Hugging Face's logo

Datasets:
WanyueZhang
/
MulSeT

Modalities:
Image
Languages:
English
ArXiv:
Tags:
computer-vision
visual-question-answering
multi-modal
spatial-reasoning
synthetic-data
License:
Dataset card Data Studio Files
xet
Community
2
WanyueZhang commited on
Commit
6acabfc
·
verified ·
1 Parent(s): da30ea7

Upload dataset files (batch 71/552)

Browse files
This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. .gitattributes +255 -0
  2. train/FloorPlan202/13/0.json +1938 -0
  3. train/FloorPlan202/13/0_depth_npy.npy +3 -0
  4. train/FloorPlan202/13/0_semantic_sensor_npy.npy +3 -0
  5. train/FloorPlan202/13/1.json +1779 -0
  6. train/FloorPlan202/13/1_depth_npy.npy +3 -0
  7. train/FloorPlan202/13/1_semantic_sensor_npy.npy +3 -0
  8. train/FloorPlan202/13/depth_0.png +0 -0
  9. train/FloorPlan202/13/depth_1.png +0 -0
  10. train/FloorPlan202/13/mask_questions.jsonl +4 -0
  11. train/FloorPlan202/13/questions_distance.jsonl +2 -0
  12. train/FloorPlan202/13/rgb_0.png +3 -0
  13. train/FloorPlan202/13/rgb_0_mask_Curtains|-03.97|+02.26|+01.45.png +3 -0
  14. train/FloorPlan202/13/rgb_0_mask_HousePlant|-02.01|+00.45|+02.36.png +3 -0
  15. train/FloorPlan202/13/rgb_1.png +3 -0
  16. train/FloorPlan202/13/rgb_1_mask_Curtains|-03.97|+02.26|+01.45.png +3 -0
  17. train/FloorPlan202/13/rgb_1_mask_HousePlant|-02.01|+00.45|+02.36.png +3 -0
  18. train/FloorPlan202/13/semantic_0.png +0 -0
  19. train/FloorPlan202/13/semantic_1.png +0 -0
  20. train/FloorPlan202/14/0.json +1469 -0
  21. train/FloorPlan202/14/0_depth_npy.npy +3 -0
  22. train/FloorPlan202/14/0_semantic_sensor_npy.npy +3 -0
  23. train/FloorPlan202/14/1.json +1938 -0
  24. train/FloorPlan202/14/1_depth_npy.npy +3 -0
  25. train/FloorPlan202/14/1_semantic_sensor_npy.npy +3 -0
  26. train/FloorPlan202/14/depth_0.png +0 -0
  27. train/FloorPlan202/14/depth_1.png +0 -0
  28. train/FloorPlan202/14/mask_questions.jsonl +8 -0
  29. train/FloorPlan202/14/questions_distance.jsonl +5 -0
  30. train/FloorPlan202/14/rgb_0.png +3 -0
  31. train/FloorPlan202/14/rgb_0_mask_CoffeeTable|-01.73|+00.01|+02.36.png +3 -0
  32. train/FloorPlan202/14/rgb_0_mask_HousePlant|-02.01|+00.45|+02.36.png +3 -0
  33. train/FloorPlan202/14/rgb_0_mask_Laptop|-03.22|+00.61|+00.58.png +3 -0
  34. train/FloorPlan202/14/rgb_0_mask_Painting|-01.10|+01.77|-00.02.png +3 -0
  35. train/FloorPlan202/14/rgb_0_mask_Sofa|-01.14|00.00|+00.52.png +3 -0
  36. train/FloorPlan202/14/rgb_1.png +3 -0
  37. train/FloorPlan202/14/rgb_1_mask_Curtains|-03.97|+02.26|+01.45.png +3 -0
  38. train/FloorPlan202/14/rgb_1_mask_Laptop|-03.22|+00.61|+00.58.png +3 -0
  39. train/FloorPlan202/14/rgb_1_mask_Painting|-01.10|+01.77|-00.02.png +3 -0
  40. train/FloorPlan202/14/semantic_0.png +0 -0
  41. train/FloorPlan202/14/semantic_1.png +0 -0
  42. train/FloorPlan202/15/0.json +1781 -0
  43. train/FloorPlan202/15/0_depth_npy.npy +3 -0
  44. train/FloorPlan202/15/0_semantic_sensor_npy.npy +3 -0
  45. train/FloorPlan202/15/1.json +1782 -0
  46. train/FloorPlan202/15/1_depth_npy.npy +3 -0
  47. train/FloorPlan202/15/1_semantic_sensor_npy.npy +3 -0
  48. train/FloorPlan202/15/depth_0.png +0 -0
  49. train/FloorPlan202/15/depth_1.png +0 -0
  50. train/FloorPlan202/15/mask_questions.jsonl +1 -0
.gitattributes CHANGED
@@ -18161,3 +18161,258 @@ train/train210/3/rgb_1.png filter=lfs diff=lfs merge=lfs -text
18161
  train/train210/3/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
18162
  train/train210/3/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
18163
  train/train210/3/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
18161
  train/train210/3/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
18162
  train/train210/3/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
18163
  train/train210/3/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
18164
+ train/train210/3/rgb_0.png filter=lfs diff=lfs merge=lfs -text
18165
+ train/train210/4/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
18166
+ train/train210/4/rgb_1.png filter=lfs diff=lfs merge=lfs -text
18167
+ train/train210/4/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
18168
+ train/train210/4/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
18169
+ train/train210/4/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
18170
+ train/train210/4/rgb_0.png filter=lfs diff=lfs merge=lfs -text
18171
+ train/train210/0/rgb_1_mask_Fridge|2|1.png filter=lfs diff=lfs merge=lfs -text
18172
+ train/train210/0/rgb_0_mask_Chair|4|1|1.png filter=lfs diff=lfs merge=lfs -text
18173
+ train/train210/0/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
18174
+ train/train210/0/rgb_1.png filter=lfs diff=lfs merge=lfs -text
18175
+ train/train210/0/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
18176
+ train/train210/0/rgb_1_mask_DiningTable|4|1|0.png filter=lfs diff=lfs merge=lfs -text
18177
+ train/train210/0/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
18178
+ train/train210/0/rgb_1_mask_Chair|4|1|1.png filter=lfs diff=lfs merge=lfs -text
18179
+ train/train210/0/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
18180
+ train/train210/0/rgb_0_mask_Fridge|2|1.png filter=lfs diff=lfs merge=lfs -text
18181
+ train/train210/0/rgb_0.png filter=lfs diff=lfs merge=lfs -text
18182
+ train/train861/top_down_image.png filter=lfs diff=lfs merge=lfs -text
18183
+ train/train861/3/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
18184
+ train/train861/3/rgb_1.png filter=lfs diff=lfs merge=lfs -text
18185
+ train/train861/3/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
18186
+ train/train861/3/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
18187
+ train/train861/3/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
18188
+ train/train861/3/rgb_0.png filter=lfs diff=lfs merge=lfs -text
18189
+ train/train861/4/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
18190
+ train/train861/4/rgb_1.png filter=lfs diff=lfs merge=lfs -text
18191
+ train/train861/4/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
18192
+ train/train861/4/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
18193
+ train/train861/4/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
18194
+ train/train861/4/rgb_0.png filter=lfs diff=lfs merge=lfs -text
18195
+ train/train861/0/rgb_1_mask_Fridge|2|1.png filter=lfs diff=lfs merge=lfs -text
18196
+ train/train861/0/rgb_0_mask_Chair|4|1|1.png filter=lfs diff=lfs merge=lfs -text
18197
+ train/train861/0/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
18198
+ train/train861/0/rgb_1.png filter=lfs diff=lfs merge=lfs -text
18199
+ train/train861/0/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
18200
+ train/train861/0/rgb_1_mask_DiningTable|4|1|0.png filter=lfs diff=lfs merge=lfs -text
18201
+ train/train861/0/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
18202
+ train/train861/0/rgb_1_mask_Chair|4|1|1.png filter=lfs diff=lfs merge=lfs -text
18203
+ train/train861/0/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
18204
+ train/train861/0/rgb_0_mask_Fridge|2|1.png filter=lfs diff=lfs merge=lfs -text
18205
+ train/train861/0/rgb_0.png filter=lfs diff=lfs merge=lfs -text
18206
+ train/train861/1/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
18207
+ train/train861/1/rgb_1.png filter=lfs diff=lfs merge=lfs -text
18208
+ train/train861/1/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
18209
+ train/train861/1/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
18210
+ train/train861/1/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
18211
+ train/train861/1/rgb_0.png filter=lfs diff=lfs merge=lfs -text
18212
+ train/train861/2/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
18213
+ train/train861/2/rgb_1.png filter=lfs diff=lfs merge=lfs -text
18214
+ train/train861/2/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
18215
+ train/train861/2/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
18216
+ train/train861/2/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
18217
+ train/train861/2/rgb_0.png filter=lfs diff=lfs merge=lfs -text
18218
+ train/train1907/3/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
18219
+ train/train1907/3/rgb_1.png filter=lfs diff=lfs merge=lfs -text
18220
+ train/train1907/3/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
18221
+ train/train1907/3/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
18222
+ train/train1907/3/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
18223
+ train/train1907/3/rgb_0.png filter=lfs diff=lfs merge=lfs -text
18224
+ train/train1907/4/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
18225
+ train/train1907/4/rgb_1.png filter=lfs diff=lfs merge=lfs -text
18226
+ train/train1907/4/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
18227
+ train/train1907/4/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
18228
+ train/train1907/4/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
18229
+ train/train1907/4/rgb_0.png filter=lfs diff=lfs merge=lfs -text
18230
+ train/train1907/1/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
18231
+ train/train1907/1/rgb_1_mask_Book|surface|8|46.png filter=lfs diff=lfs merge=lfs -text
18232
+ train/train1907/1/rgb_1.png filter=lfs diff=lfs merge=lfs -text
18233
+ train/train1907/1/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
18234
+ train/train1907/1/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
18235
+ train/train1907/1/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
18236
+ train/train1907/1/rgb_0.png filter=lfs diff=lfs merge=lfs -text
18237
+ train/train1907/1/rgb_1_mask_Pan|surface|8|25.png filter=lfs diff=lfs merge=lfs -text
18238
+ train/train1907/2/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
18239
+ train/train1907/2/rgb_1.png filter=lfs diff=lfs merge=lfs -text
18240
+ train/train1907/2/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
18241
+ train/train1907/2/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
18242
+ train/train1907/2/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
18243
+ train/train1907/2/rgb_0.png filter=lfs diff=lfs merge=lfs -text
18244
+ train/train1907/2/rgb_1_mask_Bread|surface|8|36.png filter=lfs diff=lfs merge=lfs -text
18245
+ train/train541/top_down_image.png filter=lfs diff=lfs merge=lfs -text
18246
+ train/train541/3/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
18247
+ train/train541/3/rgb_1.png filter=lfs diff=lfs merge=lfs -text
18248
+ train/train541/3/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
18249
+ train/train541/3/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
18250
+ train/train541/3/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
18251
+ train/train541/3/rgb_0.png filter=lfs diff=lfs merge=lfs -text
18252
+ train/train541/4/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
18253
+ train/train541/4/rgb_1.png filter=lfs diff=lfs merge=lfs -text
18254
+ train/train541/4/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
18255
+ train/train541/4/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
18256
+ train/train541/4/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
18257
+ train/train541/4/rgb_0.png filter=lfs diff=lfs merge=lfs -text
18258
+ train/train541/0/rgb_1_mask_Fridge|2|1.png filter=lfs diff=lfs merge=lfs -text
18259
+ train/train541/0/rgb_0_mask_Chair|4|1|1.png filter=lfs diff=lfs merge=lfs -text
18260
+ train/train541/0/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
18261
+ train/train541/0/rgb_1.png filter=lfs diff=lfs merge=lfs -text
18262
+ train/train541/0/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
18263
+ train/train541/0/rgb_1_mask_DiningTable|4|1|0.png filter=lfs diff=lfs merge=lfs -text
18264
+ train/train541/0/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
18265
+ train/train541/0/rgb_1_mask_Chair|4|1|1.png filter=lfs diff=lfs merge=lfs -text
18266
+ train/train541/0/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
18267
+ train/train541/0/rgb_0_mask_Fridge|2|1.png filter=lfs diff=lfs merge=lfs -text
18268
+ train/train541/0/rgb_0.png filter=lfs diff=lfs merge=lfs -text
18269
+ train/train541/1/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
18270
+ train/train541/1/rgb_1.png filter=lfs diff=lfs merge=lfs -text
18271
+ train/train541/1/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
18272
+ train/train541/1/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
18273
+ train/train541/1/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
18274
+ train/train541/1/rgb_0.png filter=lfs diff=lfs merge=lfs -text
18275
+ train/train541/2/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
18276
+ train/train541/2/rgb_1.png filter=lfs diff=lfs merge=lfs -text
18277
+ train/train541/2/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
18278
+ train/train541/2/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
18279
+ train/train541/2/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
18280
+ train/train541/2/rgb_0.png filter=lfs diff=lfs merge=lfs -text
18281
+ train/FloorPlan202/35/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
18282
+ train/FloorPlan202/35/rgb_1_mask_Television|-01.51|+01.19|+04.13.png filter=lfs diff=lfs merge=lfs -text
18283
+ train/FloorPlan202/35/rgb_1.png filter=lfs diff=lfs merge=lfs -text
18284
+ train/FloorPlan202/35/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
18285
+ train/FloorPlan202/35/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
18286
+ train/FloorPlan202/35/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
18287
+ train/FloorPlan202/35/rgb_0.png filter=lfs diff=lfs merge=lfs -text
18288
+ train/FloorPlan202/35/rgb_0_mask_Television|-01.51|+01.19|+04.13.png filter=lfs diff=lfs merge=lfs -text
18289
+ train/FloorPlan202/13/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
18290
+ train/FloorPlan202/13/rgb_1.png filter=lfs diff=lfs merge=lfs -text
18291
+ train/FloorPlan202/13/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
18292
+ train/FloorPlan202/13/rgb_1_mask_HousePlant|-02.01|+00.45|+02.36.png filter=lfs diff=lfs merge=lfs -text
18293
+ train/FloorPlan202/13/rgb_0_mask_Curtains|-03.97|+02.26|+01.45.png filter=lfs diff=lfs merge=lfs -text
18294
+ train/FloorPlan202/13/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
18295
+ train/FloorPlan202/13/rgb_0_mask_HousePlant|-02.01|+00.45|+02.36.png filter=lfs diff=lfs merge=lfs -text
