + "objectType": "Drawer", + "objectId": "Dresser|4|3___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.6747716069221497, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.6747716069221497, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.4870700240135193, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.4870700240135193, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.6747716069221497, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.6747716069221497, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.4870700240135193, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.4870700240135193, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.5809208154678345, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|4", + "object_info": { + "name": "door|2|4", + "position": { + "x": 6.539700508117676, + "y": -0.0005981922149658203, + "z": 2.0724358558654785 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1661734580993652, + "objectType": "Doorframe", + "objectId": "door|2|4", + "assetId": "Doorframe_Double_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.590658664703369, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.590658664703369, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.590658664703369, + 0.0, + 4.011923313140869 + ], + [ + 6.590658664703369, + 0.0, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 0.0, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 0.0, + 2.069113254547119 + ] + ], + "center": { + "x": 6.540999889373779, + "y": 1.0435373783111572, + "z": 3.040518283843994 + }, + "size": { + "x": 0.09931755065917969, + "y": 2.0870747566223145, + "z": 1.94281005859375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|4|3", + "object_info": { + "name": "Dresser|4|3", + "position": { + "x": 3.606998920440674, + "y": -4.786252975463867e-05, + "z": 6.362965106964111 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Watch|surface|4|16", + "CellPhone|surface|4|17" + ], + "distance": 5.316083908081055, + "objectType": "Dresser", + "objectId": "Dresser|4|3", + "assetId": "RoboTHOR_dresser_rast_v", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.917998790740967, + 0.6992043256759644, + 6.518101692199707 + ], + [ + 3.917998790740967, + 0.6992043256759644, + 6.203625679016113 + ], + [ + 3.917998790740967, + 3.838539123535156e-05, + 6.518101692199707 + ], + [ + 3.917998790740967, + 3.838539123535156e-05, + 6.203625679016113 + ], + [ + 3.295999050140381, + 0.6992043256759644, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992043256759644, + 6.203625679016113 + ], + [ + 3.295999050140381, + 3.838539123535156e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 3.838539123535156e-05, + 6.203625679016113 + ] + ], + "center": { + "x": 3.606998920440674, + "y": 0.34962135553359985, + "z": 6.36086368560791 + }, + "size": { + "x": 0.6219997406005859, + "y": 0.699165940284729, + "z": 0.31447601318359375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.295999050140381, + 3.8564205169677734e-05, + 6.20362663269043 + ], + [ + 3.917998790740967, + 3.8564205169677734e-05, + 6.20362663269043 + ], + [ + 3.917998790740967, + 3.8564205169677734e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 3.8564205169677734e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992037892341614, + 6.20362663269043 + ], + [ + 3.917998790740967, + 0.6992037892341614, + 6.20362663269043 + ], + [ + 3.917998790740967, + 0.6992037892341614, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992037892341614, + 6.518101692199707 + ] + ] + } + } + }, + { + "objectId": "CreditCard|surface|4|21", + "object_info": { + "name": "CreditCard|surface|4|21", + "position": { + "x": 4.137941837310791, + "y": 0.27259376645088196, + "z": 6.3295159339904785 + }, + "rotation": { + "x": 0.00015720646479167044, + "y": 90.0001449584961, + "z": -0.00030558553407900035 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.15470552444458, + "objectType": "CreditCard", + "objectId": "CreditCard|surface|4|21", + "assetId": "CreditCard_3", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.164941310882568, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.164941310882568, + 0.27673888206481934, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.27224868535995483, + 6.372598171234131 + ], + [ + 4.164941310882568, + 0.27224868535995483, + 6.286433696746826 + ], + [ + 4.110942363739014, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27673888206481934, + 6.286433696746826 + ], + [ + 4.110942363739014, + 0.27224868535995483, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27224868535995483, + 6.286433696746826 + ] + ], + "center": { + "x": 4.137941837310791, + "y": 0.2744937837123871, + "z": 6.3295159339904785 + }, + "size": { + "x": 0.05399894714355469, + "y": 0.004490196704864502, + "z": 0.08616447448730469 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.16494083404541, + 0.27224868535995483, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.27224916219711304, + 6.372598171234131 + ], + [ + 4.110942840576172, + 0.2722492814064026, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.2722488343715668, + 6.286433696746826 + ], + [ + 4.16494083404541, + 0.2767382860183716, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.2767387330532074, + 