18296
+ train/FloorPlan202/13/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
18297
+ train/FloorPlan202/13/rgb_0.png filter=lfs diff=lfs merge=lfs -text
18298
+ train/FloorPlan202/13/rgb_1_mask_Curtains|-03.97|+02.26|+01.45.png filter=lfs diff=lfs merge=lfs -text
18299
+ train/FloorPlan202/9/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
18300
+ train/FloorPlan202/9/rgb_1.png filter=lfs diff=lfs merge=lfs -text
18301
+ train/FloorPlan202/9/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
18302
+ train/FloorPlan202/9/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
18303
+ train/FloorPlan202/9/rgb_0_mask_CoffeeTable|-01.73|+00.01|+02.36.png filter=lfs diff=lfs merge=lfs -text
18304
+ train/FloorPlan202/9/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
18305
+ train/FloorPlan202/9/rgb_0.png filter=lfs diff=lfs merge=lfs -text
18306
+ train/FloorPlan202/9/rgb_0_mask_Television|-01.51|+01.19|+04.13.png filter=lfs diff=lfs merge=lfs -text
18307
+ train/FloorPlan202/16/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
18308
+ train/FloorPlan202/16/rgb_1.png filter=lfs diff=lfs merge=lfs -text
18309
+ train/FloorPlan202/16/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
18310
+ train/FloorPlan202/16/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
18311
+ train/FloorPlan202/16/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
18312
+ train/FloorPlan202/16/rgb_0.png filter=lfs diff=lfs merge=lfs -text
18313
+ train/FloorPlan202/14/rgb_1_mask_Painting|-01.10|+01.77|-00.02.png filter=lfs diff=lfs merge=lfs -text
18314
+ train/FloorPlan202/14/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
18315
+ train/FloorPlan202/14/rgb_1.png filter=lfs diff=lfs merge=lfs -text
18316
+ train/FloorPlan202/14/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
18317
+ train/FloorPlan202/14/rgb_0_mask_Laptop|-03.22|+00.61|+00.58.png filter=lfs diff=lfs merge=lfs -text
18318
+ train/FloorPlan202/14/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
18319
+ train/FloorPlan202/14/rgb_0_mask_CoffeeTable|-01.73|+00.01|+02.36.png filter=lfs diff=lfs merge=lfs -text
18320
+ train/FloorPlan202/14/rgb_0_mask_HousePlant|-02.01|+00.45|+02.36.png filter=lfs diff=lfs merge=lfs -text
18321
+ train/FloorPlan202/14/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
18322
+ train/FloorPlan202/14/rgb_0_mask_Painting|-01.10|+01.77|-00.02.png filter=lfs diff=lfs merge=lfs -text
18323
+ train/FloorPlan202/14/rgb_0.png filter=lfs diff=lfs merge=lfs -text
18324
+ train/FloorPlan202/14/rgb_1_mask_Laptop|-03.22|+00.61|+00.58.png filter=lfs diff=lfs merge=lfs -text
18325
+ train/FloorPlan202/14/rgb_1_mask_Curtains|-03.97|+02.26|+01.45.png filter=lfs diff=lfs merge=lfs -text
18326
+ train/FloorPlan202/14/rgb_0_mask_Sofa|-01.14|00.00|+00.52.png filter=lfs diff=lfs merge=lfs -text
18327
+ train/FloorPlan202/32/rgb_1_mask_GarbageCan|-00.38|+00.00|+04.10.png filter=lfs diff=lfs merge=lfs -text
18328
+ train/FloorPlan202/32/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
18329
+ train/FloorPlan202/32/rgb_1_mask_Television|-01.51|+01.19|+04.13.png filter=lfs diff=lfs merge=lfs -text
18330
+ train/FloorPlan202/32/rgb_1.png filter=lfs diff=lfs merge=lfs -text
18331
+ train/FloorPlan202/32/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
18332
+ train/FloorPlan202/32/rgb_0_mask_GarbageCan|-00.38|+00.00|+04.10.png filter=lfs diff=lfs merge=lfs -text
18333
+ train/FloorPlan202/32/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
18334
+ train/FloorPlan202/32/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
18335
+ train/FloorPlan202/32/rgb_0.png filter=lfs diff=lfs merge=lfs -text
18336
+ train/FloorPlan202/26/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
18337
+ train/FloorPlan202/26/rgb_1.png filter=lfs diff=lfs merge=lfs -text
18338
+ train/FloorPlan202/26/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
18339
+ train/FloorPlan202/26/rgb_1_mask_HousePlant|-02.01|+00.45|+02.36.png filter=lfs diff=lfs merge=lfs -text
18340
+ train/FloorPlan202/26/rgb_0_mask_Laptop|-03.22|+00.61|+00.58.png filter=lfs diff=lfs merge=lfs -text
18341
+ train/FloorPlan202/26/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
18342
+ train/FloorPlan202/26/rgb_0_mask_CoffeeTable|-01.73|+00.01|+02.36.png filter=lfs diff=lfs merge=lfs -text
18343
+ train/FloorPlan202/26/rgb_0_mask_HousePlant|-02.01|+00.45|+02.36.png filter=lfs diff=lfs merge=lfs -text
18344
+ train/FloorPlan202/26/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
18345
+ train/FloorPlan202/26/rgb_0.png filter=lfs diff=lfs merge=lfs -text
18346
+ train/FloorPlan202/26/rgb_1_mask_Laptop|-03.22|+00.61|+00.58.png filter=lfs diff=lfs merge=lfs -text
18347
+ train/FloorPlan202/26/rgb_1_mask_Curtains|-03.97|+02.26|+01.45.png filter=lfs diff=lfs merge=lfs -text
18348
+ train/FloorPlan202/26/rgb_0_mask_Sofa|-01.14|00.00|+00.52.png filter=lfs diff=lfs merge=lfs -text
18349
+ train/FloorPlan202/23/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
18350
+ train/FloorPlan202/23/rgb_1.png filter=lfs diff=lfs merge=lfs -text
18351
+ train/FloorPlan202/23/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
18352
+ train/FloorPlan202/23/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
18353
+ train/FloorPlan202/23/rgb_0_mask_HousePlant|-02.01|+00.45|+02.36.png filter=lfs diff=lfs merge=lfs -text
18354
+ train/FloorPlan202/23/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
18355
+ train/FloorPlan202/23/rgb_0.png filter=lfs diff=lfs merge=lfs -text
18356
+ train/FloorPlan202/33/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
18357
+ train/FloorPlan202/33/rgb_1.png filter=lfs diff=lfs merge=lfs -text
18358
+ train/FloorPlan202/33/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
18359
+ train/FloorPlan202/33/rgb_1_mask_Box|+00.33|+00.90|+00.49.png filter=lfs diff=lfs merge=lfs -text
18360
+ train/FloorPlan202/33/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
18361
+ train/FloorPlan202/33/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
18362
+ train/FloorPlan202/33/rgb_0_mask_Pillow|-00.50|+00.69|+00.51.png filter=lfs diff=lfs merge=lfs -text
18363
+ train/FloorPlan202/33/rgb_0.png filter=lfs diff=lfs merge=lfs -text
18364
+ train/FloorPlan202/33/rgb_1_mask_Pillow|-00.50|+00.69|+00.51.png filter=lfs diff=lfs merge=lfs -text
18365
+ train/FloorPlan202/38/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
18366
+ train/FloorPlan202/38/rgb_1.png filter=lfs diff=lfs merge=lfs -text
18367
+ train/FloorPlan202/38/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
18368
+ train/FloorPlan202/38/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
18369
+ train/FloorPlan202/38/rgb_0_mask_CoffeeTable|-01.73|+00.01|+02.36.png filter=lfs diff=lfs merge=lfs -text
18370
+ train/FloorPlan202/38/rgb_1_mask_CoffeeTable|-01.73|+00.01|+02.36.png filter=lfs diff=lfs merge=lfs -text
18371
+ train/FloorPlan202/38/rgb_0_mask_HousePlant|-02.01|+00.45|+02.36.png filter=lfs diff=lfs merge=lfs -text
18372
+ train/FloorPlan202/38/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
18373
+ train/FloorPlan202/38/rgb_0.png filter=lfs diff=lfs merge=lfs -text
18374
+ train/FloorPlan202/36/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
18375
+ train/FloorPlan202/36/rgb_1.png filter=lfs diff=lfs merge=lfs -text
18376
+ train/FloorPlan202/36/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
18377
+ train/FloorPlan202/36/rgb_1_mask_HousePlant|-02.01|+00.45|+02.36.png filter=lfs diff=lfs merge=lfs -text
18378
+ train/FloorPlan202/36/rgb_1_mask_Sofa|-01.14|00.00|+00.52.png filter=lfs diff=lfs merge=lfs -text
18379
+ train/FloorPlan202/36/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
18380
+ train/FloorPlan202/36/rgb_1_mask_CoffeeTable|-01.73|+00.01|+02.36.png filter=lfs diff=lfs merge=lfs -text
18381
+ train/FloorPlan202/36/rgb_0_mask_HousePlant|-02.01|+00.45|+02.36.png filter=lfs diff=lfs merge=lfs -text
18382
+ train/FloorPlan202/36/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
18383
+ train/FloorPlan202/36/rgb_0.png filter=lfs diff=lfs merge=lfs -text
18384
+ train/FloorPlan202/36/rgb_1_mask_Curtains|-03.97|+02.26|+01.45.png filter=lfs diff=lfs merge=lfs -text
18385
+ train/FloorPlan202/20/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
18386
+ train/FloorPlan202/20/rgb_1_mask_Television|-01.51|+01.19|+04.13.png filter=lfs diff=lfs merge=lfs -text
18387
+ train/FloorPlan202/20/rgb_1.png filter=lfs diff=lfs merge=lfs -text
18388
+ train/FloorPlan202/20/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
18389
+ train/FloorPlan202/20/rgb_1_mask_HousePlant|-02.01|+00.45|+02.36.png filter=lfs diff=lfs merge=lfs -text
18390
+ train/FloorPlan202/20/rgb_1_mask_FloorLamp|-03.69|00.00|+04.01.png filter=lfs diff=lfs merge=lfs -text
18391
+ train/FloorPlan202/20/rgb_1_mask_Painting|-03.05|+01.69|+04.34.png filter=lfs diff=lfs merge=lfs -text
18392
+ train/FloorPlan202/20/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
18393
+ train/FloorPlan202/20/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
18394
+ train/FloorPlan202/20/rgb_0.png filter=lfs diff=lfs merge=lfs -text
18395
+ train/FloorPlan202/20/rgb_0_mask_Television|-01.51|+01.19|+04.13.png filter=lfs diff=lfs merge=lfs -text
18396
+ train/FloorPlan202/20/rgb_0_mask_FloorLamp|-03.69|00.00|+04.01.png filter=lfs diff=lfs merge=lfs -text
18397
+ train/FloorPlan202/20/rgb_0_mask_Painting|-03.05|+01.69|+04.34.png filter=lfs diff=lfs merge=lfs -text
18398
+ train/FloorPlan202/34/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
18399
+ train/FloorPlan202/34/rgb_1.png filter=lfs diff=lfs merge=lfs -text
18400
+ train/FloorPlan202/34/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
18401
+ train/FloorPlan202/34/rgb_0_mask_GarbageCan|-00.38|+00.00|+04.10.png filter=lfs diff=lfs merge=lfs -text
18402
+ train/FloorPlan202/34/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
18403
+ train/FloorPlan202/34/rgb_0_mask_HousePlant|-02.01|+00.45|+02.36.png filter=lfs diff=lfs merge=lfs -text
18404
+ train/FloorPlan202/34/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
18405
+ train/FloorPlan202/34/rgb_0.png filter=lfs diff=lfs merge=lfs -text
18406
+ train/FloorPlan202/34/rgb_0_mask_Sofa|-01.14|00.00|+00.52.png filter=lfs diff=lfs merge=lfs -text
18407
+ train/FloorPlan202/15/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
18408
+ train/FloorPlan202/15/rgb_1.png filter=lfs diff=lfs merge=lfs -text
18409
+ train/FloorPlan202/15/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
18410
+ train/FloorPlan202/15/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
18411
+ train/FloorPlan202/15/rgb_0_mask_CoffeeTable|-01.73|+00.01|+02.36.png filter=lfs diff=lfs merge=lfs -text
18412
+ train/FloorPlan202/15/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
18413
+ train/FloorPlan202/15/rgb_0.png filter=lfs diff=lfs merge=lfs -text
18414
+ train/FloorPlan202/22/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
18415
+ train/FloorPlan202/22/rgb_1.png filter=lfs diff=lfs merge=lfs -text
18416
+ train/FloorPlan202/22/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
18417
+ train/FloorPlan202/22/rgb_1_mask_HousePlant|-02.01|+00.45|+02.36.png filter=lfs diff=lfs merge=lfs -text
18418
+ train/FloorPlan202/22/rgb_1_mask_FloorLamp|-03.69|00.00|+04.01.png filter=lfs diff=lfs merge=lfs -text
train/FloorPlan202/13/0.json ADDED
@@ -0,0 +1,1938 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "object": [
3
+ {
4
+ "objectId": "SideTable|+00.63|+00.01|+00.34",
5
+ "object_info": {
6
+ "name": "SideTable_f52edd16",
7
+ "position": {
8
+ "x": 0.6269959807395935,
9
+ "y": 0.0067979395389556885,
10
+ "z": 0.34000352025032043
11
+ },
12
+ "rotation": {
13
+ "x": -1.8670654753805138e-05,
14
+ "y": 0.0005228848312981427,
15
+ "z": 2.621133944558096e-06
16
+ },
17
+ "visible": false,
18
+ "isInteractable": false,
19
+ "receptacle": true,
20
+ "toggleable": false,
21
+ "isToggled": false,
22
+ "breakable": false,
23
+ "isBroken": false,
24
+ "canFillWithLiquid": false,
25
+ "isFilledWithLiquid": false,
26
+ "fillLiquid": null,
27
+ "dirtyable": false,
28
+ "isDirty": false,
29
+ "canBeUsedUp": false,
30
+ "isUsedUp": false,
31
+ "cookable": false,
32
+ "isCooked": false,
33
+ "temperature": "RoomTemp",
34
+ "isHeatSource": false,
35
+ "isColdSource": false,
36
+ "sliceable": false,
37
+ "isSliced": false,
38
+ "openable": false,
39
+ "isOpen": false,
40
+ "openness": 0.0,
41
+ "pickupable": false,
42
+ "isPickedUp": false,
43
+ "moveable": true,
44
+ "mass": 11.0,
45
+ "salientMaterials": [
46
+ "Wood"
47
+ ],
48
+ "receptacleObjectIds": [
49
+ "Statue|+00.86|+00.71|+00.33",
50
+ "Box|+00.33|+00.90|+00.49"
51
+ ],
52
+ "distance": 1.9797450304031372,
53
+ "objectType": "SideTable",
54
+ "objectId": "SideTable|+00.63|+00.01|+00.34",
55
+ "assetId": "Side_Table_202_1",
56
+ "parentReceptacles": [
57
+ "Floor|+00.00|+00.00|+00.00"
58
+ ],
59
+ "controlledObjects": null,
60
+ "isMoving": false,
61
+ "axisAlignedBoundingBox": {
62
+ "cornerPoints": [
63
+ [
64
+ 1.139021396636963,
65
+ 0.7156378030776978,
66
+ 0.6653361916542053
67
+ ],
68
+ [
69
+ 1.139021396636963,
70
+ 0.7156378030776978,
71
+ 0.015287637710571289
72
+ ],
73
+ [
74
+ 1.139021396636963,
75
+ 4.100799560546875e-05,
76
+ 0.6653361916542053
77
+ ],
78
+ [
79
+ 1.139021396636963,
80
+ 4.100799560546875e-05,
81
+ 0.015287637710571289
82
+ ],
83
+ [
84
+ 0.1209859848022461,
85
+ 0.7156378030776978,
86
+ 0.6653361916542053
87
+ ],
88
+ [
89
+ 0.1209859848022461,
90
+ 0.7156378030776978,
91
+ 0.015287637710571289
92
+ ],
93
+ [
94
+ 0.1209859848022461,
95
+ 4.100799560546875e-05,
96
+ 0.6653361916542053
97
+ ],
98
+ [
99
+ 0.1209859848022461,
100
+ 4.100799560546875e-05,
101
+ 0.015287637710571289
102
+ ]
103
+ ],
104
+ "center": {
105
+ "x": 0.6300036907196045,
106
+ "y": 0.3578394055366516,
107
+ "z": 0.3403119146823883
108
+ },
109
+ "size": {
110
+ "x": 1.0180354118347168,
111
+ "y": 0.7155967950820923,
112
+ "z": 0.650048553943634
113
+ }
114
+ },
115
+ "objectOrientedBoundingBox": {
116
+ "cornerPoints": [
117
+ [
118
+ 1.139021635055542,
119
+ 4.119798541069031e-05,
120
+ 0.665334939956665
121
+ ],
122
+ [
123
+ 0.12098664045333862,
124
+ 4.0972139686346054e-05,
125
+ 0.6653361320495605
126
+ ],
127
+ [
128
+ 0.12098580598831177,
129
+ 4.111742600798607e-05,
130
+ 0.015288949012756348
131
+ ],
132
+ [
133
+ 1.1390206813812256,
134
+ 4.134327173233032e-05,
135
+ 0.015287727117538452
136
+ ],
137
+ [
138
+ 1.139021396636963,
139
+ 0.7156376838684082,
140
+ 0.6653350591659546
141
+ ],
142
+ [
143
+ 0.1209864616394043,
144
+ 0.7156374454498291,
145
+ 0.6653362512588501
146
+ ],
147
+ [
148
+ 0.12098568677902222,
149
+ 0.7156375646591187,
150
+ 0.015289098024368286
151
+ ],
152
+ [
153
+ 1.1390206813812256,
154
+ 0.7156378030776978,
155
+ 0.01528787612915039
156
+ ]
157
+ ]
158
+ }
159
+ }
160
+ },
161
+ {
162
+ "objectId": "Pillow|-00.50|+00.69|+00.51",
163
+ "object_info": {
164
+ "name": "Pillow_245c6418",
165
+ "position": {
166
+ "x": -0.5007399320602417,
167
+ "y": 0.6944788694381714,
168
+ "z": 0.5054006576538086
169
+ },
170
+ "rotation": {
171
+ "x": 36.54594039916992,
172
+ "y": 0.7677531242370605,
173
+ "z": 0.0022578639909625053
174
+ },
175
+ "visible": false,
176
+ "isInteractable": false,
177
+ "receptacle": false,
178
+ "toggleable": false,
179
+ "isToggled": false,
180
+ "breakable": false,
181
+ "isBroken": false,
182
+ "canFillWithLiquid": false,
183
+ "isFilledWithLiquid": false,
184
+ "fillLiquid": null,
185
+ "dirtyable": false,
186
+ "isDirty": false,
187
+ "canBeUsedUp": false,
188
+ "isUsedUp": false,
189
+ "cookable": false,
190
+ "isCooked": false,
191
+ "temperature": "RoomTemp",
192
+ "isHeatSource": false,
193
+ "isColdSource": false,
194
+ "sliceable": false,
195
+ "isSliced": false,
196
+ "openable": false,
197
+ "isOpen": false,
198
+ "openness": 0.0,
199
+ "pickupable": true,
200
+ "isPickedUp": false,
201
+ "moveable": false,
202
+ "mass": 0.699999988079071,
203
+ "salientMaterials": [
204
+ "Fabric"
205
+ ],
206
+ "receptacleObjectIds": null,
207
+ "distance": 1.2123275995254517,
208
+ "objectType": "Pillow",
209
+ "objectId": "Pillow|-00.50|+00.69|+00.51",
210
+ "assetId": "pillow_2",
211
+ "parentReceptacles": [
212
+ "Sofa|-01.14|00.00|+00.52"
213
+ ],
214
+ "controlledObjects": null,
215
+ "isMoving": false,
216
+ "axisAlignedBoundingBox": {
217
+ "cornerPoints": [
218
+ [
219
+ -0.20044898986816406,
220
+ 0.83591628074646,
221
+ 0.6792938113212585
222
+ ],
223
+ [
224
+ -0.20044898986816406,
225
+ 0.83591628074646,
226
+ 0.3255564570426941
227
+ ],
228
+ [
229
+ -0.20044898986816406,
230
+ 0.5331065654754639,
231
+ 0.6792938113212585
232
+ ],
233
+ [
234
+ -0.20044898986816406,
235
+ 0.5331065654754639,
236
+ 0.3255564570426941
237
+ ],
238
+ [
239
+ -0.801109790802002,
240
+ 0.83591628074646,
241
+ 0.6792938113212585
242
+ ],
243
+ [
244
+ -0.801109790802002,
245
+ 0.83591628074646,
246
+ 0.3255564570426941
247
+ ],
248
+ [
249
+ -0.801109790802002,
250
+ 0.5331065654754639,
251
+ 0.6792938113212585
252
+ ],
253
+ [
254
+ -0.801109790802002,
255
+ 0.5331065654754639,
256
+ 0.3255564570426941
257
+ ]
258
+ ],
259
+ "center": {
260
+ "x": -0.500779390335083,
261
+ "y": 0.6845114231109619,
262
+ "z": 0.5024251341819763
263
+ },
264
+ "size": {
265
+ "x": 0.6006608009338379,
266
+ "y": 0.3028097152709961,
267
+ "z": 0.35373735427856445
268
+ }
269
+ },
270
+ "objectOrientedBoundingBox": {
271
+ "cornerPoints": [
272
+ [
273
+ -0.2014685869216919,
274
+ 0.5331254601478577,
275
+ 0.5948636531829834
276
+ ],
277
+ [
278
+ -0.7975009083747864,
279
+ 0.5331065654754639,
280
+ 0.6028369069099426
281
+ ],
282
+ [
283
+ -0.801109790802002,
284
+ 0.7327356934547424,
285
+ 0.3335297405719757
286
+ ],
287
+ [
288
+ -0.20507746934890747,
289
+ 0.7327545881271362,
290
+ 0.32555651664733887
291
+ ],
292
+ [
293
+ -0.20044904947280884,
294
+ 0.6362871527671814,
295
+ 0.6713205575942993
296
+ ],
297
+ [
298
+ -0.7964813709259033,
299
+ 0.6362683176994324,
300
+ 0.6792938113212585
301
+ ],
302
+ [
303
+ -0.8000902533531189,
304
+ 0.8358973860740662,
305
+ 0.409986674785614
306
+ ],
307
+ [
308
+ -0.20405793190002441,
309
+ 0.83591628074646,
310
+ 0.4020134508609772
311
+ ]
312
+ ]
313
+ }
314
+ }
315
+ },
316
+ {
317
+ "objectId": "Statue|+00.86|+00.71|+00.33",
318
+ "object_info": {
319
+ "name": "Statue_d7da8aef",
320
+ "position": {
321
+ "x": 0.8586571216583252,
322
+ "y": 0.7144324779510498,
323
+ "z": 0.32777735590934753
324
+ },
325
+ "rotation": {
326
+ "x": 0.0007107684505172074,
327
+ "y": 0.0015323956031352282,
328
+ "z": 0.0008562243892811239
329
+ },
330
+ "visible": false,
331
+ "isInteractable": false,
332
+ "receptacle": false,
333
+ "toggleable": false,
334
+ "isToggled": false,
335
+ "breakable": true,
336
+ "isBroken": false,
337
+ "canFillWithLiquid": false,
338
+ "isFilledWithLiquid": false,
339
+ "fillLiquid": null,
340
+ "dirtyable": false,
341
+ "isDirty": false,
342
+ "canBeUsedUp": false,
343
+ "isUsedUp": false,
344
+ "cookable": false,
345
+ "isCooked": false,
346
+ "temperature": "RoomTemp",
347
+ "isHeatSource": false,
348
+ "isColdSource": false,
349
+ "sliceable": false,
350
+ "isSliced": false,
351
+ "openable": false,
352
+ "isOpen": false,
353
+ "openness": 0.0,
354
+ "pickupable": true,
355
+ "isPickedUp": false,
356
+ "moveable": false,
357
+ "mass": 1.0,
358
+ "salientMaterials": [
359
+ "Metal"
360
+ ],
361
+ "receptacleObjectIds": null,
362
+ "distance": 1.9400434494018555,
363
+ "objectType": "Statue",
364
+ "objectId": "Statue|+00.86|+00.71|+00.33",
365
+ "assetId": "Waving_Statue_1",
366
+ "parentReceptacles": [
367
+ "SideTable|+00.63|+00.01|+00.34"
368
+ ],
369
+ "controlledObjects": null,
370
+ "isMoving": false,
371
+ "axisAlignedBoundingBox": {
372
+ "cornerPoints": [
373
+ [
374
+ 0.9674795866012573,
375
+ 1.0739277601242065,
376
+ 0.4256771206855774
377
+ ],
378
+ [
379
+ 0.9674795866012573,
380
+ 1.0739277601242065,
381
+ 0.22988349199295044
382
+ ],
383
+ [
384
+ 0.9674795866012573,
385
+ 0.7156358957290649,
386
+ 0.4256771206855774
387
+ ],
388
+ [
389
+ 0.9674795866012573,
390
+ 0.7156358957290649,
391
+ 0.22988349199295044
392
+ ],
393
+ [
394
+ 0.7594599723815918,
395
+ 1.0739277601242065,
396
+ 0.4256771206855774
397
+ ],
398
+ [
399
+ 0.7594599723815918,
400
+ 1.0739277601242065,
401
+ 0.22988349199295044
402
+ ],
403
+ [
404
+ 0.7594599723815918,
405
+ 0.7156358957290649,
406
+ 0.4256771206855774
407
+ ],
408
+ [
409
+ 0.7594599723815918,
410
+ 0.7156358957290649,
411
+ 0.22988349199295044
412
+ ]
413
+ ],
414
+ "center": {
415
+ "x": 0.8634697794914246,
416
+ "y": 0.8947818279266357,
417
+ "z": 0.3277803063392639
418
+ },
419
+ "size": {
420
+ "x": 0.20801961421966553,
421
+ "y": 0.3582918643951416,
422
+ "z": 0.19579362869262695
423
+ }
424
+ },
425
+ "objectOrientedBoundingBox": {
426
+ "cornerPoints": [
427
+ [
428
+ 0.9674806594848633,
429
+ 0.715636670589447,
430
+ 0.42567718029022217
431
+ ],
432
+ [
433
+ 0.7594602704048157,
434
+ 0.715636134147644,
435
+ 0.42567795515060425
436
+ ],
437
+ [
438
+ 0.7594595551490784,
439
+ 0.7156368494033813,
440
+ 0.22988370060920715
441
+ ],
442
+ [
443
+ 0.967479944229126,
444
+ 0.7156373858451843,
445
+ 0.22988292574882507
446
+ ],
447
+ [
448
+ 0.9674797058105469,
449
+ 1.0739264488220215,
450
+ 0.4256784915924072
451
+ ],
452
+ [
453
+ 0.7594593167304993,
454
+ 1.0739258527755737,
455
+ 0.4256792664527893
456
+ ],
457
+ [
458
+ 0.759458601474762,
459
+ 1.073926568031311,
460
+ 0.22988498210906982
461
+ ],
462
+ [
463
+ 0.9674789905548096,
464
+ 1.0739271640777588,
465
+ 0.22988420724868774
466
+ ]
467
+ ]
468
+ }
469
+ }
470
+ },
471
+ {
472
+ "objectId": "Box|+00.33|+00.90|+00.49",
473
+ "object_info": {
474
+ "name": "Box_9f2261ac",
475
+ "position": {
476
+ "x": 0.33192160725593567,
477
+ "y": 0.9017186164855957,
478
+ "z": 0.4884287416934967
479
+ },
480
+ "rotation": {
481
+ "x": 0.0012737453216686845,
482
+ "y": 0.014757201075553894,
483
+ "z": 0.0011800919892266393
484
+ },
485
+ "visible": false,
486
+ "isInteractable": false,
487
+ "receptacle": true,
488
+ "toggleable": false,
489
+ "isToggled": false,
490
+ "breakable": false,
491
+ "isBroken": false,
492
+ "canFillWithLiquid": false,
493
+ "isFilledWithLiquid": false,
494
+ "fillLiquid": null,
495
+ "dirtyable": false,
496
+ "isDirty": false,
497
+ "canBeUsedUp": false,
498
+ "isUsedUp": false,
499
+ "cookable": false,
500
+ "isCooked": false,
501
+ "temperature": "RoomTemp",
502
+ "isHeatSource": false,
503
+ "isColdSource": false,
504
+ "sliceable": false,
505
+ "isSliced": false,
506
+ "openable": true,
507
+ "isOpen": true,
508
+ "openness": 1.0,
509
+ "pickupable": true,
510
+ "isPickedUp": false,
511
+ "moveable": false,
512
+ "mass": 0.30000001192092896,
513
+ "salientMaterials": [
514
+ "Paper"
515
+ ],
516
+ "receptacleObjectIds": [],
517
+ "distance": 1.4696935415267944,
518
+ "objectType": "Box",
519
+ "objectId": "Box|+00.33|+00.90|+00.49",
520
+ "assetId": "Box_2",
521
+ "parentReceptacles": [
522
+ "SideTable|+00.63|+00.01|+00.34"
523
+ ],
524
+ "controlledObjects": null,
525
+ "isMoving": false,
526
+ "axisAlignedBoundingBox": {
527
+ "cornerPoints": [
528
+ [
529
+ 0.6266247034072876,
530
+ 0.9971388578414917,
531
+ 0.6210201978683472
532
+ ],
533
+ [
534
+ 0.6266247034072876,
535
+ 0.9971388578414917,
536
+ 0.07037034630775452
537
+ ],
538
+ [
539
+ 0.6266247034072876,
540
+ 0.7156296968460083,
541
+ 0.6210201978683472
542
+ ],
543
+ [
544
+ 0.6266247034072876,
545
+ 0.7156296968460083,
546
+ 0.07037034630775452
547
+ ],
548
+ [
549
+ 0.026602834463119507,
550
+ 0.9971388578414917,
551
+ 0.6210201978683472
552
+ ],
553
+ [
554
+ 0.026602834463119507,
555
+ 0.9971388578414917,
556
+ 0.07037034630775452
557
+ ],
558
+ [
559
+ 0.026602834463119507,
560
+ 0.7156296968460083,
561
+ 0.6210201978683472
562
+ ],
563
+ [
564
+ 0.026602834463119507,
565
+ 0.7156296968460083,
566
+ 0.07037034630775452
567
+ ]
568
+ ],
569
+ "center": {
570
+ "x": 0.32661375403404236,
571
+ "y": 0.85638427734375,
572
+ "z": 0.34569528698921204
573
+ },
574
+ "size": {
575
+ "x": 0.6000218391418457,
576
+ "y": 0.2815091609954834,
577
+ "z": 0.550649881362915
578
+ }
579
+ },
580
+ "objectOrientedBoundingBox": {
581
+ "cornerPoints": [
582
+ [
583
+ 0.6266443729400635,
584
+ 0.715626060962677,
585
+ 0.6209068298339844
586
+ ],
587
+ [
588
+ 0.026710599660873413,
589
+ 0.7156375646591187,
590
+ 0.6210560202598572
591
+ ],
592
+ [
593
+ 0.02657368779182434,
594
+ 0.7156435251235962,
595
+ 0.07048055529594421
596
+ ],
597
+ [
598
+ 0.6265075206756592,
599
+ 0.7156319618225098,
600
+ 0.07033136487007141
601
+ ],
602
+ [
603
+ 0.6266498565673828,
604
+ 0.9971340298652649,
605
+ 0.6209098696708679
606
+ ],
607
+ [
608
+ 0.026716023683547974,
609
+ 0.9971455335617065,
610
+ 0.6210590600967407
611
+ ],
612
+ [
613
+ 0.0265791118144989,
614
+ 0.9971514344215393,
615
+ 0.07048356533050537
616
+ ],
617
+ [
618
+ 0.626512885093689,
619
+ 0.9971399307250977,
620
+ 0.07033437490463257
621
+ ]
622
+ ]
623
+ }
624
+ }
625
+ },
626
+ {
627
+ "objectId": "Sofa|-01.14|00.00|+00.52",
628
+ "object_info": {
629
+ "name": "Sofa_5f6946f9",
630
+ "position": {
631
+ "x": -1.1358411312103271,
632
+ "y": -0.004815518856048584,
633
+ "z": 0.5171529054641724
634
+ },
635
+ "rotation": {
636
+ "x": 0.00011686379730235785,
637
+ "y": 0.7543776631355286,
638
+ "z": -8.622366294730455e-06
639
+ },
640
+ "visible": true,
641
+ "isInteractable": true,
642
+ "receptacle": true,
643
+ "toggleable": false,
644
+ "isToggled": false,
645
+ "breakable": false,
646
+ "isBroken": false,
647
+ "canFillWithLiquid": false,
648
+ "isFilledWithLiquid": false,
649
+ "fillLiquid": null,
650
+ "dirtyable": false,
651
+ "isDirty": false,
652
+ "canBeUsedUp": false,
653
+ "isUsedUp": false,
654
+ "cookable": false,
655
+ "isCooked": false,
656
+ "temperature": "RoomTemp",
657
+ "isHeatSource": false,
658
+ "isColdSource": false,
659
+ "sliceable": false,
660
+ "isSliced": false,
661
+ "openable": false,
662
+ "isOpen": false,
663
+ "openness": 0.0,
664
+ "pickupable": false,
665
+ "isPickedUp": false,
666
+ "moveable": true,
667
+ "mass": 103.99999237060547,
668
+ "salientMaterials": [
669
+ "Fabric"
670
+ ],
671
+ "receptacleObjectIds": [
672
+ "Pillow|-00.50|+00.69|+00.51"
673
+ ],
674
+ "distance": 1.6198784112930298,
675
+ "objectType": "Sofa",
676
+ "objectId": "Sofa|-01.14|00.00|+00.52",
677
+ "assetId": "Sofa_201_2",
678
+ "parentReceptacles": [
679
+ "Floor|+00.00|+00.00|+00.00"
680
+ ],
681
+ "controlledObjects": null,
682
+ "isMoving": false,
683
+ "axisAlignedBoundingBox": {
684
+ "cornerPoints": [
685
+ [
686
+ 0.07678508758544922,
687
+ 1.1200249195098877,
688
+ 1.0050995349884033
689
+ ],
690
+ [
691
+ 0.07678508758544922,
692
+ 1.1200249195098877,
693
+ 0.0026784539222717285
694
+ ],
695
+ [
696
+ 0.07678508758544922,
697
+ 5.447864532470703e-05,
698
+ 1.0050995349884033
699
+ ],
700
+ [
701
+ 0.07678508758544922,
702
+ 5.447864532470703e-05,
703
+ 0.0026784539222717285
704
+ ],
705
+ [
706
+ -2.3401033878326416,
707
+ 1.1200249195098877,
708
+ 1.0050995349884033
709
+ ],
710
+ [
711
+ -2.3401033878326416,
712
+ 1.1200249195098877,
713
+ 0.0026784539222717285
714
+ ],
715
+ [
716
+ -2.3401033878326416,
717
+ 5.447864532470703e-05,
718
+ 1.0050995349884033
719
+ ],
720
+ [
721
+ -2.3401033878326416,
722
+ 5.447864532470703e-05,
723
+ 0.0026784539222717285
724
+ ]
725
+ ],
726
+ "center": {
727
+ "x": -1.1316591501235962,
728
+ "y": 0.5600396990776062,
729
+ "z": 0.5038890242576599
730
+ },
731
+ "size": {
732
+ "x": 2.416888475418091,
733
+ "y": 1.119970440864563,
734
+ "z": 1.0024211406707764
735
+ }
736
+ },
737
+ "objectOrientedBoundingBox": {
738
+ "cornerPoints": [
739
+ [
740
+ 0.07697510719299316,
741
+ 4.681432619690895e-05,
742
+ 0.9761027097702026
743
+ ],
744
+ [
745
+ -2.327432155609131,
746
+ 4.617590457201004e-05,
747
+ 1.0077885389328003
748
+ ],
749
+ [
750
+ -2.3402976989746094,
751
+ 4.647718742489815e-05,
752
+ 0.03151249885559082
753
+ ],
754
+ [
755
+ 0.06410956382751465,
756
+ 4.711560904979706e-05,
757
+ -0.00017338991165161133
758
+ ],
759
+ [
760
+ 0.07697486877441406,
761
+ 1.1200108528137207,
762
+ 0.9761030673980713
763
+ ],
764
+ [
765
+ -2.327432632446289,
766
+ 1.1200101375579834,
767
+ 1.007788896560669
768
+ ],
769
+ [
770
+ -2.3402981758117676,
771
+ 1.1200103759765625,
772
+ 0.03151285648345947
773
+ ],
774
+ [
775
+ 0.064109206199646,
776
+ 1.1200110912322998,
777
+ -0.00017303228378295898
778
+ ]
779
+ ]
780
+ }
781
+ }
782
+ },
783
+ {
784
+ "objectId": "Painting|-01.10|+01.77|-00.02",
785
+ "object_info": {
786
+ "name": "Painting_c2682828",
787
+ "position": {
788
+ "x": -1.096000075340271,
789
+ "y": 1.7739999294281006,
790
+ "z": -0.017000000923871994
791