6.372598171234131 + ], + [ + 4.110942840576172, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27673840522766113, + 6.286433696746826 + ] + ] + } + } + }, + { + "objectId": "Painting|4|6", + "object_info": { + "name": "Painting|4|6", + "position": { + "x": 6.538111209869385, + "y": 1.4183659553527832, + "z": 4.80001974105835 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.008447170257568, + "objectType": "Painting", + "objectId": "Painting|4|6", + "assetId": "Wall_Decor_Painting_8", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.5360002517700195, + 1.681741714477539, + 5.152198791503906 + ], + [ + 6.5360002517700195, + 1.681741714477539, + 4.4491167068481445 + ], + [ + 6.5360002517700195, + 1.1549901962280273, + 5.152198791503906 + ], + [ + 6.5360002517700195, + 1.1549901962280273, + 4.4491167068481445 + ], + [ + 6.518789291381836, + 1.681741714477539, + 5.152198791503906 + ], + [ + 6.518789291381836, + 1.681741714477539, + 4.4491167068481445 + ], + [ + 6.518789291381836, + 1.1549901962280273, + 5.152198791503906 + ], + [ + 6.518789291381836, + 1.1549901962280273, + 4.4491167068481445 + ] + ], + "center": { + "x": 6.527394771575928, + "y": 1.4183659553527832, + "z": 4.800657749176025 + }, + "size": { + "x": 0.017210960388183594, + "y": 0.5267515182495117, + "z": 0.7030820846557617 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TVStand|4|0|0___1", + "object_info": { + "name": "Shelf", + "position": { + "x": 4.588322162628174, + "y": 0.2684445381164551, + "z": 6.3295159339904785 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Watch|surface|4|20", + "Book|surface|4|22", + "KeyChain|surface|4|18", + "Vase|surface|4|24", + "CreditCard|surface|4|21" + ], + "distance": 5.121303558349609, + "objectType": "DiningTable", + "objectId": "TVStand|4|0|0___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.18937349319458, + 0.3674442172050476, + 6.494719982147217 + ], + [ + 5.18937349319458, + 0.3674442172050476, + 6.16431188583374 + ], + [ + 5.18937349319458, + 0.26823681592941284, + 6.494719982147217 + ], + [ + 5.18937349319458, + 0.26823681592941284, + 6.16431188583374 + ], + [ + 3.9872708320617676, + 0.3674442172050476, + 6.494719982147217 + ], + [ + 3.9872708320617676, + 0.3674442172050476, + 6.16431188583374 + ], + [ + 3.9872708320617676, + 0.26823681592941284, + 6.494719982147217 + ], + [ + 3.9872708320617676, + 0.26823681592941284, + 6.16431188583374 + ] + ], + "center": { + "x": 4.588322162628174, + "y": 0.3178405165672302, + "z": 6.3295159339904785 + }, + "size": { + "x": 1.2021026611328125, + "y": 0.09920740127563477, + "z": 0.33040809631347656 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Watch|surface|4|16", + "object_info": { + "name": "Watch|surface|4|16", + "position": { + "x": 3.6847031116485596, + "y": 0.7003282308578491, + "z": 6.288086414337158 + }, + "rotation": { + "x": 1.9947741031646729, + "y": 180.00387573242188, + "z": 1.19093656539917 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07000000029802322, + "salientMaterials": [ + "Metal", + "Glass", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.153391361236572, + "objectType": "Watch", + "objectId": "Watch|surface|4|16", + "assetId": "Watch_2", + "parentReceptacles": [ + "Dresser|4|3", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.7239737510681152, + 0.7344659566879272, + 6.313935279846191 + ], + [ + 3.7239737510681152, + 0.7344659566879272, + 6.265624046325684 + ], + [ + 3.7239737510681152, + 0.6990219354629517, + 6.313935279846191 + ], + [ + 3.7239737510681152, + 0.6990219354629517, + 6.265624046325684 + ], + [ + 3.6450982093811035, + 0.7344659566879272, + 6.313935279846191 + ], + [ + 3.6450982093811035, + 0.7344659566879272, + 6.265624046325684 + ], + [ + 3.6450982093811035, + 0.6990219354629517, + 6.313935279846191 + ], + [ + 3.6450982093811035, + 0.6990219354629517, + 6.265624046325684 + ] + ], + "center": { + "x": 3.6845359802246094, + "y": 0.7167439460754395, + "z": 6.2897796630859375 + }, + "size": { + "x": 0.07887554168701172, + "y": 0.035444021224975586, + "z": 0.04831123352050781 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.644953966140747, + 0.6981589794158936, + 6.265713691711426 + ], + [ + 3.723494052886963, + 0.6965271830558777, + 6.265765190124512 + ], + [ + 3.723497152328491, + 0.6982251405715942, + 6.314515590667725 + ], + [ + 3.6449573040008545, + 0.6998568773269653, + 6.314464092254639 + ], + [ + 3.645716905593872, + 0.7348403334617615, + 6.2644362449646 + ], + [ + 3.724256992340088, + 0.7332085967063904, + 6.2644877433776855 + ], + [ + 3.724260091781616, + 0.7349065542221069, + 6.31323766708374 + ], + [ + 3.6457202434539795, + 0.736538290977478, + 6.313186168670654 + ] + ] + } + } + }, + { + "objectId": "door|2|3", + "object_info": { + "name": "door|2|3", + "position": { + "x": 9.811773300170898, + "y": -0.00026702880859375, + "z": 6.5231428146362305 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 7.364771842956543, + "objectType": "Doorway", + "objectId": "door|2|3", + "assetId": "Doorway_Double_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.727968215942383, + 2.095932960510254, + 6.545433044433594 + ], + [ + 10.727968215942383, + 2.095932960510254, + 4.553407669067383 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 