+ },
792
+ "rotation": {
793
+ "x": -0.0,
794
+ "y": 0.0,
795
+ "z": 0.0
796
+ },
797
+ "visible": false,
798
+ "isInteractable": false,
799
+ "receptacle": false,
800
+ "toggleable": false,
801
+ "isToggled": false,
802
+ "breakable": false,
803
+ "isBroken": false,
804
+ "canFillWithLiquid": false,
805
+ "isFilledWithLiquid": false,
806
+ "fillLiquid": null,
807
+ "dirtyable": false,
808
+ "isDirty": false,
809
+ "canBeUsedUp": false,
810
+ "isUsedUp": false,
811
+ "cookable": false,
812
+ "isCooked": false,
813
+ "temperature": "RoomTemp",
814
+ "isHeatSource": false,
815
+ "isColdSource": false,
816
+ "sliceable": false,
817
+ "isSliced": false,
818
+ "openable": false,
819
+ "isOpen": false,
820
+ "openness": 0.0,
821
+ "pickupable": false,
822
+ "isPickedUp": false,
823
+ "moveable": false,
824
+ "mass": 0.0,
825
+ "salientMaterials": null,
826
+ "receptacleObjectIds": null,
827
+ "distance": 2.0162723064422607,
828
+ "objectType": "Painting",
829
+ "objectId": "Painting|-01.10|+01.77|-00.02",
830
+ "assetId": "",
831
+ "parentReceptacles": null,
832
+ "controlledObjects": null,
833
+ "isMoving": false,
834
+ "axisAlignedBoundingBox": {
835
+ "cornerPoints": [
836
+ [
837
+ -0.5423712730407715,
838
+ 2.231011390686035,
839
+ 0.047744959592819214
840
+ ],
841
+ [
842
+ -0.5423712730407715,
843
+ 2.231011390686035,
844
+ -0.09480203688144684
845
+ ],
846
+ [
847
+ -0.5423712730407715,
848
+ 1.316988468170166,
849
+ 0.047744959592819214
850
+ ],
851
+ [
852
+ -0.5423712730407715,
853
+ 1.316988468170166,
854
+ -0.09480203688144684
855
+ ],
856
+ [
857
+ -1.6496288776397705,
858
+ 2.231011390686035,
859
+ 0.047744959592819214
860
+ ],
861
+ [
862
+ -1.6496288776397705,
863
+ 2.231011390686035,
864
+ -0.09480203688144684
865
+ ],
866
+ [
867
+ -1.6496288776397705,
868
+ 1.316988468170166,
869
+ 0.047744959592819214
870
+ ],
871
+ [
872
+ -1.6496288776397705,
873
+ 1.316988468170166,
874
+ -0.09480203688144684
875
+ ]
876
+ ],
877
+ "center": {
878
+ "x": -1.096000075340271,
879
+ "y": 1.7739999294281006,
880
+ "z": -0.023528538644313812
881
+ },
882
+ "size": {
883
+ "x": 1.107257604598999,
884
+ "y": 0.9140229225158691,
885
+ "z": 0.14254699647426605
886
+ }
887
+ },
888
+ "objectOrientedBoundingBox": null
889
+ }
890
+ },
891
+ {
892
+ "objectId": "RemoteControl|-01.27|+00.44|+02.15",
893
+ "object_info": {
894
+ "name": "RemoteControl_6aec8052",
895
+ "position": {
896
+ "x": -1.273537278175354,
897
+ "y": 0.44417518377304077,
898
+ "z": 2.1527976989746094
899
+ },
900
+ "rotation": {
901
+ "x": 0.011795872822403908,
902
+ "y": 359.96044921875,
903
+ "z": 359.80902099609375
904
+ },
905
+ "visible": false,
906
+ "isInteractable": false,
907
+ "receptacle": false,
908
+ "toggleable": false,
909
+ "isToggled": false,
910
+ "breakable": false,
911
+ "isBroken": false,
912
+ "canFillWithLiquid": false,
913
+ "isFilledWithLiquid": false,
914
+ "fillLiquid": null,
915
+ "dirtyable": false,
916
+ "isDirty": false,
917
+ "canBeUsedUp": false,
918
+ "isUsedUp": false,
919
+ "cookable": false,
920
+ "isCooked": false,
921
+ "temperature": "RoomTemp",
922
+ "isHeatSource": false,
923
+ "isColdSource": false,
924
+ "sliceable": false,
925
+ "isSliced": false,
926
+ "openable": false,
927
+ "isOpen": false,
928
+ "openness": 0.0,
929
+ "pickupable": true,
930
+ "isPickedUp": false,
931
+ "moveable": false,
932
+ "mass": 0.15000000596046448,
933
+ "salientMaterials": [
934
+ "Metal",
935
+ "Plastic"
936
+ ],
937
+ "receptacleObjectIds": null,
938
+ "distance": 1.0060399770736694,
939
+ "objectType": "RemoteControl",
940
+ "objectId": "RemoteControl|-01.27|+00.44|+02.15",
941
+ "assetId": "Remote_2",
942
+ "parentReceptacles": [
943
+ "CoffeeTable|-01.73|+00.01|+02.36"
944
+ ],
945
+ "controlledObjects": null,
946
+ "isMoving": false,
947
+ "axisAlignedBoundingBox": {
948
+ "cornerPoints": [
949
+ [
950
+ -1.2442559003829956,
951
+ 0.46738266944885254,
952
+ 2.258861780166626
953
+ ],
954
+ [
955
+ -1.2442559003829956,
956
+ 0.46738266944885254,
957
+ 2.0467159748077393
958
+ ],
959
+ [
960
+ -1.2442559003829956,
961
+ 0.4434448480606079,
962
+ 2.258861780166626
963
+ ],
964
+ [
965
+ -1.2442559003829956,
966
+ 0.4434448480606079,
967
+ 2.0467159748077393
968
+ ],
969
+ [
970
+ -1.302942156791687,
971
+ 0.46738266944885254,
972
+ 2.258861780166626
973
+ ],
974
+ [
975
+ -1.302942156791687,
976
+ 0.46738266944885254,
977
+ 2.0467159748077393
978
+ ],
979
+ [
980
+ -1.302942156791687,
981
+ 0.4434448480606079,
982
+ 2.258861780166626
983
+ ],
984
+ [
985
+ -1.302942156791687,
986
+ 0.4434448480606079,
987
+ 2.0467159748077393
988
+ ]
989
+ ],
990
+ "center": {
991
+ "x": -1.2735990285873413,
992
+ "y": 0.4554137587547302,
993
+ "z": 2.1527888774871826
994
+ },
995
+ "size": {
996
+ "x": 0.058686256408691406,
997
+ "y": 0.02393782138824463,
998
+ "z": 0.21214580535888672
999
+ }
1000
+ },
1001
+ "objectOrientedBoundingBox": {
1002
+ "cornerPoints": [
1003
+ [
1004
+ -1.244377851486206,
1005
+ 0.4434448480606079,
1006
+ 2.258861780166626
1007
+ ],
1008
+ [
1009
+ -1.3029422760009766,
1010
+ 0.4434700906276703,
1011
+ 2.258831024169922
1012
+ ],
1013
+ [
1014
+ -1.302830696105957,
1015
+ 0.4434703588485718,
1016
+ 2.0467159748077393
1017
+ ],
1018
+ [
1019
+ -1.2442662715911865,
1020
+ 0.4434451162815094,
1021
+ 2.0467467308044434
1022
+ ],
1023
+ [
1024
+ -1.2443674802780151,
1025
+ 0.46735715866088867,
1026
+ 2.258861780166626
1027
+ ],
1028
+ [
1029
+ -1.3029319047927856,
1030
+ 0.46738240122795105,
1031
+ 2.258831024169922
1032
+ ],
1033
+ [
1034
+ -1.3028203248977661,
1035
+ 0.46738266944885254,
1036
+ 2.0467159748077393
1037
+ ],
1038
+ [
1039
+ -1.2442559003829956,
1040
+ 0.46735742688179016,
1041
+ 2.0467467308044434
1042
+ ]
1043
+ ]
1044
+ }
1045
+ }
1046
+ },
1047
+ {
1048
+ "objectId": "Curtains|-03.97|+02.26|+01.45",
1049
+ "object_info": {
1050
+ "name": "Curtains_f437c5aa",
1051
+ "position": {
1052
+ "x": -3.9739997386932373,
1053
+ "y": 2.254999876022339,
1054
+ "z": 1.4539999961853027
1055
+ },
1056
+ "rotation": {
1057
+ "x": -0.0,
1058
+ "y": 0.0,
1059
+ "z": 0.0
1060
+ },
1061
+ "visible": false,
1062
+ "isInteractable": false,
1063
+ "receptacle": false,
1064
+ "toggleable": false,
1065
+ "isToggled": false,
1066
+ "breakable": false,
1067
+ "isBroken": false,
1068
+ "canFillWithLiquid": false,
1069
+ "isFilledWithLiquid": false,
1070
+ "fillLiquid": null,
1071
+ "dirtyable": false,
1072
+ "isDirty": false,
1073
+ "canBeUsedUp": false,
1074
+ "isUsedUp": false,
1075
+ "cookable": false,
1076
+ "isCooked": false,
1077
+ "temperature": "RoomTemp",
1078
+ "isHeatSource": false,
1079
+ "isColdSource": false,
1080
+ "sliceable": false,
1081
+ "isSliced": false,
1082
+ "openable": false,
1083
+ "isOpen": false,
1084
+ "openness": 0.0,
1085
+ "pickupable": false,
1086
+ "isPickedUp": false,
1087
+ "moveable": false,
1088
+ "mass": 0.0,
1089
+ "salientMaterials": null,
1090
+ "receptacleObjectIds": null,
1091
+ "distance": 3.7366271018981934,
1092
+ "objectType": "Curtains",
1093
+ "objectId": "Curtains|-03.97|+02.26|+01.45",
1094
+ "assetId": "",
1095
+ "parentReceptacles": [
1096
+ "Floor|+00.00|+00.00|+00.00"
1097
+ ],
1098
+ "controlledObjects": null,
1099
+ "isMoving": false,
1100
+ "axisAlignedBoundingBox": {
1101
+ "cornerPoints": [
1102
+ [
1103
+ -3.768399238586426,
1104
+ 2.2671194076538086,
1105
+ 2.6316933631896973
1106
+ ],
1107
+ [
1108
+ -3.768399238586426,
1109
+ 2.2671194076538086,
1110
+ 0.35443973541259766
1111
+ ],
1112
+ [
1113
+ -3.768399238586426,
1114
+ 0.032193660736083984,
1115
+ 2.6316933631896973
1116
+ ],
1117
+ [
1118
+ -3.768399238586426,
1119
+ 0.032193660736083984,
1120
+ 0.35443973541259766
1121
+ ],
1122
+ [
1123
+ -4.0606513023376465,
1124
+ 2.2671194076538086,
1125
+ 2.6316933631896973
1126
+ ],
1127
+ [
1128
+ -4.0606513023376465,
1129
+ 2.2671194076538086,
1130
+ 0.35443973541259766
1131
+ ],
1132
+ [
1133
+ -4.0606513023376465,
1134
+ 0.032193660736083984,
1135
+ 2.6316933631896973
1136
+ ],
1137
+ [
1138
+ -4.0606513023376465,
1139
+ 0.032193660736083984,
1140
+ 0.35443973541259766
1141
+ ]
1142
+ ],
1143
+ "center": {
1144
+ "x": -3.914525270462036,
1145
+ "y": 1.1496565341949463,
1146
+ "z": 1.4930665493011475
1147
+ },
1148
+ "size": {
1149
+ "x": 0.2922520637512207,
1150
+ "y": 2.2349257469177246,
1151
+ "z": 2.2772536277770996
1152
+ }
1153
+ },
1154
+ "objectOrientedBoundingBox": null
1155
+ }
1156
+ },
1157
+ {
1158
+ "objectId": "CoffeeTable|-01.73|+00.01|+02.36",
1159
+ "object_info": {
1160
+ "name": "CoffeeTable_f6dcd9dd",
1161
+ "position": {
1162
+ "x": -1.7349979877471924,
1163
+ "y": 0.005640685558319092,
1164
+ "z": 2.3609893321990967
1165
+ },
1166
+ "rotation": {
1167
+ "x": 0.0014754097210243344,
1168
+ "y": 0.00011461416579550132,
1169
+ "z": -0.0009494048426859081
1170
+ },
1171
+ "visible": true,
1172
+ "isInteractable": true,
1173
+ "receptacle": true,
1174
+ "toggleable": false,
1175
+ "isToggled": false,
1176
+ "breakable": false,
1177
+ "isBroken": false,
1178
+ "canFillWithLiquid": false,
1179
+ "isFilledWithLiquid": false,
1180
+ "fillLiquid": null,
1181
+ "dirtyable": false,
1182
+ "isDirty": false,
1183
+ "canBeUsedUp": false,
1184
+ "isUsedUp": false,
1185
+ "cookable": false,
1186
+ "isCooked": false,
1187
+ "temperature": "RoomTemp",
1188
+ "isHeatSource": false,
1189
+ "isColdSource": false,
1190
+ "sliceable": false,
1191
+ "isSliced": false,
1192
+ "openable": false,
1193
+ "isOpen": false,
1194
+ "openness": 0.0,
1195
+ "pickupable": false,
1196
+ "isPickedUp": false,
1197
+ "moveable": true,
1198
+ "mass": 11.0,
1199
+ "salientMaterials": [
1200
+ "Wood"
1201
+ ],
1202
+ "receptacleObjectIds": [
1203
+ "RemoteControl|-01.27|+00.44|+02.15",
1204
+ "CreditCard|-02.10|+00.44|+02.58",
1205
+ "HousePlant|-02.01|+00.45|+02.36"
1206
+ ],
1207
+ "distance": 1.6624913215637207,
1208
+ "objectType": "CoffeeTable",
1209
+ "objectId": "CoffeeTable|-01.73|+00.01|+02.36",
1210
+ "assetId": "Coffee_Table_202_1",
1211
+ "parentReceptacles": [
1212
+ "Floor|+00.00|+00.00|+00.00"
1213
+ ],
1214
+ "controlledObjects": null,
1215
+ "isMoving": false,
1216
+ "axisAlignedBoundingBox": {
1217
+ "cornerPoints": [
1218
+ [
1219
+ -1.228797435760498,
1220
+ 0.4434751868247986,
1221
+ 2.6887097358703613
1222
+ ],
1223
+ [
1224
+ -1.228797435760498,
1225
+ 0.4434751868247986,
1226
+ 2.0332765579223633
1227
+ ],
1228
+ [
1229
+ -1.228797435760498,
1230
+ 4.315376281738281e-05,
1231
+ 2.6887097358703613
1232
+ ],
1233
+ [
1234
+ -1.228797435760498,
1235
+ 4.315376281738281e-05,
1236
+ 2.0332765579223633
1237
+ ],
1238
+ [
1239
+ -2.2424564361572266,
1240
+ 0.4434751868247986,
1241
+ 2.6887097358703613
1242
+ ],
1243
+ [
1244
+ -2.2424564361572266,
1245
+ 0.4434751868247986,
1246
+ 2.0332765579223633
1247
+ ],
1248
+ [
1249
+ -2.2424564361572266,
1250
+ 4.315376281738281e-05,
1251
+ 2.6887097358703613
1252
+ ],
1253
+ [
1254
+ -2.2424564361572266,
1255
+ 4.315376281738281e-05,
1256
+ 2.0332765579223633
1257
+ ]
1258
+ ],
1259
+ "center": {
1260
+ "x": -1.7356269359588623,
1261
+ "y": 0.22175917029380798,
1262
+ "z": 2.3609931468963623
1263
+ },
1264
+ "size": {
1265
+ "x": 1.0136590003967285,
1266
+ "y": 0.4434320330619812,
1267
+ "z": 0.655433177947998
1268
+ }
1269
+ },
1270
+ "objectOrientedBoundingBox": {
1271
+ "cornerPoints": [
1272
+ [
1273
+ -1.22880220413208,
1274
+ 4.938757047057152e-05,
1275
+ 2.6887128353118896
1276
+ ],
1277
+ [
1278
+ -2.2424585819244385,
1279
+ 5.36525622010231e-05,
1280
+ 2.6887078285217285
1281
+ ],
1282
+ [
1283
+ -2.242455244064331,
1284
+ 4.747509956359863e-05,
1285
+ 2.03328013420105
1286
+ ],
1287
+ [
1288
+ -1.2287988662719727,
1289
+ 4.321010783314705e-05,
1290
+ 2.03328537940979
1291
+ ],
1292
+ [
1293
+ -1.2288004159927368,
1294
+ 0.4434714615345001,
1295
+ 2.688708782196045
1296
+ ],
1297
+ [
1298
+ -2.2424566745758057,
1299
+ 0.44347572326660156,
1300
+ 2.6887035369873047
1301
+ ],
1302
+ [
1303
+ -2.2424533367156982,
1304
+ 0.4434695243835449,
1305
+ 2.033276081085205
1306
+ ],
1307
+ [
1308
+ -1.2287970781326294,
1309
+ 0.4434652626514435,
1310
+ 2.033281087875366
1311
+ ]
1312
+ ]
1313
+ }
1314
+ }
1315
+ },
1316
+ {
1317
+ "objectId": "HousePlant|-02.01|+00.45|+02.36",
1318
+ "object_info": {
1319
+ "name": "HousePlant_c0410d81",
1320
+ "position": {
1321
+ "x": -2.0149343013763428,
1322
+ "y": 0.44758614897727966,
1323
+ "z": 2.3577699661254883
1324
+ },
1325
+ "rotation": {
1326
+ "x": 0.13371217250823975,
1327
+ "y": 0.43230530619621277,
1328
+ "z": 359.86834716796875
1329
+ },
1330
+ "visible": true,
1331
+ "isInteractable": true,
1332
+ "receptacle": false,
1333
+ "toggleable": false,
1334
+ "isToggled": false,
1335
+ "breakable": false,
1336
+ "isBroken": false,
1337
+ "canFillWithLiquid": true,
1338
+ "isFilledWithLiquid": false,
1339
+ "fillLiquid": null,
1340
+ "dirtyable": false,
1341
+ "isDirty": false,
1342
+ "canBeUsedUp": false,
1343
+ "isUsedUp": false,
1344
+ "cookable": false,
1345
+ "isCooked": false,
1346
+ "temperature": "RoomTemp",
1347
+ "isHeatSource": false,
1348
+ "isColdSource": false,
1349
+ "sliceable": false,
1350
+ "isSliced": false,
1351
+ "openable": false,
1352
+ "isOpen": false,
1353
+ "openness": 0.0,
1354
+ "pickupable": false,
1355
+ "isPickedUp": false,
1356
+ "moveable": true,
1357
+ "mass": 3.0,
1358
+ "salientMaterials": [
1359
+ "Ceramic",
1360
+ "Organic"
1361
+ ],
1362
+ "receptacleObjectIds": null,
1363
+ "distance": 1.7126917839050293,
1364
+ "objectType": "HousePlant",
1365
+ "objectId": "HousePlant|-02.01|+00.45|+02.36",
1366
+ "assetId": "Houseplant_2",
1367
+ "parentReceptacles": [
1368
+ "CoffeeTable|-01.73|+00.01|+02.36"
1369
+ ],
1370
+ "controlledObjects": null,
1371
+ "isMoving": false,
1372
+ "axisAlignedBoundingBox": {
1373
+ "cornerPoints": [
1374
+ [
1375
+ -1.9226515293121338,
1376
+ 1.1414202451705933,
1377
+ 2.4988555908203125
1378
+ ],
1379
+ [
1380
+ -1.9226515293121338,
1381
+ 1.1414202451705933,
1382
+ 2.2222766876220703
1383
+ ],
1384
+ [
1385
+ -1.9226515293121338,
1386
+ 0.4434148073196411,
1387
+ 2.4988555908203125
1388
+ ],
1389
+ [
1390
+ -1.9226515293121338,
1391
+ 0.4434148073196411,
1392
+ 2.2222766876220703
1393
+ ],
1394
+ [
1395
+ -2.1600968837738037,
1396
+ 1.1414202451705933,
1397
+ 2.4988555908203125
1398
+ ],
1399
+ [
1400
+ -2.1600968837738037,
1401
+ 1.1414202451705933,
1402
+ 2.2222766876220703
1403
+ ],
1404
+ [
1405
+ -2.1600968837738037,
1406