4.553407669067383 + ], + [ + 9.760202407836914, + 2.095932960510254, + 6.545433044433594 + ], + [ + 9.760202407836914, + 2.095932960510254, + 4.553407669067383 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 4.553407669067383 + ] + ], + "center": { + "x": 10.244085311889648, + "y": 1.0479663610458374, + "z": 5.549420356750488 + }, + "size": { + "x": 0.9677658081054688, + "y": 2.095933198928833, + "z": 1.992025375366211 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|3|7", + "object_info": { + "name": "Painting|3|7", + "position": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.831557273864746, + "objectType": "Painting", + "objectId": "Painting|3|7", + "assetId": "Wall_Decor_Photo_10", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.833455085754395, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.50425910949707 + ] + ], + "center": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.520129680633545 + }, + "size": { + "x": 0.7115726470947266, + "y": 0.4246177673339844, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|4|4", + "object_info": { + "name": "Painting|4|4", + "position": { + "x": 3.608247995376587, + "y": 1.9246368408203125, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.503932476043701, + "objectType": "Painting", + "objectId": "Painting|4|4", + "assetId": "Wall_Decor_Photo_1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.9420716762542725, + 2.1772351264953613, + 6.5360002517700195 + ], + [ + 3.9420716762542725, + 2.1772351264953613, + 6.50425910949707 + ], + [ + 3.9420716762542725, + 1.6720385551452637, + 6.5360002517700195 + ], + [ + 3.9420716762542725, + 1.6720385551452637, + 6.50425910949707 + ], + [ + 3.2744243144989014, + 2.1772351264953613, + 6.5360002517700195 + ], + [ + 3.2744243144989014, + 2.1772351264953613, + 6.50425910949707 + ], + [ + 3.2744243144989014, + 1.6720385551452637, + 6.5360002517700195 + ], + [ + 3.2744243144989014, + 1.6720385551452637, + 6.50425910949707 + ] + ], + "center": { + "x": 3.608247995376587, + "y": 1.9246368408203125, + "z": 6.520129680633545 + }, + "size": { + "x": 0.6676473617553711, + "y": 0.5051965713500977, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Fridge|2|1", + "object_info": { + "name": "Fridge|2|1", + "position": { + "x": 8.027824401855469, + "y": 0.007394969463348389, + "z": 6.196259021759033 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Tomato|surface|2|5", + "Potato|surface|2|7" + ], + "distance": 6.000678539276123, + "objectType": "Fridge", + "objectId": "Fridge|2|1", + "assetId": "Fridge_15", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.576839447021484, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 8.576839447021484, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 8.576839447021484, + 0.0, + 6.515999794006348 + ], + [ + 8.576839447021484, + 0.0, + 5.736844062805176 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 7.494537353515625, + 0.0, + 6.515999794006348 + ], + [ + 7.494537353515625, + 0.0, + 5.736844062805176 + ] + ], + "center": { + "x": 8.035688400268555, + "y": 0.9413036108016968, + "z": 6.126421928405762 + }, + "size": { + "x": 1.0823020935058594, + "y": 1.8826072216033936, + "z": 0.7791557312011719 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Television|4|0|1", + "object_info": { + "name": "Television|4|0|1", + "position": { + "x": 4.5883378982543945, + "y": 0.9386330842971802, + "z": 6.25775671005249 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.010506629943848, + "objectType": "Television", + "objectId": "Television|4|0|1", + "assetId": "Television_23", + "parentReceptacles": [ + "Floor", + "TVStand|4|0|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.0883378982543945, + 1.2561266422271729, + 6.508190631866455 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.153933048248291 + ], + [ + 5.0883378982543945, + 0.4502493143081665, + 6.508190631866455 + ], + [ + 5.0883378982543945, + 0.4502493143081665, + 6.153933048248291 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.508190631866455 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.153933048248291 + ], + [ + 4.0883378982543945, + 0.4502493143081665, + 6.508190631866455 + ], + [ + 4.0883378982543945, + 0.4502493143081665, + 6.153933048248291 + ] + ], + "center": { + "x": 4.5883378982543945, + "y": 0.8531879782676697, + "z": 6.331061840057373 + }, + "size": { + "x": 1.0, + "y": 0.8058773279190063, + "z": 0.35425758361816406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.0883378982543945, + 0.4502493441104889, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 0.4502493441104889, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 0.4502493441104889, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 0.4502493441104889, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.508191108703613 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 5.199999809265137, + "y": 0.9009997844696045, + "z": 1.5 + }, + "agent_rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "agent_cameraHorizon": -30.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 5.199999809265137, + "y": 1.5759997367858887, + "z": 1.5 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "door|2|4", + "door|2|3", + "Painting|3|7" + ], + "different_object": [ + "Fridge|2|1", + "CellPhone|surface|4|17", + "Dresser|4|3", + "Book|surface|4|22", + "DiningTable|4|1|0", + "Dresser|4|3___0", + "TVStand|4|0|0___1", + "Watch|surface|4|16", + "Vase|surface|4|24", + "CreditCard|surface|4|21", + "Painting|4|6", + "Dresser|4|3___1", + "Television|4|0|1", + "Painting|4|4", + "Chair|4|1|2", + "TVStand|4|0|0" + ] +} \ No newline at end of file diff --git a/train/train534/4/0_depth_npy.npy b/train/train534/4/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..b2bd662e4a39b2b9d28fe9c788397f4f490df6c1 --- /dev/null +++ b/train/train534/4/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:94836a38665c791898b291c07cb87aa0a2b0f066ed79b58924d136804ecd770c +size 3145856 diff --git a/train/train534/4/0_semantic_sensor_npy.npy b/train/train534/4/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..c6180a9b6948ac81efe8b3b5c9e4787bf2adee0e --- /dev/null +++ b/train/train534/4/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2d6d9d2695377cb03de339fe41f75902753293db02dc668ceaafc63fda2b204f +size 2359424 diff --git a/train/train534/4/1.json b/train/train534/4/1.json new file mode 100644 index 0000000000000000000000000000000000000000..17e6e37a058eb81a77905bc5fdbde7538e939425 --- /dev/null +++ b/train/train534/4/1.json @@ -0,0 +1,634 @@ +{ + "object": [ + { + "objectId": "door|2|4", + "object_info": { + "name": "door|2|4", + "position": { + "x": 6.539700508117676, + "y": -0.0005981922149658203, + "z": 2.0724358558654785 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1661734580993652, + "objectType": "Doorframe", + "objectId": "door|2|4", + "assetId": "Doorframe_Double_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.590658664703369, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.590658664703369, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.590658664703369, + 0.0, + 4.011923313140869 + ], + [ + 6.590658664703369, + 0.0, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 0.0, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 0.0, + 2.069113254547119 + ] + ], + "center": { + "x": 6.540999889373779, + "y": 1.0435373783111572, + "z": 3.040518283843994 + }, + "size": { + "x": 0.09931755065917969, + "y": 2.0870747566223145, + "z": 1.94281005859375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|3", + "object_info": { + "name": "door|2|3", + "position": { + "x": 9.811773300170898, + "y": -0.00026702880859375, + "z": 6.5231428146362305 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 7.364771842956543, + "objectType": "Doorway", + "objectId": "door|2|3", + "assetId": "Doorway_Double_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.727968215942383, + 2.095932960510254, + 6.545433044433594 + ], + [ + 10.727968215942383, + 2.095932960510254, + 4.553407669067383 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 4.553407669067383 + ], + [ + 9.760202407836914, + 2.095932960510254, + 6.545433044433594 + ], + [ + 9.760202407836914, + 2.095932960510254, + 4.553407669067383 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 4.553407669067383 + ] + ], + "center": { + "x": 10.244085311889648, + "y": 1.0479663610458374, + "z": 5.549420356750488 + }, + "size": { + "x": 0.9677658081054688, + "y": 2.095933198928833, + "z": 1.992025375366211 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "FloorLamp|4|2", + "object_info": { + "name": "FloorLamp|4|2", + "position": { + "x": 6.263036727905273, + "y": -0.0018747448921203613, + "z": 0.9616859555244446 + }, + "rotation": { + "x": 359.9669189453125, + "y": 269.9986572265625, + "z": 359.9627380371094 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 1.7853816747665405, + "objectType": "FloorLamp", + "objectId": "FloorLamp|4|2", + "assetId": "Floor_Lamp_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.517219543457031, + 2.0757031440734863, + 1.2152924537658691 + ], + [ + 6.517219543457031, + 2.0757031440734863, + 0.7076406478881836 + ], + [ + 6.517219543457031, + -0.0020160675048828125, + 1.2152924537658691 + ], + [ + 6.517219543457031, + -0.0020160675048828125, + 0.7076406478881836 + ], + [ + 6.009941101074219, + 2.0757031440734863, + 1.2152924537658691 + ], + [ + 6.009941101074219, + 2.0757031440734863, + 0.7076406478881836 + ], + [ + 6.009941101074219, + -0.0020160675048828125, + 1.2152924537658691 + ], + [ + 6.009941101074219, + -0.0020160675048828125, + 0.7076406478881836 + ] + ], + "center": { + "x": 6.263580322265625, + "y": 1.0368435382843018, + "z": 0.9614665508270264 + }, + "size": { + "x": 0.5072784423828125, + "y": 2.077719211578369, + "z": 0.5076518058776855 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.00874137878418, + -0.001891990890726447, + 1.213939905166626 + ], + [ + 6.008753776550293, + -0.0015617554308846593, + 0.7062857151031494 + ], + [ + 6.5160441398620605, + -0.0018547163344919682, + 0.706297755241394 + ], + [ + 6.516031742095947, + -0.002184951677918434, + 1.213951826095581 + ], + [ + 6.009941101074219, + 2.0755419731140137, + 1.2152912616729736 + ], + [ + 6.009953498840332, + 2.0758721828460693, + 0.7076371908187866 + ], + [ + 6.5172438621521, + 2.0755791664123535, + 0.7076491713523865 + ], + [ + 6.517231464385986, + 2.075248956680298, + 1.2153033018112183 + ] + ] + } + } + }, + { + "objectId": "Painting|3|7", + "object_info": { + "name": "Painting|3|7", + "position": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.831557273864746, + "objectType": "Painting", + "objectId": "Painting|3|7", + "assetId": "Wall_Decor_Photo_10", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.833455085754395, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.50425910949707 + ] + ], + "center": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.520129680633545 + }, + "size": { + "x": 0.7115726470947266, + "y": 0.4246177673339844, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|3|4", + "object_info": { + "name": "Painting|3|4", + "position": { + "x": 11.443442344665527, + "y": 1.4678616523742676, + "z": 5.477546215057373 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.9369797706604, + "objectType": "Painting", + "objectId": "Painting|3|4", + "assetId": "Wall_Decor_Painting_3", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.442000389099121, + 1.773220181465149, + 5.879675388336182 + ], + [ + 11.442000389099121, + 1.773220181465149, + 5.07399320602417 + ], + [ + 11.442000389099121, + 1.16008460521698, + 5.879675388336182 + ], + [ + 11.442000389099121, + 1.16008460521698, + 5.07399320602417 + ], + [ + 11.422650337219238, + 1.773220181465149, + 5.879675388336182 + ], + [ + 11.422650337219238, + 1.773220181465149, + 5.07399320602417 + ], + [ + 11.422650337219238, + 1.16008460521698, + 5.879675388336182 + ], + [ + 11.422650337219238, + 1.16008460521698, + 5.07399320602417 + ] + ], + "center": { + "x": 11.43232536315918, + "y": 1.4666523933410645, + "z": 5.476834297180176 + }, + "size": { + "x": 0.019350051879882812, + "y": 0.613135576248169, + "z": 0.8056821823120117 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 5.199999809265137, + "y": 0.9009997844696045, + "z": 1.5 + }, + "agent_rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "agent_cameraHorizon": -30.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 5.199999809265137, + "y": 1.5759997367858887, + "z": 1.5 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "door|2|4", + "door|2|3", + "Painting|3|7" + ], + "different_object": [ + "Painting|3|4", + "FloorLamp|4|2" + ] +} \ No newline at end of file diff --git a/train/train534/4/1_depth_npy.npy b/train/train534/4/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..410ce7708dd26e214a7feb3389b9c4ce80a9b101 --- /dev/null +++ b/train/train534/4/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:58bb85a2bcc591f0ab4df3916f5f8a4e0d8821500f2ca129c37eb35f25d362d3 +size 3145856 diff --git a/train/train534/4/1_semantic_sensor_npy.npy b/train/train534/4/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..35bb9f0004170564aefbefecbfc4f95334c44100 --- /dev/null +++ b/train/train534/4/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:23c7f0618a5341b40ea88be86cc951901497c0ff08920a1dc182c9f463606552 +size 2359424 diff --git a/train/train534/4/depth_0.png b/train/train534/4/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..e5983df9de9fa6b18f80dee7b8406a450432655d Binary files /dev/null and b/train/train534/4/depth_0.png differ diff --git a/train/train534/4/depth_1.png b/train/train534/4/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..59f260fc9c6738e4c92a9eef848bd95af4ec063e Binary files /dev/null and b/train/train534/4/depth_1.png differ diff --git a/train/train534/4/mask_questions.jsonl b/train/train534/4/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/train/train534/4/rgb_0.png b/train/train534/4/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..2c8f56063b550ea48517061b94bb62b65ed1d352 --- /dev/null +++ b/train/train534/4/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6a9eba4272a7e1c3f882d348dc674a1cb03b5384530feb6af0276b2893ee8366 +size 242152 diff --git a/train/train534/4/rgb_1.png b/train/train534/4/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..ae04b82254315dc3f64e79b8016b51be9fa9b90e --- /dev/null +++ b/train/train534/4/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:61cfb78a58f137890a0cebb9d006fdc197bab8687037b4c095d112f19532b82f +size 198450 diff --git a/train/train534/4/semantic_0.png b/train/train534/4/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..7b6a72ec2da6325d7f5e8d0d1b5086fc82e5d968 Binary files /dev/null and b/train/train534/4/semantic_0.png differ diff --git a/train/train534/4/semantic_1.png b/train/train534/4/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..bcfc044b3ef9e9fa0edaf6fff21041e69adbaa61 Binary files /dev/null and b/train/train534/4/semantic_1.png differ diff --git a/train/train534/color_to_object_id.json b/train/train534/color_to_object_id.json new file mode 100644 index 0000000000000000000000000000000000000000..fb4aa92f95fc72fd2b552726a46806c04e25cd62 --- /dev/null +++ b/train/train534/color_to_object_id.json @@ -0,0 +1,1990 @@ +[ + { + "window|6|0": [ + 43, + 165, + 91 + ] + }, + { + "Window": [ + 200, + 150, + 134 + ] + }, + { + "window|5|1": [ + 130, + 218, + 61 + ] + }, + { + "window|5|0": [ + 136, + 191, + 22 + ] + }, + { + "door|1|4": [ + 87, + 14, + 187 + ] + }, + { + "Doorway": [ + 163, + 222, + 124 + ] + }, + { + "door|5|6": [ + 163, + 25, + 123 + ] + }, + { + "door|4|5": [ + 50, + 233, + 221 + ] + }, + { + "door|2|4": [ + 91, + 180, + 98 + ] + }, + { + "Doorframe": [ + 191, + 139, + 21 + ] + }, + { + "door|2|3": [ + 144, + 182, + 201 + ] + }, + { + "Painting|3|7": [ + 179, + 232, + 3 + ] + }, + { + "Painting": [ + 40, + 117, + 236 + ] + }, + { + "Painting|3|6": [ + 105, + 78, + 198 + ] + }, + { + "Painting|3|5": [ + 156, + 50, + 198 + ] + }, + { + "Painting|3|4": [ + 215, + 188, + 149 + ] + }, + { + "Painting|2|4": [ + 168, + 73, + 214 + ] + }, + { + "Painting|2|3": [ + 50, + 126, + 53 + ] + }, + { + "Painting|6|8": [ + 111, + 50, + 53 + ] + }, + { + "Painting|6|7": [ + 153, + 91, + 237 + ] + }, + { + "Painting|4|6": [ + 111, + 255, + 77 + ] + }, + { + "Painting|4|5": [ + 53, + 66, + 101 + ] + }, + { + "Painting|4|4": [ + 186, + 182, + 80 + ] + }, + { + "Painting|5|7": [ + 36, + 115, + 71 + ] + }, + { + "Painting|5|6": [ + 220, + 108, + 112 + ] + }, + { + "Painting|5|5": [ + 137, + 50, + 249 + ] + }, + { + "Television|6|6": [ + 102, + 53, + 26 + ] + }, + { + "Television": [ + 27, + 245, + 217 + ] + }, + { + "TissueBox|surface|6|54": [ + 199, + 91, + 170 + ] + }, + { + "TissueBox": [ + 98, + 43, + 249 + ] + }, + { + "TissueBox|surface|6|53": [ + 18, + 46, + 133 + ] + }, + { + "CellPhone|surface|6|51": [ + 62, + 155, + 115 + ] + }, + { + "CellPhone": [ + 227, + 98, + 136 + ] + }, + { + "CellPhone|surface|6|50": [ + 120, + 22, + 133 + ] + }, + { + "CreditCard|surface|6|42": [ + 65, + 44, + 75 + ] + }, + { + "CreditCard": [ + 56, + 235, + 12 + ] + }, + { + "Book|surface|6|41": [ + 24, + 39, + 127 + ] + }, + { + "Book": [ + 43, + 31, + 148 + ] + }, + { + "Desk|6|5": [ + 13, + 75, + 159 + ] + }, + { + "Desk": [ + 14, + 120, + 179 + ] + }, + { + "GarbageCan|6|4": [ + 117, + 43, + 87 + ] + }, + { + "GarbageCan": [ + 225, + 40, + 55 + ] + }, + { + "Chair|6|3|1": [ + 6, + 129, + 219 + ] + }, + { + "Chair": [ + 166, + 13, + 176 + ] + }, + { + "Laptop|surface|6|58": [ + 87, + 35, + 126 + ] + }, + { + "Laptop": [ + 20, + 107, + 222 + ] + }, + { + "BaseballBat|surface|6|55": [ + 207, + 105, + 146 + ] + }, + { + "BaseballBat": [ + 171, + 20, + 38 + ] + }, + { + "DeskLamp|surface|6|49": [ + 87, + 127, + 133 + ] + }, + { + "DeskLamp": [ + 99, + 164, + 25 + ] + }, + { + "Pencil|surface|6|43": [ + 151, + 33, + 115 + ] + }, + { + "Pencil": [ + 177, + 226, + 23 + ] + }, + { + "DiningTable|6|3|0": [ + 34, + 96, + 185 + ] + }, + { + "DiningTable": [ + 83, + 33, + 33 + ] + }, + { + "Box|6|2": [ + 241, + 14, + 186 + ] + }, + { + "Box": [ + 60, + 252, + 230 + ] + }, + { + "CellPhone|surface|6|57": [ + 171, + 21, + 4 + ] + }, + { + "CellPhone|surface|6|56": [ + 93, + 9, + 109 + ] + }, + { + "Vase|surface|6|52": [ + 234, + 96, + 199 + ] + }, + { + "Vase": [ + 83, + 152, + 69 + ] + }, + { + "Pencil|surface|6|48": [ + 152, + 13, + 237 + ] + }, + { + "Book|surface|6|46": [ + 119, + 227, + 245 + ] + }, + { + "Book|surface|6|45": [ + 123, + 129, + 191 + ] + }, + { + "AlarmClock|surface|6|39": [ + 103, + 142, + 66 + ] + }, + { + "AlarmClock": [ + 184, + 20, + 170 + ] + }, + { + "Dresser|6|1___3": [ + 125, + 169, + 154 + ] + }, + { + "Drawer": [ + 155, + 30, + 210 + ] + }, + { + "Dresser|6|1___2": [ + 219, + 86, + 133 + ] + }, + { + "Dresser|6|1___1": [ + 91, + 55, + 231 + ] + }, + { + "Dresser|6|1___0": [ + 86, + 178, + 164 + ] + }, + { + "Dresser|6|1": [ + 74, + 74, + 184 + ] + }, + { + "Dresser": [ + 51, + 128, + 146 + ] + }, + { + "TennisRacket|surface|6|47": [ + 9, + 170, + 110 + ] + }, + { + "TennisRacket": [ + 138, + 71, + 107 + ] + }, + { + "RemoteControl|surface|6|44": [ + 172, + 50, + 175 + ] + }, + { + "RemoteControl": [ + 187, + 19, + 208 + ] + }, + { + "Pillow|surface|6|40": [ + 18, + 8, + 167 + ] + }, + { + "Pillow": [ + 217, + 193, + 130 + ] + }, + { + "Bed|6|0": [ + 5, + 103, + 154 + ] + }, + { + "Bed": [ + 209, + 156, + 101 + ] + }, + { + "DogBed|5|4": [ + 191, + 61, + 36 + ] + }, + { + "DogBed": [ + 106, + 193, + 45 + ] + }, + { + "Safe|5|3": [ + 218, + 86, + 222 + ] + }, + { + "Safe": [ + 198, + 238, + 160 + ] + }, + { + "Chair|5|2|4": [ + 99, + 174, + 176 + ] + }, + { + "Chair|5|2|3": [ + 210, + 165, + 135 + ] + }, + { + "Chair|5|2|2": [ + 11, + 225, + 10 + ] + }, + { + "Chair|5|2|1": [ + 142, + 232, + 13 + ] + }, + { + "Box|surface|5|37": [ + 248, + 37, + 196 + ] + }, + { + "Book|surface|5|36": [ + 51, + 144, + 225 + ] + }, + { + "Bowl|surface|5|33": [ + 250, + 216, + 98 + ] + }, + { + "Bowl": [ + 209, + 182, + 193 + ] + }, + { + "HousePlant|surface|5|32": [ + 182, + 235, + 89 + ] + }, + { + "HousePlant": [ + 73, + 144, + 213 + ] + }, + { + "CreditCard|surface|5|31": [ + 94, + 66, + 93 + ] + }, + { + "RemoteControl|surface|5|27": [ + 228, + 21, + 152 + ] + }, + { + "DiningTable|5|2|0": [ + 25, + 135, + 226 + ] + }, + { + "Statue|surface|5|35": [ + 251, + 136, + 129 + ] + }, + { + "Statue": [ + 243, + 75, + 41 + ] + }, + { + "KeyChain|surface|5|34": [ + 39, + 237, + 149 + ] + }, + { + "KeyChain": [ + 27, + 54, + 18 + ] + }, + { + "Vase|surface|5|30": [ + 116, + 90, + 102 + ] + }, + { + "Dresser|5|1___3": [ + 186, + 175, + 115 + ] + }, + { + "Dresser|5|1___2": [ + 193, + 31, + 77 + ] + }, + { + "Dresser|5|1___1": [ + 36, + 223, + 213 + ] + }, + { + "Dresser|5|1___0": [ + 42, + 182, + 193 + ] + }, + { + "Dresser|5|1": [ + 169, + 211, + 43 + ] + }, + { + "Pillow|surface|5|38": [ + 228, + 139, + 78 + ] + }, + { + "TeddyBear|surface|5|29": [ + 54, + 196, + 238 + ] + }, + { + "TeddyBear": [ + 229, + 73, + 134 + ] + }, + { + "BaseballBat|surface|5|28": [ + 16, + 86, + 117 + ] + }, + { + "Bed|5|0": [ + 213, + 171, + 182 + ] + }, + { + "CellPhone|surface|4|17": [ + 37, + 199, + 23 + ] + }, + { + "Watch|surface|4|16": [ + 121, + 179, + 101 + ] + }, + { + "Watch": [ + 242, + 6, + 88 + ] + }, + { + "Dresser|4|3___2": [ + 142, + 213, + 34 + ] + }, + { + "Dresser|4|3___1": [ + 22, + 100, + 55 + ] + }, + { + "Dresser|4|3___0": [ + 89, + 128, + 115 + ] + }, + { + "Dresser|4|3": [ + 92, + 22, + 49 + ] + }, + { + "FloorLamp|4|2": [ + 147, + 82, + 148 + ] + }, + { + "FloorLamp": [ + 253, + 73, + 35 + ] + }, + { + "Chair|4|1|4": [ + 78, + 48, + 24 + ] + }, + { + "Chair|4|1|3": [ + 178, + 87, + 59 + ] + }, + { + "Chair|4|1|2": [ + 59, + 92, + 140 + ] + }, + { + "Chair|4|1|1": [ + 23, + 202, + 17 + ] + }, + { + "Book|surface|4|26": [ + 74, + 176, + 203 + ] + }, + { + "Laptop|surface|4|23": [ + 120, + 244, + 89 + ] + }, + { + "DiningTable|4|1|0": [ + 52, + 59, + 190 + ] + }, + { + "Pen|surface|4|25": [ + 235, + 7, + 211 + ] + }, + { + "Pen": [ + 239, + 130, + 152 + ] + }, + { + "Vase|surface|4|24": [ + 46, + 194, + 144 + ] + }, + { + "Book|surface|4|22": [ + 5, + 182, + 176 + ] + }, + { + "CreditCard|surface|4|21": [ + 110, + 134, + 231 + ] + }, + { + "Watch|surface|4|20": [ + 188, + 102, + 63 + ] + }, + { + "Plate|surface|4|19": [ + 220, + 118, + 245 + ] + }, + { + "Plate": [ + 188, + 154, + 128 + ] + }, + { + "KeyChain|surface|4|18": [ + 205, + 237, + 105 + ] + }, + { + "CellPhone|surface|4|15": [ + 51, + 24, + 157 + ] + }, + { + "Bowl|surface|4|14": [ + 4, + 235, + 91 + ] + }, + { + "Television|4|0|1": [ + 253, + 56, + 77 + ] + }, + { + "TVStand|4|0|0___1": [ + 112, + 40, + 63 + ] + }, + { + "TVStand|4|0|0___0": [ + 198, + 214, + 177 + ] + }, + { + "TVStand|4|0|0": [ + 51, + 56, + 38 + ] + }, + { + "TVStand": [ + 94, + 234, + 136 + ] + }, + { + "Plunger|3|3": [ + 116, + 44, + 97 + ] + }, + { + "Plunger": [ + 74, + 209, + 56 + ] + }, + { + "GarbageCan|3|2": [ + 69, + 131, + 32 + ] + }, + { + "Faucet|3|1|1": [ + 183, + 115, + 49 + ] + }, + { + "Faucet": [ + 21, + 38, + 98 + ] + }, + { + "Sink|3|1|0___0": [ + 145, + 221, + 236 + ] + }, + { + "SinkBasin": [ + 80, + 192, + 81 + ] + }, + { + "Sink|3|1|0": [ + 255, + 162, + 107 + ] + }, + { + "Sink": [ + 30, + 181, + 88 + ] + }, + { + "SprayBottle|surface|3|13": [ + 132, + 5, + 103 + ] + }, + { + "SprayBottle": [ + 89, + 126, + 121 + ] + }, + { + "ToiletPaper|surface|3|12": [ + 189, + 127, + 230 + ] + }, + { + "ToiletPaper": [ + 162, + 204, + 152 + ] + }, + { + "Cloth|surface|3|11": [ + 247, + 134, + 56 + ] + }, + { + "Cloth": [ + 110, + 184, + 56 + ] + }, + { + "SoapBar|surface|3|10": [ + 160, + 203, + 144 + ] + }, + { + "SoapBar": [ + 43, + 97, + 155 + ] + }, + { + "Toilet|3|0": [ + 244, + 232, + 60 + ] + }, + { + "Toilet": [ + 21, + 27, + 163 + ] + }, + { + "HousePlant|2|2|0": [ + 195, + 73, + 217 + ] + }, + { + "Potato|surface|2|7": [ + 254, + 188, + 49 + ] + }, + { + "Potato": [ + 187, + 142, + 9 + ] + }, + { + "Tomato|surface|2|5": [ + 113, + 164, + 212 + ] + }, + { + "Tomato": [ + 119, + 189, + 121 + ] + }, + { + "Fridge|2|1": [ + 206, + 5, + 34 + ] + }, + { + "Fridge": [ + 91, + 156, + 207 + ] + }, + { + "Kettle|surface|2|9": [ + 163, + 91, + 15 + ] + }, + { + "Kettle": [ + 7, + 83, + 48 + ] + }, + { + "Fork|surface|2|8": [ + 163, + 143, + 225 + ] + }, + { + "Fork": [ + 54, + 200, + 25 + ] + }, + { + "Lettuce|surface|2|6": [ + 24, + 82, + 141 + ] + }, + { + "Lettuce": [ + 203, + 156, + 88 + ] + }, + { + "CreditCard|surface|2|4": [ + 169, + 235, + 99 + ] + }, + { + "Bread|surface|2|3": [ + 138, + 234, + 188 + ] + }, + { + "Bread": [ + 18, + 150, + 252 + ] + }, + { + "SoapBottle|surface|2|2": [ + 193, + 220, + 166 + ] + }, + { + "SoapBottle": [ + 168, + 222, + 137 + ] + }, + { + "Spoon|surface|2|1": [ + 230, + 162, + 137 + ] + }, + { + "Spoon": [ + 235, + 57, + 90 + ] + }, + { + "Spoon|surface|2|0": [ + 246, + 90, + 73 + ] + }, + { + "CounterTop|2|0": [ + 213, + 254, + 98 + ] + }, + { + "CounterTop": [ + 103, + 209, + 30 + ] + }, + { + "Ceiling_room|6|0|3.741107|0": [ + 163, + 54, + 94 + ] + }, + { + "Ceiling": [ + 50, + 55, + 251 + ] + }, + { + "Ceiling_room|5|0|3.741107|0": [ + 166, + 161, + 114 + ] + }, + { + "Ceiling_room|4|0|3.741107|0": [ + 141, + 19, + 191 + ] + }, + { + "Ceiling_room|3|0|3.741107|0": [ + 235, + 57, + 190 + ] + }, + { + "Ceiling_room|2|0|3.741107|0": [ + 185, + 150, + 191 + ] + }, + { + "wall|exterior|11.45|0.00|11.45|6.54": [ + 105, + 148, + 102 + ] + }, + { + "Wall": [ + 148, + 232, + 164 + ] + }, + { + "wall|exterior|9.81|0.00|11.45|0.00": [ + 84, + 206, + 179 + ] + }, + { + "wall|exterior|6.54|0.00|9.81|0.00": [ + 35, + 75, + 103 + ] + }, + { + "wall|exterior|3.27|0.00|6.54|0.00": [ + 155, + 107, + 176 + ] + }, + { + "wall|exterior|11.45|6.54|11.45|9.81": [ + 128, + 47, + 83 + ] + }, + { + "wall|exterior|3.27|8.18|3.27|9.81": [ + 70, + 211, + 178 + ] + }, + { + "wall|exterior|3.27|9.81|11.45|9.81": [ + 82, + 164, + 57 + ] + }, + { + "wall|exterior|0.00|0.00|0.00|8.18": [ + 159, + 85, + 79 + ] + }, + { + "wall|exterior|0.00|8.18|3.27|8.18": [ + 147, + 254, + 245 + ] + }, + { + "wall|exterior|0.00|0.00|3.27|0.00": [ + 30, + 177, + 113 + ] + }, + { + "wall|6|3.27|6.54|6.54|6.54": [ + 243, + 41, + 235 + ] + }, + { + "wall|6|6.54|6.54|9.81|6.54": [ + 70, + 213, + 98 + ] + }, + { + "wall|6|9.81|6.54|11.45|6.54": [ + 241, + 121, + 234 + ] + }, + { + "wall|6|11.45|6.54|11.45|9.81": [ + 210, + 210, + 66 + ] + }, + { + "wall|6|3.27|9.81|11.45|9.81": [ + 3, + 255, + 68 + ] + }, + { + "wall|6|3.27|8.18|3.27|9.81": [ + 138, + 30, + 179 + ] + }, + { + "wall|6|3.27|6.54|3.27|8.18": [ + 26, + 227, + 98 + ] + }, + { + "wall|5|0.00|0.00|3.27|0.00": [ + 182, + 72, + 67 + ] + }, + { + "wall|5|3.27|0.00|3.27|6.54": [ + 210, + 68, + 18 + ] + }, + { + "wall|5|3.27|6.54|3.27|8.18": [ + 89, + 2, + 212 + ] + }, + { + "wall|5|0.00|8.18|3.27|8.18": [ + 196, + 4, + 46 + ] + }, + { + "wall|5|0.00|0.00|0.00|8.18": [ + 135, + 33, + 165 + ] + }, + { + "wall|4|3.27|0.00|6.54|0.00": [ + 47, + 211, + 89 + ] + }, + { + "wall|4|6.54|0.00|6.54|6.54": [ + 238, + 82, + 51 + ] + }, + { + "wall|4|3.27|6.54|6.54|6.54": [ + 1, + 45, + 36 + ] + }, + { + "wall|4|3.27|0.00|3.27|6.54": [ + 81, + 111, + 114 + ] + }, + { + "wall|3|9.81|0.00|11.45|0.00": [ + 88, + 132, + 56 + ] + }, + { + "wall|3|11.45|0.00|11.45|6.54": [ + 75, + 188, + 218 + ] + }, + { + "wall|3|9.81|6.54|11.45|6.54": [ + 46, + 214, + 38 + ] + }, + { + "wall|3|9.81|0.00|9.81|6.54": [ + 204, + 98, + 202 + ] + }, + { + "wall|2|6.54|0.00|9.81|0.00": [ + 220, + 158, + 111 + ] + }, + { + "wall|2|9.81|0.00|9.81|6.54": [ + 177, + 121, + 70 + ] + }, + { + "wall|2|6.54|6.54|9.81|6.54": [ + 253, + 102, + 240 + ] + }, + { + "wall|2|6.54|0.00|6.54|6.54": [ + 181, + 45, + 190 + ] + }, + { + "room|6": [ + 217, + 194, + 196 + ] + }, + { + "Floor": [ + 243, + 246, + 208 + ] + }, + { + "room|5": [ + 190, + 121, + 70 + ] + }, + { + "room|4": [ + 60, + 42, + 179 + ] + }, + { + "room|3": [ + 28, + 62, + 16 + ] + }, + { + "room|2": [ + 188, + 125, + 135 + ] + }, + { + "TheHand": [ + 255, + 136, + 237 + ] + }, + { + "agent_neck_1": [ + 30, + 64, + 67 + ] + }, + { + "agent_body_1 (shadows)": [ + 134, + 158, + 226 + ] + }, + { + "agent_collarbone_1 (shadows)": [ + 217, + 96, + 80 + ] + }, + { + "agent_head_1 (shadows)": [ + 140, + 210, + 177 + ] + }, + { + "stretch_robot_base_code": [ + 101, + 30, + 126 + ] + }, + { + "agent_head_1": [ + 1, + 149, + 209 + ] + }, + { + "stretch_robot_laser": [ + 140, + 24, + 249 + ] + }, + { + "stretch_robot_mast": [ + 136, + 63, + 93 + ] + }, + { + "stretch_robot_head_1": [ + 0, + 57, + 255 + ] + }, + { + "agent_neck_3": [ + 209, + 228, + 37 + ] + }, + { + "robot_tilt_link_n (shadows)": [ + 202, + 16, + 52 + ] + }, + { + "agent_head_2 (shadows)": [ + 156, + 59, + 238 + ] + }, + { + "stretch_robot_head_3 (shadows)": [ + 83, + 209, + 138 + ] + }, + { + "agent_collarbone_2": [ + 152, + 152, + 185 + ] + }, + { + "agent_neck_2 (shadows)": [ + 244, + 240, + 196 + ] + }, + { + "agent_head_2": [ + 14, + 66, + 230 + ] + }, + { + "stretch_robot_head_2": [ + 73, + 58, + 96 + ] + }, + { + "agent_neck_3 (shadows)": [ + 239, + 35, + 232 + ] + }, + { + "stretch_robot_omniwheel": [ + 227, + 166, + 104 + ] + }, + { + "robot_elbow_link": [ + 231, + 128, + 58 + ] + }, + { + "robot_camera_link_n": [ + 140, + 65, + 197 + ] + }, + { + "robot_finger_r": [ + 122, + 202, + 170 + ] + }, + { + "robot_finger_l": [ + 178, + 169, + 157 + ] + }, + { + "robot_ar_tag": [ + 46, + 234, + 150 + ] + }, + { + "robot_cam_mount_n": [ + 54, + 221, + 114 + ] + }, + { + "robot_battery_n": [ + 165, + 68, + 55 + ] + }, + { + "robot_plate": [ + 211, + 118, + 132 + ] + }, + { + "robot_main_wheel_r_n": [ + 36, + 84, + 49 + ] + }, + { + "robot_shoulder_link": [ + 92, + 95, + 127 + ] + }, + { + "robot_roll_link_n": [ + 135, + 154, + 116 + ] + }, + { + "robot_gripper_link": [ + 241, + 136, + 173 + ] + }, + { + "robot_forearm_link": [ + 149, + 185, + 52 + ] + }, + { + "robot_main_wheel_l_n": [ + 139, + 151, + 200 + ] + }, + { + "robot_main_body": [ + 27, + 62, + 251 + ] + }, + { + "robot_wrist_link": [ + 3, + 195, + 0 + ] + }, + { + "robot_tilt_link_n": [ + 251, + 182, + 71 + ] + }, + { + "agent_collarbone_2 (shadows)": [ + 27, + 29, + 156 + ] + }, + { + "stretch_robot_head_2 (shadows)": [ + 167, + 106, + 44 + ] + }, + { + "stretch_robot_wheel_r": [ + 43, + 10, + 241 + ] + }, + { + "agent_collarbone_3": [ + 33, + 153, + 80 + ] + }, + { + "stretch_robot_wheel_l": [ + 209, + 121, + 111 + ] + }, + { + "agent_collarbone_3 (shadows)": [ + 12, + 185, + 24 + ] + }, + { + "agent_neck_1 (shadows)": [ + 5, + 106, + 127 + ] + }, + { + "agent_body_1": [ + 19, + 85, + 240 + ] + }, + { + "stretch_robot_base": [ + 18, + 223, + 56 + ] + }, + { + "robot_roll_link_n (shadows)": [ + 104, + 6, + 177 + ] + }, + { + "agent_neck_2": [ + 134, + 34, + 121 + ] + }, + { + "agent_collarbone_1": [ + 180, + 251, + 165 + ] + }, + { + "stretch_robot_head_3": [ + 175, + 244, + 187 + ] + }, + { + "robot_camera_link_n (shadows)": [ + 49, + 9, + 106 + ] + } +] \ No newline at end of file diff --git a/train/train534/top_down_image.png b/train/train534/top_down_image.png new file mode 100644 index 0000000000000000000000000000000000000000..479ad40692009ea68efbc19480517dfa06a9d591 --- /dev/null +++ b/train/train534/top_down_image.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4b0d39ca2feff500c96f2181d17da348df61f16f2f5c884f28d963eb457d6808 +size 261671