+ 0.4434148073196411,
1407
+ 2.4988555908203125
1408
+ ],
1409
+ [
1410
+ -2.1600968837738037,
1411
+ 0.4434148073196411,
1412
+ 2.2222766876220703
1413
+ ]
1414
+ ],
1415
+ "center": {
1416
+ "x": -2.0413742065429688,
1417
+ "y": 0.7924175262451172,
1418
+ "z": 2.3605661392211914
1419
+ },
1420
+ "size": {
1421
+ "x": 0.23744535446166992,
1422
+ "y": 0.6980054378509521,
1423
+ "z": 0.2765789031982422
1424
+ }
1425
+ },
1426
+ "objectOrientedBoundingBox": {
1427
+ "cornerPoints": [
1428
+ [
1429
+ -1.923201322555542,
1430
+ 0.4431056082248688,
1431
+ 2.4955716133117676
1432
+ ],
1433
+ [
1434
+ -2.1597938537597656,
1435
+ 0.4436492919921875,
1436
+ 2.4973580837249756
1437
+ ],
1438
+ [
1439
+ -2.161877155303955,
1440
+ 0.4442936182022095,
1441
+ 2.221266746520996
1442
+ ],
1443
+ [
1444
+ -1.925284504890442,
1445
+ 0.44374993443489075,
1446
+ 2.219480276107788
1447
+ ],
1448
+ [
1449
+ -1.921585202217102,
1450
+ 1.1410508155822754,
1451
+ 2.4971883296966553
1452
+ ],
1453
+ [
1454
+ -2.1581778526306152,
1455
+ 1.1415945291519165,
1456
+ 2.4989748001098633
1457
+ ],
1458
+ [
1459
+ -2.1602609157562256,
1460
+ 1.1422388553619385,
1461
+ 2.222883462905884
1462
+ ],
1463
+ [
1464
+ -1.923668384552002,
1465
+ 1.1416951417922974,
1466
+ 2.221096992492676
1467
+ ]
1468
+ ]
1469
+ }
1470
+ }
1471
+ },
1472
+ {
1473
+ "objectId": "ArmChair|-03.06|+00.00|+00.52",
1474
+ "object_info": {
1475
+ "name": "ArmChair_ce633ece",
1476
+ "position": {
1477
+ "x": -3.063239574432373,
1478
+ "y": 0.000896841287612915,
1479
+ "z": 0.5175459980964661
1480
+ },
1481
+ "rotation": {
1482
+ "x": -0.004098193719983101,
1483
+ "y": -0.005070995539426804,
1484
+ "z": 359.9940185546875
1485
+ },
1486
+ "visible": false,
1487
+ "isInteractable": false,
1488
+ "receptacle": true,
1489
+ "toggleable": false,
1490
+ "isToggled": false,
1491
+ "breakable": false,
1492
+ "isBroken": false,
1493
+ "canFillWithLiquid": false,
1494
+ "isFilledWithLiquid": false,
1495
+ "fillLiquid": null,
1496
+ "dirtyable": false,
1497
+ "isDirty": false,
1498
+ "canBeUsedUp": false,
1499
+ "isUsedUp": false,
1500
+ "cookable": false,
1501
+ "isCooked": false,
1502
+ "temperature": "RoomTemp",
1503
+ "isHeatSource": false,
1504
+ "isColdSource": false,
1505
+ "sliceable": false,
1506
+ "isSliced": false,
1507
+ "openable": false,
1508
+ "isOpen": false,
1509
+ "openness": 0.0,
1510
+ "pickupable": false,
1511
+ "isPickedUp": false,
1512
+ "moveable": true,
1513
+ "mass": 28.299999237060547,
1514
+ "salientMaterials": [
1515
+ "Fabric"
1516
+ ],
1517
+ "receptacleObjectIds": [
1518
+ "Laptop|-03.22|+00.61|+00.58"
1519
+ ],
1520
+ "distance": 2.962880849838257,
1521
+ "objectType": "ArmChair",
1522
+ "objectId": "ArmChair|-03.06|+00.00|+00.52",
1523
+ "assetId": "Armchair_202_1",
1524
+ "parentReceptacles": [
1525
+ "Floor|+00.00|+00.00|+00.00"
1526
+ ],
1527
+ "controlledObjects": null,
1528
+ "isMoving": false,
1529
+ "axisAlignedBoundingBox": {
1530
+ "cornerPoints": [
1531
+ [
1532
+ -2.356858730316162,
1533
+ 1.2624226808547974,
1534
+ 0.9900634288787842
1535
+ ],
1536
+ [
1537
+ -2.356858730316162,
1538
+ 1.2624226808547974,
1539
+ 0.02552032470703125
1540
+ ],
1541
+ [
1542
+ -2.356858730316162,
1543
+ -8.189678192138672e-05,
1544
+ 0.9900634288787842
1545
+ ],
1546
+ [
1547
+ -2.356858730316162,
1548
+ -8.189678192138672e-05,
1549
+ 0.02552032470703125
1550
+ ],
1551
+ [
1552
+ -3.7685675621032715,
1553
+ 1.2624226808547974,
1554
+ 0.9900634288787842
1555
+ ],
1556
+ [
1557
+ -3.7685675621032715,
1558
+ 1.2624226808547974,
1559
+ 0.02552032470703125
1560
+ ],
1561
+ [
1562
+ -3.7685675621032715,
1563
+ -8.189678192138672e-05,
1564
+ 0.9900634288787842
1565
+ ],
1566
+ [
1567
+ -3.7685675621032715,
1568
+ -8.189678192138672e-05,
1569
+ 0.02552032470703125
1570
+ ]
1571
+ ],
1572
+ "center": {
1573
+ "x": -3.062713146209717,
1574
+ "y": 0.631170392036438,
1575
+ "z": 0.5077918767929077
1576
+ },
1577
+ "size": {
1578
+ "x": 1.4117088317871094,
1579
+ "y": 1.2625045776367188,
1580
+ "z": 0.9645431041717529
1581
+ }
1582
+ },
1583
+ "objectOrientedBoundingBox": {
1584
+ "cornerPoints": [
1585
+ [
1586
+ -2.3570618629455566,
1587
+ 3.343092976137996e-05,
1588
+ 0.9901637434959412
1589
+ ],
1590
+ [
1591
+ -3.768569231033325,
1592
+ 0.00021634536096826196,
1593
+ 0.9900387525558472
1594
+ ],
1595
+ [
1596
+ -3.768483877182007,
1597
+ 9.867834160104394e-05,
1598
+ 0.025649964809417725
1599
+ ],
1600
+ [
1601
+ -2.3569765090942383,
1602
+ -8.423603139817715e-05,
1603
+ 0.025774985551834106
1604
+ ],
1605
+ [
1606
+ -2.356898307800293,
1607
+ 1.2623553276062012,
1608
+ 0.9900097846984863
1609
+ ],
1610
+ [
1611
+ -3.7684056758880615,
1612
+ 1.262538194656372,
1613
+ 0.9898847341537476
1614
+ ],
1615
+ [
1616
+ -3.768320322036743,
1617
+ 1.262420415878296,
1618
+ 0.025495946407318115
1619
+ ],
1620
+ [
1621
+ -2.3568129539489746,
1622
+ 1.262237548828125,
1623
+ 0.025620967149734497
1624
+ ]
1625
+ ]
1626
+ }
1627
+ }
1628
+ },
1629
+ {
1630
+ "objectId": "Shelf|+00.62|+00.24|+00.34",
1631
+ "object_info": {
1632
+ "name": "Shelf_2ef847cf",
1633
+ "position": {
1634
+ "x": 0.6229959726333618,
1635
+ "y": 0.23879793286323547,
1636
+ "z": 0.34000349044799805
1637
+ },
1638
+ "rotation": {
1639
+ "x": -1.8670654753805138e-05,
1640
+ "y": 0.0005228848312981427,
1641
+ "z": 2.6211334898107452e-06
1642
+ },
1643
+ "visible": false,
1644
+ "isInteractable": false,
1645
+ "receptacle": true,
1646
+ "toggleable": false,
1647
+ "isToggled": false,
1648
+ "breakable": false,
1649
+ "isBroken": false,
1650
+ "canFillWithLiquid": false,
1651
+ "isFilledWithLiquid": false,
1652
+ "fillLiquid": null,
1653
+ "dirtyable": false,
1654
+ "isDirty": false,
1655
+ "canBeUsedUp": false,
1656
+ "isUsedUp": false,
1657
+ "cookable": false,
1658
+ "isCooked": false,
1659
+ "temperature": "RoomTemp",
1660
+ "isHeatSource": false,
1661
+ "isColdSource": false,
1662
+ "sliceable": false,
1663
+ "isSliced": false,
1664
+ "openable": false,
1665
+ "isOpen": false,
1666
+ "openness": 0.0,
1667
+ "pickupable": false,
1668
+ "isPickedUp": false,
1669
+ "moveable": false,
1670
+ "mass": 0.0,
1671
+ "salientMaterials": null,
1672
+ "receptacleObjectIds": [],
1673
+ "distance": 1.8839540481567383,
1674
+ "objectType": "Shelf",
1675
+ "objectId": "Shelf|+00.62|+00.24|+00.34",
1676
+ "assetId": "",
1677
+ "parentReceptacles": [
1678
+ "Floor|+00.00|+00.00|+00.00"
1679
+ ],
1680
+ "controlledObjects": null,
1681
+ "isMoving": false,
1682
+ "axisAlignedBoundingBox": {
1683
+ "cornerPoints": [
1684
+ [
1685
+ 1.1153661012649536,
1686
+ 0.8257793188095093,
1687
+ 0.6623780727386475
1688
+ ],
1689
+ [
1690
+ 1.1153661012649536,
1691
+ 0.8257793188095093,
1692
+ 0.01762211322784424
1693
+ ],
1694
+ [
1695
+ 1.1153661012649536,
1696
+ 0.090691477060318,
1697
+ 0.6623780727386475
1698
+ ],
1699
+ [
1700
+ 1.1153661012649536,
1701
+ 0.090691477060318,
1702
+ 0.01762211322784424
1703
+ ],
1704
+ [
1705
+ 0.13083338737487793,
1706
+ 0.8257793188095093,
1707
+ 0.6623780727386475
1708
+ ],
1709
+ [
1710
+ 0.13083338737487793,
1711
+ 0.8257793188095093,
1712
+ 0.01762211322784424
1713
+ ],
1714
+ [
1715
+ 0.13083338737487793,
1716
+ 0.090691477060318,
1717
+ 0.6623780727386475
1718
+ ],
1719
+ [
1720
+ 0.13083338737487793,
1721
+ 0.090691477060318,
1722
+ 0.01762211322784424
1723
+ ]
1724
+ ],
1725
+ "center": {
1726
+ "x": 0.6230997443199158,
1727
+ "y": 0.45823541283607483,
1728
+ "z": 0.34000009298324585
1729
+ },
1730
+ "size": {
1731
+ "x": 0.9845327138900757,
1732
+ "y": 0.7350878715515137,
1733
+ "z": 0.6447559595108032
1734
+ }
1735
+ },
1736
+ "objectOrientedBoundingBox": null
1737
+ }
1738
+ },
1739
+ {
1740
+ "objectId": "Laptop|-03.22|+00.61|+00.58",
1741
+ "object_info": {
1742
+ "name": "Laptop_1793eb2d",
1743
+ "position": {
1744
+ "x": -3.215677499771118,
1745
+ "y": 0.6147335767745972,
1746
+ "z": 0.5826804041862488
1747
+ },
1748
+ "rotation": {
1749
+ "x": 0.0037529009860008955,
1750
+ "y": 29.944215774536133,
1751
+ "z": 359.9883117675781
1752
+ },
1753
+ "visible": false,
1754
+ "isInteractable": false,
1755
+ "receptacle": false,
1756
+ "toggleable": true,
1757
+ "isToggled": false,
1758
+ "breakable": true,
1759
+ "isBroken": false,
1760
+ "canFillWithLiquid": false,
1761
+ "isFilledWithLiquid": false,
1762
+ "fillLiquid": null,
1763
+ "dirtyable": false,
1764
+ "isDirty": false,
1765
+ "canBeUsedUp": false,
1766
+ "isUsedUp": false,
1767
+ "cookable": false,
1768
+ "isCooked": false,
1769
+ "temperature": "RoomTemp",
1770
+ "isHeatSource": false,
1771
+ "isColdSource": false,
1772
+ "sliceable": false,
1773
+ "isSliced": false,
1774
+ "openable": true,
1775
+ "isOpen": true,
1776
+ "openness": 1.0,
1777
+ "pickupable": true,
1778
+ "isPickedUp": false,
1779
+ "moveable": false,
1780
+ "mass": 2.299999952316284,
1781
+ "salientMaterials": [
1782
+ "Metal",
1783
+ "Plastic",
1784
+ "Glass"
1785
+ ],
1786
+ "receptacleObjectIds": null,
1787
+ "distance": 2.9504714012145996,
1788
+ "objectType": "Laptop",
1789
+ "objectId": "Laptop|-03.22|+00.61|+00.58",
1790
+ "assetId": "Laptop_2",
1791
+ "parentReceptacles": [
1792
+ "ArmChair|-03.06|+00.00|+00.52"
1793
+ ],
1794
+ "controlledObjects": [],
1795
+ "isMoving": false,
1796
+ "axisAlignedBoundingBox": {
1797
+ "cornerPoints": [
1798
+ [
1799
+ -2.9909815788269043,
1800
+ 0.8978071212768555,
1801
+ 0.7951347231864929
1802
+ ],
1803
+ [
1804
+ -2.9909815788269043,
1805
+ 0.8978071212768555,
1806
+ 0.3770233988761902
1807
+ ],
1808
+ [
1809
+ -2.9909815788269043,
1810
+ 0.6147116422653198,
1811
+ 0.7951347231864929
1812
+ ],
1813
+ [
1814
+ -2.9909815788269043,
1815
+ 0.6147116422653198,
1816
+ 0.3770233988761902
1817
+ ],
1818
+ [
1819
+ -3.436422824859619,
1820
+ 0.8978071212768555,
1821
+ 0.7951347231864929
1822
+ ],
1823
+ [
1824
+ -3.436422824859619,
1825
+ 0.8978071212768555,
1826
+ 0.3770233988761902
1827
+ ],
1828
+ [
1829
+ -3.436422824859619,
1830
+ 0.6147116422653198,
1831
+ 0.7951347231864929
1832
+ ],
1833
+ [
1834
+ -3.436422824859619,
1835
+ 0.6147116422653198,
1836
+ 0.3770233988761902
1837
+ ]
1838
+ ],
1839
+ "center": {
1840
+ "x": -3.2137022018432617,
1841
+ "y": 0.7562593817710876,
1842
+ "z": 0.5860790610313416
1843
+ },
1844
+ "size": {
1845
+ "x": 0.44544124603271484,
1846
+ "y": 0.28309547901153564,
1847
+ "z": 0.41811132431030273
1848
+ }
1849
+ },
1850
+ "objectOrientedBoundingBox": {
1851
+ "cornerPoints": [
1852
+ [
1853
+ -2.9909849166870117,
1854
+ 0.6147116422653198,
1855
+ 0.6187126636505127
1856
+ ],
1857
+ [
1858
+ -3.2971856594085693,
1859
+ 0.6147809028625488,
1860
+ 0.7951347231864929
1861
+ ],
1862
+ [
1863
+ -3.4364240169525146,
1864
+ 0.6147835850715637,
1865
+ 0.5534706711769104
1866
+ ],
1867
+ [
1868
+ -3.130223274230957,
1869
+ 0.6147143244743347,
1870
+ 0.3770485818386078
1871
+ ],
1872
+ [
1873
+ -2.9909355640411377,
1874
+ 0.8977351188659668,
1875
+ 0.6186873316764832
1876
+ ],
1877
+ [
1878
+ -3.2971363067626953,
1879
+ 0.8978043794631958,
1880
+ 0.7951093912124634
1881
+ ],
1882
+ [
1883
+ -3.4363746643066406,
1884
+ 0.8978070616722107,
1885
+ 0.5534453392028809
1886
+ ],
1887
+ [
1888
+ -3.130173683166504,
1889
+ 0.8977378010749817,
1890
+ 0.37702327966690063
1891
+ ]
1892
+ ]
1893
+ }
1894
+ }
1895
+ }
1896
+ ],
1897
+ "Agent": {
1898
+ "agent_position": {
1899
+ "x": -3.4000000953674316,
1900
+ "y": 0.9010459184646606,
1901
+ "z": 2.200000047683716
1902
+ },
1903
+ "agent_rotation": {
1904
+ "x": -0.0,
1905
+ "y": 143.0,
1906
+ "z": 0.0
1907
+ },
1908
+ "agent_cameraHorizon": -0.0,
1909
+ "agent_isStanding": true,
1910
+ "agent_inHighFrictionArea": false
1911
+ },
1912
+ "camera_info": {
1913
+ "cameraPosition": {
1914
+ "x": -3.4000000953674316,
1915
+ "y": 1.5760459899902344,
1916
+ "z": 2.200000047683716
1917
+ },
1918
+ "cameraOrthSize": -1.0,
1919
+ "fov": 90.0
1920
+ },
1921
+ "common_object": [
1922
+ "HousePlant|-02.01|+00.45|+02.36",
1923
+ "Curtains|-03.97|+02.26|+01.45",
1924
+ "RemoteControl|-01.27|+00.44|+02.15",
1925
+ "CoffeeTable|-01.73|+00.01|+02.36"
1926
+ ],
1927
+ "different_object": [
1928
+ "Laptop|-03.22|+00.61|+00.58",
1929
+ "Statue|+00.86|+00.71|+00.33",
1930
+ "SideTable|+00.63|+00.01|+00.34",
1931
+ "Pillow|-00.50|+00.69|+00.51",
1932
+ "ArmChair|-03.06|+00.00|+00.52",
1933
+ "Painting|-01.10|+01.77|-00.02",
1934
+ "Sofa|-01.14|00.00|+00.52",
1935
+ "Shelf|+00.62|+00.24|+00.34",
1936
+ "Box|+00.33|+00.90|+00.49"
1937
+ ]
1938
+ }
train/FloorPlan202/13/0_depth_npy.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3a5463898ce31eea78486f13136f2bd6360d23a27c735c84686af2c60d8e39da
3
+ size 3145856
train/FloorPlan202/13/0_semantic_sensor_npy.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d21d6b082af8df2f9e40e06bcbdc608e783b12b44fc5fa5fad752ce1caac2f95
3
+ size 2359424
train/FloorPlan202/13/1.json ADDED
@@ -0,0 +1,1779 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "object": [
3
+ {
4
+ "objectId": "LightSwitch|-00.13|+01.41|+04.35",
5
+ "object_info": {
6
+ "name": "LightSwitch_3b0958cf",
7
+ "position": {
8
+ "x": -0.12999999523162842,
9
+ "y": 1.4079999923706055,
10
+ "z": 4.348999977111816
11
+ },
12
+ "rotation": {
13
+ "x": -0.0,
14
+ "y": 180.00006103515625,
15
+ "z": 0.0
16
+ },
17
+ "visible": false,
18
+ "isInteractable": false,
19
+ "receptacle": false,
20
+ "toggleable": true,
21
+ "isToggled": true,
22
+ "breakable": false,
23
+ "isBroken": false,
24
+ "canFillWithLiquid": false,
25
+ "isFilledWithLiquid": false,
26
+ "fillLiquid": null,
27
+ "dirtyable": false,
28
+ "isDirty": false,
29
+ "canBeUsedUp": false,
30
+ "isUsedUp": false,
31
+ "cookable": false,
32
+ "isCooked": false,
33
+ "temperature": "RoomTemp",
34
+ "isHeatSource": false,
35
+ "isColdSource": false,
36
+ "sliceable": false,
37
+ "isSliced": false,
38
+ "openable": false,
39
+ "isOpen": false,
40
+ "openness": 0.0,
41
+ "pickupable": false,
42
+ "isPickedUp": false,
43
+ "moveable": false,
44
+ "mass": 0.0,
45
+ "salientMaterials": null,
46
+ "receptacleObjectIds": null,
47
+ "distance": 2.722334146499634,
48
+ "objectType": "LightSwitch",
49
+ "objectId": "LightSwitch|-00.13|+01.41|+04.35",
50
+ "assetId": "Light_Switch_2",
51
+ "parentReceptacles": null,
52
+ "controlledObjects": [],
53
+ "isMoving": false,
54
+ "axisAlignedBoundingBox": {
55
+ "cornerPoints": [
56
+ [
57
+ -0.07112306356430054,
58
+ 1.4686191082000732,
59
+ 4.348999977111816
60
+ ],
61
+ [
62
+ -0.07112306356430054,
63
+ 1.4686191082000732,
64
+ 4.318241119384766
65
+ ],
66
+ [
67
+ -0.07112306356430054,
68
+ 1.3473808765411377,
69
+ 4.348999977111816
70
+ ],
71
+ [
72
+ -0.07112306356430054,
73
+ 1.3473808765411377,
74
+ 4.318241119384766
75
+ ],
76
+ [
77
+ -0.1888769567012787,
78
+ 1.4686191082000732,
79
+ 4.348999977111816
80
+ ],
81
+ [
82
+ -0.1888769567012787,
83
+ 1.4686191082000732,
84
+ 4.318241119384766
85
+ ],
86
+ [
87
+ -0.1888769567012787,
88
+ 1.3473808765411377,
89
+ 4.348999977111816
90
+ ],
91
+ [
92
+ -0.1888769567012787,
93
+ 1.3473808765411377,
94
+ 4.318241119384766
95
+ ]
96
+ ],
97
+ "center": {
98
+ "x": -0.1300000101327896,
99
+ "y": 1.4079999923706055,
100
+ "z": 4.333620548248291
101
+ },
102
+ "size": {
103
+ "x": 0.11775389313697815,
104
+ "y": 0.12123823165893555,
105
+ "z": 0.03075885772705078
106
+ }
107
+ },
108
+ "objectOrientedBoundingBox": null
109
+ }
110
+ },
111
+ {
112
+ "objectId": "TVStand|-01.57|+00.00|+03.87",
113
+ "object_info": {
114
+ "name": "TVStand_db473108",
115
+ "position": {
116
+ "x": -1.5669846534729004,
117
+ "y": 0.004306167364120483,
118
+ "z": 3.8690543174743652
119
+ },
120
+ "rotation": {
121
+ "x": 0.004767519421875477,
122
+ "y": -0.00041609088657423854,
123
+ "z": 359.98919677734375
124
+ },
125
+ "visible": false,
126
+ "isInteractable": false,
127
+ "receptacle": true,
128
+ "toggleable": false,
129
+ "isToggled": false,
130
+ "breakable": false,
131
+ "isBroken": false,
132
+ "canFillWithLiquid": false,
133
+ "isFilledWithLiquid": false,
134
+ "fillLiquid": null,
135
+ "dirtyable": false,
136
+ "isDirty": false,
137
+ "canBeUsedUp": false,
138
+ "isUsedUp": false,
139
+ "cookable": false,
140
+ "isCooked": false,
141
+ "temperature": "RoomTemp",
142
+ "isHeatSource": false,
143
+ "isColdSource": false,
144
+ "sliceable": false,
145
+ "isSliced": false,
146
+ "openable": false,
147
+ "isOpen": false,
148
+ "openness": 0.0,
149
+ "pickupable": false,
150
+ "isPickedUp": false,
151
+ "moveable": true,
152
+ "mass": 11.0,
153
+ "salientMaterials": [
154
+ "Wood"
155
+ ],
156
+ "receptacleObjectIds": [
157
+ "KeyChain|-01.01|+00.70|+03.53",
158
+ "Watch|-01.22|+00.70|+03.47",
159
+ "Television|-01.51|+01.19|+04.13",
160
+ "Book|-01.94|+00.70|+03.61"
161
+ ],
162
+ "distance": 2.578254222869873,
163
+ "objectType": "TVStand",
164
+ "objectId": "TVStand|-01.57|+00.00|+03.87",
165
+ "assetId": "TV_Stand_202_1",
166
+ "parentReceptacles": [
167
+ "Floor|+00.00|+00.00|+00.00"
168
+ ],
169
+ "controlledObjects": null,
170
+ "isMoving": false,
171
+ "axisAlignedBoundingBox": {
172
+ "cornerPoints": [
173
+ [
174
+ -0.9635045528411865,
175
+ 0.703944206237793,
176
+ 4.3159098625183105
177
+ ],
178
+ [
179
+ -0.9635045528411865,
180
+ 0.703944206237793,
181
+ 3.4221649169921875
182
+ ],
183
+ [
184
+ -0.9635045528411865,
185
+ 4.291534423828125e-06,
186
+ 4.3159098625183105
187
+ ],
188
+ [
189
+ -0.9635045528411865,
190
+ 4.291534423828125e-06,
191
+ 3.4221649169921875
192
+ ],
193
+ [
194
+ -2.165553331375122,
195
+ 0.703944206237793,
196
+ 4.3159098625183105
197
+ ],
198
+ [
199
+ -2.165553331375122,
200
+ 0.703944206237793,
201
+ 3.4221649169921875
202
+ ],
203
+ [
204
+ -2.165553331375122,
205
+ 4.291534423828125e-06,
206
+ 4.3159098625183105
207
+ ],
208
+ [
209
+ -2.165553331375122,
210
+ 4.291534423828125e-06,
211
+ 3.4221649169921875
212
+ ]
213
+ ],
214
+ "center": {
215
+ "x": -1.5645289421081543,
216
+ "y": 0.3519742488861084,
217
+ "z": 3.869037389755249
218
+ },
219
+ "size": {
220
+ "x": 1.2020487785339355,
221
+ "y": 0.7039399147033691,
222
+ "z": 0.893744945526123
223
+ }
224
+ },
225
+ "objectOrientedBoundingBox": {
226
+ "cornerPoints": [
227
+ [
228
+ -0.9635430574417114,
229
+ 4.3013133108615875e-06,
230
+ 4.3158955574035645
231
+ ],
232
+ [
233
+ -2.165553092956543,
234
+ 6.169313564896584e-05,
235
+ 4.31588888168335
236
+ ],
237
+ [
238
+ -2.165548324584961,
239
+ 7.986510172486305e-05,
240
+ 3.4221651554107666
241
+ ],
242
+ [
243
+ -0.9635381102561951,
244
+ 2.2473279386758804e-05,
245
+ 3.4221718311309814
246
+ ],
247
+ [
248
+ -0.9635094404220581,
249
+ 0.7038686871528625,
250
+ 4.3159098625183105
251
+ ],
252
+ [
253
+ -2.1655197143554688,
254
+ 0.7039260268211365,
255
+ 4.315903186798096
256
+ ],
257
+ [
258
+ -2.1655147075653076,
259
+ 0.7039441466331482,
260
+ 3.4221794605255127
261
+ ],
262
+ [
263
+ -0.9635044932365417,
264
+ 0.7038868069648743,
265
+ 3.4221861362457275
266
+ ]
267
+ ]
268
+ }
269
+ }
270
+ },
271
+ {
272
+ "objectId": "Television|-01.51|+01.19|+04.13",
273
+ "object_info": {
274
+ "name": "Television_3896d693",
275
+ "position": {
276
+ "x": -1.504708170890808,
277
+ "y": 1.1895017623901367,
278
+ "z": 4.126801013946533
279
+ },
280
+ "rotation": {
281
+ "x": -0.005337376147508621,
282
+ "y": 179.9965057373047,
283
+ "z": 0.06278510391712189
284
+ },
285
+ "visible": false,
286
+ "isInteractable": false,
287
+ "receptacle": false,
288
+ "toggleable": true,
289
+ "isToggled": false,
290
+ "breakable": true,
291
+ "isBroken": false,
292
+ "canFillWithLiquid": false,
293
+ "isFilledWithLiquid": false,
294
+ "fillLiquid": null,
295
+ "dirtyable": false,
296
+ "isDirty": false,
297
+ "canBeUsedUp": false,
298
+ "isUsedUp": false,
299
+ "cookable": false,
300
+ "isCooked": false,
301
+ "temperature": "RoomTemp",
302
+ "isHeatSource": false,
303
+ "isColdSource": false,
304
+ "sliceable": false,
305
+ "isSliced": false,
306
+ "openable": false,
307
+ "isOpen": false,
308
+ "openness": 0.0,
309
+ "pickupable": false,
310
+ "isPickedUp": false,
311
+ "moveable": true,
312
+ "mass": 9.829999923706055,
313
+ "salientMaterials": [
314
+ "Plastic",
315
+ "Metal"
316
+ ],
317
+ "receptacleObjectIds": null,
318
+ "distance": 2.6423490047454834,
319
+ "objectType": "Television",
320
+ "objectId": "Television|-01.51|+01.19|+04.13",
321
+ "assetId": "Television_2",
322
+ "parentReceptacles": [
323
+ "TVStand|-01.57|+00.00|+03.87"
324
+ ],
325
+ "controlledObjects": [],
326
+ "isMoving": false,
327
+ "axisAlignedBoundingBox": {
328
+ "cornerPoints": [
329
+ [
330
+ -0.8950223922729492,
331
+ 1.565382480621338,
332
+ 4.231383800506592
333
+ ],
334
+ [
335
+ -0.8950223922729492,
336
+ 1.565382480621338,
337
+ 3.999825954437256
338
+ ],
339
+ [
340
+ -0.8950223922729492,
341
+ 0.7031521797180176,
342
+ 4.231383800506592
343
+ ],
344
+ [
345
+ -0.8950223922729492,
346
+ 0.7031521797180176,
347
+ 3.999825954437256
348
+ ],
349
+ [
350
+ -2.1144661903381348,
351
+ 1.565382480621338,
352
+ 4.231383800506592
353
+ ],
354
+ [
355
+ -2.1144661903381348,
356
+ 1.565382480621338,
357
+ 3.999825954437256
358
+ ],
359
+ [
360
+ -2.1144661903381348,
361
+ 0.7031521797180176,
362
+ 4.231383800506592
363
+ ],
364
+ [
365
+ -2.1144661903381348,
366
+ 0.7031521797180176,
367
+ 3.999825954437256
368
+ ]
369
+ ],
370
+ "center": {
371
+ "x": -1.504744291305542,
372
+ "y": 1.1342673301696777,
373
+ "z": 4.115604877471924
374
+ },
375
+ "size": {
376
+ "x": 1.2194437980651855,
377
+ "y": 0.8622303009033203,
378
+ "z": 0.23155784606933594
379
+ }
380
+ },
381
+ "objectOrientedBoundingBox": {
382
+ "cornerPoints": [
383
+ [
384
+ -2.114504814147949,
385
+ 0.7042287588119507,
386
+ 3.999809980392456
387
+ ],
388
+ [
389
+ -0.8959611654281616,
390
+ 0.7028934955596924,
391
+ 3.9998841285705566
392
+ ],
393
+ [
394
+ -0.8959752917289734,
395
+ 0.7028719186782837,
396
+ 4.231398582458496
397
+ ],
398
+ [
399
+ -2.114518880844116,
400
+ 0.704207181930542,
401
+ 4.231324672698975
402
+ ],
403
+ [
404
+ -2.1135611534118652,
405
+ 1.5653878450393677,
406
+ 3.9998903274536133
407
+ ],
408
+ [
409
+ -0.8950175046920776,
410
+ 1.5640525817871094,
411
+ 3.999964475631714
412
+ ],
413
+ [
414
+ -0.8950316309928894,
415
+ 1.5640310049057007,
416
+ 4.231479167938232
417
+ ],
418
+ [
419
+ -2.1135752201080322,
420
+ 1.565366268157959,
421
+ 4.231404781341553
422
+ ]
423
+ ]
424
+ }
425
+ }
426
+ },
427
+ {
428
+ "objectId": "Painting|-03.05|+01.69|+04.34",
429
+ "object_info": {
430
+ "name": "Painting_665d0b7a",
431
+ "position": {
432
+ "x": -3.049999952316284,
433
+ "y": 1.6900659799575806,
434
+ "z": 4.341033935546875
435
+ },
436
+ "rotation": {
437
+ "x": -0.0,
438
+ "y": 0.0,
439
+ "z": 0.0
440
+ },
441
+ "visible": false,
442
+ "isInteractable": false,
443
+ "receptacle": false,
444
+ "toggleable": false,
445
+ "isToggled": false,
446
+ "breakable": false,
447
+ "isBroken": false,
448
+ "canFillWithLiquid": false,
449
+ "isFilledWithLiquid": false,
450
+ "fillLiquid": null,
451
+ "dirtyable": false,
452
+ "isDirty": false,
453
+ "canBeUsedUp": false,
454
+ "isUsedUp": false,
455
+ "cookable": false,
456
+ "isCooked": false,
457
+ "temperature": "RoomTemp",
458
+ "isHeatSource": false,
459
+ "isColdSource": false,
460
+ "sliceable": false,
461
+ "isSliced": false,
462
+ "openable": false,
463
+ "isOpen": false,
464
+ "openness": 0.0,
465
+ "pickupable": false,
466
+ "isPickedUp": false,
467
+ "moveable": false,
468
+ "mass": 0.0,
469
+ "salientMaterials": null,
470
+ "receptacleObjectIds": null,
471
+ "distance": 3.755011558532715,
472
+ "objectType": "Painting",
473
+ "objectId": "Painting|-03.05|+01.69|+04.34",
474
+ "assetId": "",
475
+ "parentReceptacles": null,
476
+ "controlledObjects": null,
477
+ "isMoving": false,
478
+ "axisAlignedBoundingBox": {
479
+ "cornerPoints": [
480
+ [
481
+ -2.1866981983184814,
482
+ 2.3122336864471436,
483
+ 4.369747638702393
484
+ ],
485
+ [
486
+ -2.1866981983184814,
487
+ 2.3122336864471436,
488
+ 4.312320232391357
489
+ ],
490
+ [
491
+ -2.1866981983184814,
492
+ 1.0678982734680176,
493
+ 4.369747638702393
494
+ ],
495
+ [
496
+ -2.1866981983184814,
497
+ 1.0678982734680176,
498
+ 4.312320232391357
499
+ ],
500
+ [
501
+ -3.913301706314087,
502
+ 2.3122336864471436,
503
+ 4.369747638702393
504
+ ],
505
+ [
506
+ -3.913301706314087,
507
+ 2.3122336864471436,
508
+ 4.312320232391357
509
+ ],
510
+ [
511
+ -3.913301706314087,
512
+ 1.0678982734680176,
513
+ 4.369747638702393
514
+ ],
515
+ [
516
+ -3.913301706314087,
517
+ 1.0678982734680176,
518
+ 4.312320232391357
519
+ ]
520
+ ],
521
+ "center": {
522
+ "x": -3.049999952316284,
523
+ "y": 1.6900659799575806,
524
+ "z": 4.341033935546875
525
+ },
526
+ "size": {
527
+ "x": 1.7266035079956055,
528
+ "y": 1.244335412979126,
529
+ "z": 0.057427406311035156
530
+ }
531
+ },
532
+ "objectOrientedBoundingBox": null
533
+ }
534
+ },
535
+ {
536
+ "objectId": "GarbageCan|-00.38|+00.00|+04.10",
537
+ "object_info": {
538
+ "name": "GarbageCan_e26a73da",
539
+ "position": {
540
+ "x": -0.3769993484020233,
541
+ "y": 0.0033733099699020386,
542
+ "z": 4.103979110717773
543
+ },
544
+ "rotation": {
545
+ "x": 0.9101189970970154,
546
+ "y": 180.0021209716797,
547
+ "z": 3.615652531152591e-06
548
+ },
549
+ "visible": false,
550
+ "isInteractable": false,
551
+ "receptacle": true,
552
+ "toggleable": false,
553
+ "isToggled": false,
554
+ "breakable": false,
555
+ "isBroken": false,
556
+ "canFillWithLiquid": false,
557
+ "isFilledWithLiquid": false,
558
+ "fillLiquid": null,
559
+ "dirtyable": false,
560
+ "isDirty": false,
561
+ "canBeUsedUp": false,
562
+ "isUsedUp": false,
563
+ "cookable": false,
564
+ "isCooked": false,
565
+ "temperature": "RoomTemp",
566
+ "isHeatSource": false,
567
+ "isColdSource": false,
568
+ "sliceable": false,
569
+ "isSliced": false,
570
+ "openable": false,
571
+ "isOpen": false,
572
+ "openness": 0.0,
573
+ "pickupable": false,
574
+ "isPickedUp": false,
575
+ "moveable": true,
576
+ "mass": 0.699999988079071,
577
+ "salientMaterials": [
578
+ "Plastic"
579
+ ],
580
+ "receptacleObjectIds": [],
581
+ "distance": 2.569058418273926,
582
+ "objectType": "GarbageCan",
583
+ "objectId": "GarbageCan|-00.38|+00.00|+04.10",
584
+ "assetId": "bin_2",
585
+ "parentReceptacles": [
586
+ "Floor|+00.00|+00.00|+00.00"
587
+ ],
588
+ "controlledObjects": null,
589
+ "isMoving": false,
590
+ "axisAlignedBoundingBox": {
591
+ "cornerPoints": [
592
+ [
593
+ -0.03218013048171997,
594
+ 0.510252058506012,
595
+ 4.323951721191406
596
+ ],
597
+ [
598
+ -0.03218013048171997,
599
+ 0.510252058506012,
600
+ 3.852076530456543
601
+ ],
602
+ [
603
+ -0.03218013048171997,
604
+ 4.5359134674072266e-05,
605
+ 4.323951721191406
606
+ ],
607
+ [
608
+ -0.03218013048171997,
609
+ 4.5359134674072266e-05,
610
+ 3.852076530456543
611
+ ],
612
+ [
613
+ -0.710737943649292,
614
+ 0.510252058506012,
615
+ 4.323951721191406
616
+ ],
617
+ [
618
+ -0.710737943649292,
619
+ 0.510252058506012,
620
+ 3.852076530456543
621
+ ],
622
+ [
623
+ -0.710737943649292,
624
+ 4.5359134674072266e-05,
625
+ 4.323951721191406
626
+ ],
627
+ [
628
+ -0.710737943649292,
629
+ 4.5359134674072266e-05,
630
+ 3.852076530456543
631
+ ]
632
+ ],
633
+ "center": {
634
+ "x": -0.371459037065506,
635
+ "y": 0.255148708820343,
636
+ "z": 4.088014125823975
637
+ },
638
+ "size": {
639
+ "x": 0.678557813167572,
640
+ "y": 0.5102066993713379,
641
+ "z": 0.4718751907348633
642
+ }
643
+ },
644
+ "objectOrientedBoundingBox": {
645
+ "cornerPoints": [
646
+ [
647
+ -0.7107443809509277,
648
+ -0.0057098763063549995,
649
+ 3.8598792552948
650
+ ],
651
+ [
652
+ -0.03218132257461548,
653
+ -0.005709880962967873,
654
+ 3.8598546981811523
655
+ ],
656
+ [
657
+ -0.03216421604156494,
658
+ 0.0017862222157418728,
659
+ 4.331751823425293
660
+ ],
661
+ [
662
+ -0.7107272744178772,
663
+ 0.0017862268723547459,
664
+ 4.3317766189575195
665
+ ],
666
+ [
667
+ -0.7107446789741516,
668
+ 0.5034229755401611,
669
+ 3.8517916202545166
670
+ ],
671
+ [
672
+ -0.032181620597839355,
673
+ 0.5034229755401611,
674
+ 3.851767063140869
675
+ ],
676
+ [
677
+ -0.03216451406478882,
678
+ 0.5109190344810486,
679
+ 4.32366418838501
680
+ ],
681
+ [
682
+ -0.7107275724411011,
683
+ 0.5109190344810486,
684
+ 4.323688983917236
685
+ ]
686
+ ]
687
+ }
688
+ }
689
+ },
690
+ {
691
+ "objectId": "RemoteControl|-01.27|+00.44|+02.15",
692
+ "object_info": {
693
+ "name": "RemoteControl_6aec8052",
694
+ "position": {
695
+ "x": -1.273537278175354,
696
+ "y": 0.44417518377304077,
697
+ "z": 2.1527976989746094
698
+ },
699
+ "rotation": {
700
+ "x": 0.011795872822403908,
701
+ "y": 359.96044921875,
702
+ "z": 359.80902099609375
703
+ },
704
+ "visible": false,
705
+ "isInteractable": false,
706
+ "receptacle": false,
707
+ "toggleable": false,
708
+ "isToggled": false,
709
+ "breakable": false,
710
+ "isBroken": false,
711
+ "canFillWithLiquid": false,
712
+ "isFilledWithLiquid": false,
713
+ "fillLiquid": null,
714
+ "dirtyable": false,
715
+ "isDirty": false,
716
+ "canBeUsedUp": false,
717
+ "isUsedUp": false,
718
+ "cookable": false,
719
+ "isCooked": false,
720
+ "temperature": "RoomTemp",
721
+ "isHeatSource": false,
722
+ "isColdSource": false,
723
+ "sliceable": false,
724
+ "isSliced": false,
725
+ "openable": false,
726
+ "isOpen": false,
727
+ "openness": 0.0,
728
+ "pickupable": true,
729
+ "isPickedUp": false,
730
+ "moveable": false,
731
+ "mass": 0.15000000596046448,
732
+ "salientMaterials": [
733
+ "Metal",
734
+ "Plastic"
735
+ ],
736
+ "receptacleObjectIds": null,
737
+ "distance": 1.0060399770736694,
738
+ "objectType": "RemoteControl",
739
+ "objectId": "RemoteControl|-01.27|+00.44|+02.15",
740
+ "assetId": "Remote_2",
741
+ "parentReceptacles": [
742
+ "CoffeeTable|-01.73|+00.01|+02.36"
743
+ ],
744
+ "controlledObjects": null,
745
+ "isMoving": false,
746
+ "axisAlignedBoundingBox": {
747
+ "cornerPoints": [
748
+ [
749
+ -1.2442559003829956,
750
+ 0.46738266944885254,
751
+ 2.258861780166626
752
+ ],
753
+ [
754
+ -1.2442559003829956,
755
+ 0.46738266944885254,
756
+ 2.0467159748077393
757
+ ],
758
+ [
759
+ -1.2442559003829956,
760
+ 0.4434448480606079,
761
+ 2.258861780166626
762
+ ],
763
+ [
764
+ -1.2442559003829956,
765
+ 0.4434448480606079,
766
+ 2.0467159748077393
767
+ ],
768
+ [
769
+ -1.302942156791687,
770
+ 0.46738266944885254,
771
+ 2.258861780166626
772
+ ],
773
+ [
774
+ -1.302942156791687,
775
+ 0.46738266944885254,
776
+ 2.0467159748077393
777
+ ],
778
+ [
779
+ -1.302942156791687,
780
+ 0.4434448480606079,
781
+ 2.258861780166626
782
+ ],
783
+ [
784
+ -1.302942156791687,
785
+ 0.4434448480606079,
786
+ 2.0467159748077393
787
+ ]
788
+ ],
789
+ "center": {
790
+ "x": -1.2735990285873413,
791
+ "y": 0.4554137587547302,
792
+ "z": 2.1527888774871826
793
+ },
794
+ "size": {
795
+ "x": 0.058686256408691406,
796
+ "y": 0.02393782138824463,
797
+ "z": 0.21214580535888672
798
+ }
799
+ },
800
+ "objectOrientedBoundingBox": {
801
+ "cornerPoints": [
802
+ [
803
+ -1.244377851486206,
804
+ 0.4434448480606079,
805
+ 2.258861780166626
806
+ ],
807
+ [
808
+ -1.3029422760009766,
809
+ 0.4434700906276703,
810
+ 2.258831024169922
811
+ ],
812
+ [
813
+ -1.302830696105957,
814
+ 0.4434703588485718,
815
+ 2.0467159748077393
816
+ ],
817
+ [
818
+ -1.2442662715911865,
819
+ 0.4434451162815094,
820
+ 2.0467467308044434
821
+ ],
822
+ [
823
+ -1.2443674802780151,
824
+ 0.46735715866088867,
825
+ 2.258861780166626
826
+ ],
827
+ [
828
+ -1.3029319047927856,
829
+ 0.46738240122795105,
830
+ 2.258831024169922
831
+ ],
832
+ [
833
+ -1.3028203248977661,
834
+ 0.46738266944885254,
835
+ 2.0467159748077393
836
+ ],
837
+ [
838
+ -1.2442559003829956,
839
+ 0.46735742688179016,
840
+ 2.0467467308044434
841
+ ]
842
+ ]
843
+ }
844
+ }
845
+ },
846
+ {
847
+ "objectId": "Curtains|-03.97|+02.26|+01.45",
848
+ "object_info": {
849
+ "name": "Curtains_f437c5aa",
850
+ "position": {
851
+ "x": -3.9739997386932373,
852
+ "y": 2.254999876022339,
853
+ "z": 1.4539999961853027
854
+ },
855
+ "rotation": {
856
+ "x": -0.0,
857
+ "y": 0.0,
858
+ "z": 0.0
859
+ },
860
+ "visible": false,
861
+ "isInteractable": false,
862
+ "receptacle": false,
863
+ "toggleable": false,
864
+ "isToggled": false,
865
+ "breakable": false,
866
+ "isBroken": false,
867
+ "canFillWithLiquid": false,
868
+ "isFilledWithLiquid": false,
869
+ "fillLiquid": null,
870
+ "dirtyable": false,
871
+ "isDirty": false,
872
+ "canBeUsedUp": false,
873
+ "isUsedUp": false,
874
+ "cookable": false,
875
+ "isCooked": false,
876
+ "temperature": "RoomTemp",
877
+ "isHeatSource": false,
878
+ "isColdSource": false,
879
+ "sliceable": false,
880
+ "isSliced": false,
881
+ "openable": false,
882
+ "isOpen": false,
883
+ "openness": 0.0,
884
+ "pickupable": false,
885
+ "isPickedUp": false,
886
+ "moveable": false,
887
+ "mass": 0.0,
888
+ "salientMaterials": null,
889
+ "receptacleObjectIds": null,
890
+ "distance": 3.7366271018981934,
891
+ "objectType": "Curtains",
892
+ "objectId": "Curtains|-03.97|+02.26|+01.45",
893
+ "assetId": "",
894
+ "parentReceptacles": [
895
+ "Floor|+00.00|+00.00|+00.00"
896
+ ],
897
+ "controlledObjects": null,
898
+ "isMoving": false,
899
+ "axisAlignedBoundingBox": {
900
+ "cornerPoints": [
901
+ [
902
+ -3.768399238586426,
903
+ 2.2671194076538086,
904
+ 2.6316933631896973
905
+ ],
906
+ [
907
+ -3.768399238586426,
908
+ 2.2671194076538086,
909
+ 0.35443973541259766
910
+ ],
911
+ [
912
+ -3.768399238586426,
913
+ 0.032193660736083984,
914
+ 2.6316933631896973
915
+ ],
916
+ [
917
+ -3.768399238586426,
918
+ 0.032193660736083984,
919
+ 0.35443973541259766
920
+ ],
921
+ [
922
+ -4.0606513023376465,
923
+ 2.2671194076538086,
924
+ 2.6316933631896973
925
+ ],
926
+ [
927
+ -4.0606513023376465,
928
+ 2.2671194076538086,
929
+ 0.35443973541259766
930
+ ],
931
+ [
932
+ -4.0606513023376465,
933
+ 0.032193660736083984,
934
+ 2.6316933631896973
935
+ ],
936
+ [
937
+ -4.0606513023376465,
938
+ 0.032193660736083984,
939
+ 0.35443973541259766
940
+ ]
941
+ ],
942
+ "center": {
943
+ "x": -3.914525270462036,
944
+ "y": 1.1496565341949463,
945
+ "z": 1.4930665493011475
946
+ },
947
+ "size": {
948
+ "x": 0.2922520637512207,
949
+ "y": 2.2349257469177246,
950
+ "z": 2.2772536277770996
951
+ }
952
+ },
953
+ "objectOrientedBoundingBox": null
954
+ }
955
+ },
956
+ {
957
+ "objectId": "CoffeeTable|-01.73|+00.01|+02.36",
958
+ "object_info": {
959
+ "name": "CoffeeTable_f6dcd9dd",
960
+ "position": {
961
+ "x": -1.7349979877471924,
962
+ "y": 0.005640685558319092,
963
+ "z": 2.3609893321990967
964
+ },
965
+ "rotation": {
966
+ "x": 0.0014754097210243344,
967
+ "y": 0.00011461416579550132,
968
+ "z": -0.0009494048426859081
969
+ },
970
+ "visible": true,
971
+ "isInteractable": true,
972
+ "receptacle": true,
973
+ "toggleable": false,
974
+ "isToggled": false,
975
+ "breakable": false,
976
+ "isBroken": false,
977
+ "canFillWithLiquid": false,
978
+ "isFilledWithLiquid": false,
979
+ "fillLiquid": null,
980
+ "dirtyable": false,
981
+ "isDirty": false,
982
+ "canBeUsedUp": false,
983
+ "isUsedUp": false,
984
+ "cookable": false,
985
+ "isCooked": false,
986
+ "temperature": "RoomTemp",
987
+ "isHeatSource": false,
988
+ "isColdSource": false,
989
+ "sliceable": false,
990
+ "isSliced": false,
991
+ "openable": false,
992
+ "isOpen": false,
993
+ "openness": 0.0,
994
+ "pickupable": false,
995
+ "isPickedUp": false,
996
+ "moveable": true,
997
+ "mass": 11.0,
998
+ "salientMaterials": [
999
+ "Wood"
1000
+ ],
1001
+ "receptacleObjectIds": [
1002
+ "RemoteControl|-01.27|+00.44|+02.15",
1003
+ "CreditCard|-02.10|+00.44|+02.58",
1004
+ "HousePlant|-02.01|+00.45|+02.36"
1005
+ ],
1006
+ "distance": 1.6624913215637207,
1007
+ "objectType": "CoffeeTable",
1008
+ "objectId": "CoffeeTable|-01.73|+00.01|+02.36",
1009
+ "assetId": "Coffee_Table_202_1",
1010
+ "parentReceptacles": [
1011
+ "Floor|+00.00|+00.00|+00.00"
1012
+ ],
1013
+ "controlledObjects": null,
1014
+ "isMoving": false,
1015
+ "axisAlignedBoundingBox": {
1016
+ "cornerPoints": [
1017
+ [
1018
+ -1.228797435760498,
1019
+ 0.4434751868247986,
1020
+ 2.6887097358703613
1021
+ ],
1022
+ [
1023
+ -1.228797435760498,
1024
+ 0.4434751868247986,
1025
+ 2.0332765579223633
1026
+ ],
1027
+ [
1028
+ -1.228797435760498,
1029
+ 4.315376281738281e-05,
1030
+ 2.6887097358703613
1031
+ ],
1032
+ [
1033
+ -1.228797435760498,
1034
+ 4.315376281738281e-05,
1035
+ 2.0332765579223633
1036
+ ],
1037
+ [
1038
+ -2.2424564361572266,
1039
+ 0.4434751868247986,
1040
+ 2.6887097358703613
1041
+ ],
1042
+ [
1043
+ -2.2424564361572266,
1044
+ 0.4434751868247986,
1045
+ 2.0332765579223633
1046
+ ],
1047
+ [
1048
+ -2.2424564361572266,
1049
+ 4.315376281738281e-05,
1050
+ 2.6887097358703613
1051
+ ],
1052
+ [
1053
+ -2.2424564361572266,
1054
+ 4.315376281738281e-05,
1055
+ 2.0332765579223633
1056
+ ]
1057
+ ],
1058
+ "center": {
1059
+ "x": -1.7356269359588623,
1060
+ "y": 0.22175917029380798,
1061
+ "z": 2.3609931468963623
1062
+ },
1063
+ "size": {
1064
+ "x": 1.0136590003967285,
1065
+ "y": 0.4434320330619812,
1066
+ "z": 0.655433177947998
1067
+ }
1068
+ },
1069
+ "objectOrientedBoundingBox": {
1070
+ "cornerPoints": [
1071
+ [
1072
+ -1.22880220413208,
1073
+ 4.938757047057152e-05,
1074
+ 2.6887128353118896
1075
+ ],
1076
+ [
1077
+ -2.2424585819244385,
1078
+ 5.36525622010231e-05,
1079
+ 2.6887078285217285
1080
+ ],
1081
+ [
1082
+ -2.242455244064331,
1083
+ 4.747509956359863e-05,
1084
+ 2.03328013420105
1085
+ ],
1086
+ [
1087
+ -1.2287988662719727,
1088
+ 4.321010783314705e-05,
1089
+ 2.03328537940979
1090
+ ],
1091
+ [
1092
+ -1.2288004159927368,
1093
+ 0.4434714615345001,
1094
+ 2.688708782196045
1095
+ ],
1096
+ [
1097
+ -2.2424566745758057,
1098
+ 0.44347572326660156,
1099
+ 2.6887035369873047
1100
+ ],
1101
+ [
1102
+ -2.2424533367156982,
1103
+ 0.4434695243835449,
1104
+ 2.033276081085205
1105
+ ],
1106
+ [
1107
+ -1.2287970781326294,
1108
+ 0.4434652626514435,
1109
+ 2.033281087875366
1110
+ ]
1111
+ ]
1112
+ }
1113
+ }
1114
+ },
1115
+ {
1116
+ "objectId": "HousePlant|-02.01|+00.45|+02.36",
1117
+ "object_info": {
1118
+ "name": "HousePlant_c0410d81",
1119
+ "position": {
1120
+ "x": -2.0149343013763428,
1121
+ "y": 0.44758614897727966,
1122
+ "z": 2.3577699661254883
1123
+ },
1124
+ "rotation": {
1125
+ "x": 0.13371217250823975,
1126
+ "y": 0.43230530619621277,
1127
+ "z": 359.86834716796875
1128
+ },
1129
+ "visible": true,
1130
+ "isInteractable": true,
1131
+ "receptacle": false,
1132
+ "toggleable": false,
1133
+ "isToggled": false,
1134
+ "breakable": false,
1135
+ "isBroken": false,
1136
+ "canFillWithLiquid": true,
1137
+ "isFilledWithLiquid": false,
1138
+ "fillLiquid": null,
1139
+ "dirtyable": false,
1140
+ "isDirty": false,
1141
+ "canBeUsedUp": false,
1142
+ "isUsedUp": false,
1143
+ "cookable": false,
1144
+ "isCooked": false,
1145
+ "temperature": "RoomTemp",
1146
+ "isHeatSource": false,
1147
+ "isColdSource": false,
1148
+ "sliceable": false,
1149
+ "isSliced": false,
1150
+ "openable": false,
1151
+ "isOpen": false,
1152
+ "openness": 0.0,
1153
+ "pickupable": false,
1154
+ "isPickedUp": false,
1155
+ "moveable": true,
1156
+ "mass": 3.0,
1157
+ "salientMaterials": [
1158
+ "Ceramic",
1159
+ "Organic"
1160
+ ],
1161
+ "receptacleObjectIds": null,
1162
+ "distance": 1.7126917839050293,
1163
+ "objectType": "HousePlant",
1164
+ "objectId": "HousePlant|-02.01|+00.45|+02.36",
1165
+ "assetId": "Houseplant_2",
1166
+ "parentReceptacles": [
1167
+ "CoffeeTable|-01.73|+00.01|+02.36"
1168
+ ],
1169
+ "controlledObjects": null,
1170
+ "isMoving": false,
1171
+ "axisAlignedBoundingBox": {
1172
+ "cornerPoints": [
1173
+ [
1174
+ -1.9226515293121338,
1175
+ 1.1414202451705933,
1176
+ 2.4988555908203125
1177
+ ],
1178
+ [
1179
+ -1.9226515293121338,
1180
+ 1.1414202451705933,
1181
+ 2.2222766876220703
1182
+ ],
1183
+ [
1184
+ -1.9226515293121338,
1185
+ 0.4434148073196411,
1186
+ 2.4988555908203125
1187
+ ],
1188
+ [
1189
+ -1.9226515293121338,
1190
+ 0.4434148073196411,
1191
+ 2.2222766876220703
1192
+ ],
1193
+ [
1194
+ -2.1600968837738037,
1195
+ 1.1414202451705933,
1196
+ 2.4988555908203125
1197
+ ],
1198
+ [
1199
+ -2.1600968837738037,
1200
+ 1.1414202451705933,
1201
+ 2.2222766876220703
1202
+ ],
1203
+ [
1204
+ -2.1600968837738037,
1205
+ 0.4434148073196411,
1206
+ 2.4988555908203125
1207
+ ],
1208
+ [
1209
+ -2.1600968837738037,
1210
+ 0.4434148073196411,
1211
+ 2.2222766876220703
1212
+ ]
1213
+ ],
1214
+ "center": {
1215
+ "x": -2.0413742065429688,
1216
+ "y": 0.7924175262451172,
1217
+ "z": 2.3605661392211914
1218
+ },
1219
+ "size": {
1220
+ "x": 0.23744535446166992,
1221
+ "y": 0.6980054378509521,
1222
+ "z": 0.2765789031982422
1223
+ }
1224
+ },
1225
+ "objectOrientedBoundingBox": {
1226
+ "cornerPoints": [
1227
+ [
1228
+ -1.923201322555542,
1229
+ 0.4431056082248688,
1230
+ 2.4955716133117676
1231
+ ],
1232
+ [
1233
+ -2.1597938537597656,
1234
+ 0.4436492919921875,
1235
+ 2.4973580837249756
1236
+ ],
1237
+ [
1238
+ -2.161877155303955,
1239
+ 0.4442936182022095,
1240
+ 2.221266746520996
1241
+ ],
1242
+ [
1243
+ -1.925284504890442,
1244
+ 0.44374993443489075,
1245
+ 2.219480276107788
1246
+ ],
1247
+ [
1248
+ -1.921585202217102,
1249
+ 1.1410508155822754,
1250
+ 2.4971883296966553
1251
+ ],
1252
+ [
1253
+ -2.1581778526306152,
1254
+ 1.1415945291519165,
1255
+ 2.4989748001098633
1256
+ ],
1257
+ [
1258
+ -2.1602609157562256,
1259
+ 1.1422388553619385,
1260
+ 2.222883462905884
1261
+ ],
1262
+ [
1263
+ -1.923668384552002,
1264
+ 1.1416951417922974,
1265
+ 2.221096992492676
1266
+ ]
1267
+ ]
1268
+ }
1269
+ }
1270
+ },
1271
+ {
1272
+ "objectId": "Book|-01.94|+00.70|+03.61",
1273
+ "object_info": {
1274
+ "name": "Book_7cd647c4",
1275
+ "position": {
1276
+ "x": -1.9425638914108276,
1277
+ "y": 0.7040523886680603,
1278
+ "z": 3.612591505050659
1279
+ },
1280
+ "rotation": {
1281
+ "x": 0.05665908008813858,
1282
+ "y": 0.005206873174756765,
1283
+ "z": 0.006656213663518429
1284
+ },
1285
+ "visible": false,
1286
+ "isInteractable": false,
1287
+ "receptacle": false,
1288
+ "toggleable": false,
1289
+ "isToggled": false,
1290
+ "breakable": false,
1291
+ "isBroken": false,
1292
+ "canFillWithLiquid": false,
1293
+ "isFilledWithLiquid": false,
1294
+ "fillLiquid": null,
1295
+ "dirtyable": false,
1296
+ "isDirty": false,
1297
+ "canBeUsedUp": false,
1298
+ "isUsedUp": false,
1299
+ "cookable": false,
1300
+ "isCooked": false,
1301
+ "temperature": "RoomTemp",
1302
+ "isHeatSource": false,
1303
+ "isColdSource": false,
1304
+ "sliceable": false,
1305
+ "isSliced": false,
1306
+ "openable": true,
1307
+ "isOpen": false,
1308
+ "openness": 0.0,
1309
+ "pickupable": true,
1310
+ "isPickedUp": false,
1311
+ "moveable": false,
1312
+ "mass": 0.5,
1313
+ "salientMaterials": [
1314
+ "Paper"
1315
+ ],
1316
+ "receptacleObjectIds": null,
1317
+ "distance": 2.4037060737609863,
1318
+ "objectType": "Book",
1319
+ "objectId": "Book|-01.94|+00.70|+03.61",
1320
+ "assetId": "Book_2",
1321
+ "parentReceptacles": [
1322
+ "TVStand|-01.57|+00.00|+03.87"
1323
+ ],
1324
+ "controlledObjects": null,
1325
+ "isMoving": false,
1326
+ "axisAlignedBoundingBox": {
1327
+ "cornerPoints": [
1328
+ [
1329
+ -1.8328921794891357,
1330
+ 0.7354772090911865,
1331
+ 3.746750831604004
1332
+ ],
1333
+ [
1334
+ -1.8328921794891357,
1335
+ 0.7354772090911865,
1336
+ 3.478463649749756
1337
+ ],
1338
+ [
1339
+ -1.8328921794891357,
1340
+ 0.7038717269897461,
1341
+ 3.746750831604004
1342
+ ],
1343
+ [
1344
+ -1.8328921794891357,
1345
+ 0.7038717269897461,
1346
+ 3.478463649749756
1347
+ ],
1348
+ [
1349
+ -2.051438570022583,
1350
+ 0.7354772090911865,
1351
+ 3.746750831604004
1352
+ ],
1353
+ [
1354
+ -2.051438570022583,
1355
+ 0.7354772090911865,
1356
+ 3.478463649749756
1357
+ ],
1358
+ [
1359
+ -2.051438570022583,
1360
+ 0.7038717269897461,
1361
+ 3.746750831604004
1362
+ ],
1363
+ [
1364
+ -2.051438570022583,
1365
+ 0.7038717269897461,
1366
+ 3.478463649749756
1367
+ ]
1368
+ ],
1369
+ "center": {
1370
+ "x": -1.9421653747558594,
1371
+ "y": 0.7196744680404663,
1372
+ "z": 3.61260724067688
1373
+ },
1374
+ "size": {
1375
+ "x": 0.21854639053344727,
1376
+ "y": 0.03160548210144043,
1377
+ "z": 0.26828718185424805
1378
+ }
1379
+ },
1380
+ "objectOrientedBoundingBox": {
1381
+ "cornerPoints": [
1382
+ [
1383
+ -1.832889437675476,
1384
+ 0.7038764357566833,
1385
+ 3.7467010021209717
1386
+ ],
1387
+ [
1388
+ -2.051410675048828,
1389
+ 0.703851044178009,
1390
+ 3.746720790863037
1391
+ ],
1392
+ [
1393
+ -2.0514349937438965,
1394
+ 0.7041162848472595,
1395
+ 3.478482246398926
1396
+ ],
1397
+ [
1398
+ -1.8329137563705444,
1399
+ 0.7041416764259338,
1400
+ 3.4784624576568604
1401
+ ],
1402
+ [
1403
+ -1.8328930139541626,
1404
+ 0.735216498374939,
1405
+ 3.746731996536255
1406
+ ],
1407
+ [
1408
+ -2.0514142513275146,
1409
+ 0.7351911067962646,
1410
+ 3.7467517852783203
1411
+ ],
1412
+ [
1413
+ -2.051438570022583,
1414
+ 0.7354563474655151,
1415
+ 3.478513240814209
1416
+ ],
1417
+ [
1418
+ -1.8329174518585205,
1419
+ 0.7354817390441895,
1420
+ 3.4784934520721436
1421
+ ]
1422
+ ]
1423
+ }
1424
+ }
1425
+ },
1426
+ {
1427
+ "objectId": "FloorLamp|-03.69|00.00|+04.01",
1428
+ "object_info": {
1429
+ "name": "FloorLamp_b57ba885",
1430
+ "position": {
1431
+ "x": -3.6869943141937256,
1432
+ "y": -0.0018325448036193848,
1433
+ "z": 4.01390266418457
1434
+ },
1435
+ "rotation": {
1436
+ "x": 0.03727647662162781,
1437
+ "y": -0.0034957421012222767,
1438
+ "z": 0.029693126678466797
1439
+ },
1440
+ "visible": false,
1441
+ "isInteractable": false,
1442
+ "receptacle": false,
1443
+ "toggleable": true,
1444
+ "isToggled": true,
1445
+ "breakable": false,
1446
+ "isBroken": false,
1447
+ "canFillWithLiquid": false,
1448
+ "isFilledWithLiquid": false,
1449
+ "fillLiquid": null,
1450
+ "dirtyable": false,
1451
+ "isDirty": false,
1452
+ "canBeUsedUp": false,
1453
+ "isUsedUp": false,
1454
+ "cookable": false,
1455
+ "isCooked": false,
1456
+ "temperature": "RoomTemp",
1457
+ "isHeatSource": false,
1458
+ "isColdSource": false,
1459
+ "sliceable": false,
1460
+ "isSliced": false,
1461
+ "openable": false,
1462
+ "isOpen": false,
1463
+ "openness": 0.0,
1464
+ "pickupable": false,
1465
+ "isPickedUp": false,
1466
+ "moveable": true,
1467
+ "mass": 3.9300003051757812,
1468
+ "salientMaterials": [
1469
+ "Metal"
1470
+ ],
1471
+ "receptacleObjectIds": null,
1472
+ "distance": 4.040577411651611,
1473
+ "objectType": "FloorLamp",
1474
+ "objectId": "FloorLamp|-03.69|00.00|+04.01",
1475
+ "assetId": "Floor_Lamp_2",
1476
+ "parentReceptacles": [
1477
+ "Floor|+00.00|+00.00|+00.00"
1478
+ ],
1479
+ "controlledObjects": [],
1480
+ "isMoving": false,
1481
+ "axisAlignedBoundingBox": {
1482
+ "cornerPoints": [
1483
+ [
1484
+ -3.435807228088379,
1485
+ 2.0757384300231934,
1486
+ 4.269536018371582
1487
+ ],
1488
+ [
1489
+ -3.435807228088379,
1490
+ 2.0757384300231934,
1491
+ 3.7622499465942383
1492
+ ],
1493
+ [
1494
+ -3.435807228088379,
1495
+ -0.001973748207092285,
1496
+ 4.269536018371582
1497
+ ],
1498
+ [
1499
+ -3.435807228088379,
1500
+ -0.001973748207092285,
1501
+ 3.7622499465942383
1502
+ ],
1503
+ [
1504
+ -3.9434471130371094,
1505
+ 2.0757384300231934,
1506
+ 4.269536018371582
1507
+ ],
1508
+ [
1509
+ -3.9434471130371094,
1510
+ 2.0757384300231934,
1511
+ 3.7622499465942383
1512
+ ],
1513
+ [
1514
+ -3.9434471130371094,
1515
+ -0.001973748207092285,
1516
+ 4.269536018371582
1517
+ ],
1518
+ [
1519
+ -3.9434471130371094,
1520
+ -0.001973748207092285,
1521
+ 3.7622499465942383
1522
+ ]
1523
+ ],
1524
+ "center": {
1525
+ "x": -3.689627170562744,
1526
+ "y": 1.0368822813034058,
1527
+ "z": 4.01589298248291
1528
+ },
1529
+ "size": {
1530
+ "x": 0.5076398849487305,
1531
+ "y": 2.077712059020996,
1532
+ "z": 0.5072860717773438
1533
+ }
1534
+ },
1535
+ "objectOrientedBoundingBox": {
1536
+ "cornerPoints": [
1537
+ [
1538
+ -3.4347498416900635,
1539
+ -0.0018672464648261666,
1540
+ 4.268197536468506
1541
+ ],
1542
+ [
1543
+ -3.94240403175354,
1544
+ -0.002130334498360753,
1545
+ 4.268166542053223
1546
+ ],
1547
+ [
1548
+ -3.942373037338257,
1549
+ -0.0018002894939854741,
1550
+ 3.760871171951294
1551
+ ],
1552
+ [
1553
+ -3.4347188472747803,
1554
+ -0.0015372014604508877,
1555
+ 3.760902166366577
1556
+ ],
1557
+ [
1558
+ -3.435826539993286,
1559
+ 2.075571060180664,
1560
+ 4.2695488929748535
1561
+ ],
1562
+ [
1563
+ -3.9434807300567627,
1564
+ 2.075308084487915,
1565
+ 4.26951789855957
1566
+ ],
1567
+ [
1568
+ -3.9434497356414795,
1569
+ 2.0756380558013916,
1570
+ 3.7622225284576416
1571
+ ],
1572
+ [
1573
+ -3.435795545578003,
1574
+ 2.0759010314941406,
1575
+ 3.762253761291504
1576
+ ]
1577
+ ]
1578
+ }
1579
+ }
1580
+ },
1581
+ {
1582
+ "objectId": "Watch|-01.22|+00.70|+03.47",
1583
+ "object_info": {
1584
+ "name": "Watch_d584f93f",
1585
+ "position": {
1586
+ "x": -1.2187484502792358,
1587
+ "y": 0.7040448188781738,
1588
+ "z": 3.4710538387298584
1589
+ },
1590
+ "rotation": {
1591
+ "x": 1.9364213943481445,
1592
+ "y": 41.81153106689453,
1593
+ "z": 1.407218098640442
1594
+ },
1595
+ "visible": false,
1596
+ "isInteractable": false,
1597
+ "receptacle": false,
1598
+ "toggleable": false,
1599
+ "isToggled": false,
1600
+ "breakable": false,
1601
+ "isBroken": false,
1602
+ "canFillWithLiquid": false,
1603
+ "isFilledWithLiquid": false,
1604
+ "fillLiquid": null,
1605
+ "dirtyable": false,
1606
+ "isDirty": false,
1607
+ "canBeUsedUp": false,
1608
+ "isUsedUp": false,
1609
+ "cookable": false,
1610
+ "isCooked": false,
1611
+ "temperature": "RoomTemp",
1612
+ "isHeatSource": false,
1613
+ "isColdSource": false,
1614
+ "sliceable": false,
1615
+ "isSliced": false,
1616
+ "openable": false,
1617
+ "isOpen": false,
1618
+ "openness": 0.0,
1619
+ "pickupable": true,
1620
+ "isPickedUp": false,
1621
+ "moveable": false,
1622
+ "mass": 0.07000000029802322,
1623
+ "salientMaterials": [
1624
+ "Metal",
1625
+ "Glass",
1626
+ "Plastic"
1627
+ ],
1628
+ "receptacleObjectIds": null,
1629
+ "distance": 1.9214682579040527,
1630
+ "objectType": "Watch",
1631
+ "objectId": "Watch|-01.22|+00.70|+03.47",
1632
+ "assetId": "Watch_1",
1633
+ "parentReceptacles": [
1634
+ "TVStand|-01.57|+00.00|+03.87"
1635
+ ],
1636
+ "controlledObjects": null,
1637
+ "isMoving": false,
1638
+ "axisAlignedBoundingBox": {
1639
+ "cornerPoints": [
1640
+ [
1641
+ -1.184122085571289,
1642
+ 0.7392040491104126,
1643
+ 3.5033154487609863
1644
+ ],
1645
+ [
1646
+ -1.184122085571289,
1647
+ 0.7392040491104126,
1648
+ 3.438443660736084
1649
+ ],
1650
+ [
1651
+ -1.184122085571289,
1652
+ 0.7037450075149536,
1653
+ 3.5033154487609863
1654
+ ],
1655
+ [
1656
+ -1.184122085571289,
1657
+ 0.7037450075149536,
1658
+ 3.438443660736084
1659
+ ],
1660
+ [
1661
+ -1.2530629634857178,
1662
+ 0.7392040491104126,
1663
+ 3.5033154487609863
1664
+ ],
1665
+ [
1666
+ -1.2530629634857178,
1667
+ 0.7392040491104126,
1668
+ 3.438443660736084
1669
+ ],
1670
+ [
1671
+ -1.2530629634857178,
1672
+ 0.7037450075149536,
1673
+ 3.5033154487609863
1674
+ ],
1675
+ [
1676
+ -1.2530629634857178,
1677
+ 0.7037450075149536,
1678
+ 3.438443660736084
1679
+ ]
1680
+ ],
1681
+ "center": {
1682
+ "x": -1.2185925245285034,
1683
+ "y": 0.7214745283126831,
1684
+ "z": 3.470879554748535
1685
+ },
1686
+ "size": {
1687
+ "x": 0.06894087791442871,
1688
+ "y": 0.035459041595458984,
1689
+ "z": 0.06487178802490234
1690
+ }
1691
+ },
1692
+ "objectOrientedBoundingBox": {
1693
+ "cornerPoints": [
1694
+ [
1695
+ -1.1741936206817627,
1696
+ 0.7030531764030457,
1697
+ 3.4612743854522705
1698
+ ],
1699
+ [
1700
+ -1.2327717542648315,
1701
+ 0.7011250257492065,
1702
+ 3.513582944869995
1703
+ ],
1704
+ [
1705
+ -1.265273928642273,
1706
+ 0.7027733325958252,
1707
+ 3.477245807647705
1708
+ ],
1709
+ [
1710
+ -1.206695795059204,
1711
+ 0.7047014832496643,
1712
+ 3.4249372482299805
1713
+ ],
1714
+ [
1715
+ -1.1740387678146362,
1716
+ 0.7397330403327942,
1717
+ 3.4627997875213623
1718
+ ],
1719
+ [
1720
+ -1.232616901397705,
1721
+ 0.7378048896789551,
1722
+ 3.515108346939087
1723
+ ],
1724
+ [
1725
+ -1.265119194984436,
1726
+ 0.7394531965255737,
1727
+ 3.478771209716797
1728
+ ],
1729
+ [
1730
+ -1.2065410614013672,
1731
+ 0.7413813471794128,
1732
+ 3.4264626502990723
1733
+ ]
1734
+ ]
1735
+ }
1736
+ }
1737
+ }
1738
+ ],
1739
+ "Agent": {
1740
+ "agent_position": {
1741
+ "x": -0.09999999403953552,
1742
+ "y": 0.9010459184646606,
1743
+ "z": 1.3000000715255737
1744
+ },
1745
+ "agent_rotation": {
1746
+ "x": -0.0,
1747
+ "y": 329.0,
1748
+ "z": 0.0
1749
+ },
1750
+ "agent_cameraHorizon": 0.0,
1751
+ "agent_isStanding": true,
1752
+ "agent_inHighFrictionArea": false
1753
+ },
1754
+ "camera_info": {
1755
+ "cameraPosition": {
1756
+ "x": -0.09999999403953552,
1757
+ "y": 1.5760459899902344,
1758
+ "z": 1.3000000715255737
1759
+ },
1760
+ "cameraOrthSize": -1.0,
1761
+ "fov": 90.0
1762
+ },
1763
+ "common_object": [
1764
+ "HousePlant|-02.01|+00.45|+02.36",
1765
+ "Curtains|-03.97|+02.26|+01.45",
1766
+ "RemoteControl|-01.27|+00.44|+02.15",
1767
+ "CoffeeTable|-01.73|+00.01|+02.36"
1768
+ ],
1769
+ "different_object": [
1770
+ "Watch|-01.22|+00.70|+03.47",
1771
+ "FloorLamp|-03.69|00.00|+04.01",
1772
+ "Painting|-03.05|+01.69|+04.34",
1773
+ "Television|-01.51|+01.19|+04.13",
1774
+ "GarbageCan|-00.38|+00.00|+04.10",
1775
+ "Book|-01.94|+00.70|+03.61",
1776
+ "LightSwitch|-00.13|+01.41|+04.35",
1777
+ "TVStand|-01.57|+00.00|+03.87"
1778
+ ]
1779
+ }
train/FloorPlan202/13/1_depth_npy.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f7c1547f0cc9f8803d6450be78b45833ac7f44992f8b88c7031bf6e63d814f36
3
+ size 3145856
train/FloorPlan202/13/1_semantic_sensor_npy.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7bf6212894d8b574cf9f5ac2d9e7dd8a89823a7b83f92e4334dee7cae715aec0
3
+ size 2359424
train/FloorPlan202/13/depth_0.png ADDED
train/FloorPlan202/13/depth_1.png ADDED
train/FloorPlan202/13/mask_questions.jsonl ADDED
@@ -0,0 +1,4 @@
 
 
 
 
 
1
+ {"id": 3139, "folder_dir": "FloorPlan202/13", "pair_name": "0-1:HousePlant|-02.01|+00.45|+02.36", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. HousePlant\nB. Curtains\nC. Box\nD. Shelf", "answer": "A", "object_name": "HousePlant", "image_1": "FloorPlan202/13/rgb_0.png", "image_2": "FloorPlan202/13/rgb_1.png", "mask_image": "FloorPlan202/13/rgb_1_mask_HousePlant|-02.01|+00.45|+02.36.png", "options": ["HousePlant", "Curtains", "Box", "Shelf"]}
2
+ {"id": 3140, "folder_dir": "FloorPlan202/13", "pair_name": "0-1:Curtains|-03.97|+02.26|+01.45", "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. Curtains\nC. HousePlant\nD. Laptop", "answer": "B", "object_name": "Curtains", "image_1": "FloorPlan202/13/rgb_0.png", "image_2": "FloorPlan202/13/rgb_1.png", "mask_image": "FloorPlan202/13/rgb_1_mask_Curtains|-03.97|+02.26|+01.45.png", "options": ["Painting", "Curtains", "HousePlant", "Laptop"]}
3
+ {"id": 3141, "folder_dir": "FloorPlan202/13", "pair_name": "1-0:HousePlant|-02.01|+00.45|+02.36", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. HousePlant\nB. Curtains\nC. Television\nD. GarbageCan", "answer": "A", "object_name": "HousePlant", "image_1": "FloorPlan202/13/rgb_1.png", "image_2": "FloorPlan202/13/rgb_0.png", "mask_image": "FloorPlan202/13/rgb_0_mask_HousePlant|-02.01|+00.45|+02.36.png", "options": ["HousePlant", "Curtains", "Television", "GarbageCan"]}
4
+ {"id": 3142, "folder_dir": "FloorPlan202/13", "pair_name": "1-0:Curtains|-03.97|+02.26|+01.45", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. HousePlant\nB. Curtains\nC. Painting\nD. TVStand", "answer": "B", "object_name": "Curtains", "image_1": "FloorPlan202/13/rgb_1.png", "image_2": "FloorPlan202/13/rgb_0.png", "mask_image": "FloorPlan202/13/rgb_0_mask_Curtains|-03.97|+02.26|+01.45.png", "options": ["HousePlant", "Curtains", "Painting", "TVStand"]}
train/FloorPlan202/13/questions_distance.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"id": 1080, "folder_dir": "FloorPlan202/13", "query": "Which of the following objects is closest to Curtains in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. HousePlant\nB. ArmChair\nC. Laptop\nD. Other\n", "answer": "C", "src_object": "Curtains", "target_object": "Laptop", "question": "Which of the following objects is closest to Curtains in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "HousePlant", "semantic_id": "HousePlant|-02.01|+00.45|+02.36", "distance": 2.0949630439636775, "com": {"x": -2.0413742065429688, "y": 0.7924175262451172, "z": 2.3605661392211914}}, {"text": "ArmChair", "semantic_id": "ArmChair|-03.06|+00.00|+00.52", "distance": 1.4018480498684158, "com": {"x": -3.062713146209717, "y": 0.631170392036438, "z": 0.5077918767929077}}, {"text": "Laptop", "semantic_id": "Laptop|-03.22|+00.61|+00.58", "distance": 1.2118335681608294, "com": {"x": -3.2137022018432617, "y": 0.7562593817710876, "z": 0.5860790610313416}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan202/13/rgb_0.png", "image_2": "FloorPlan202/13/rgb_1.png"}
2
+ {"id": 1081, "folder_dir": "FloorPlan202/13", "query": "Which of the following objects is closest to CoffeeTable 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. RemoteControl\nB. HousePlant\nC. Watch\nD. Other\n", "answer": "A", "src_object": "CoffeeTable", "target_object": "RemoteControl", "question": "Which of the following objects is closest to CoffeeTable 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": "RemoteControl", "semantic_id": "RemoteControl|-01.27|+00.44|+02.15", "distance": 0.5580441485215664, "com": {"x": -1.2735990285873413, "y": 0.4554137587547302, "z": 2.1527888774871826}}, {"text": "HousePlant", "semantic_id": "HousePlant|-02.01|+00.45|+02.36", "distance": 0.6474044601500955, "com": {"x": -2.0413742065429688, "y": 0.7924175262451172, "z": 2.3605661392211914}}, {"text": "Watch", "semantic_id": "Watch|-01.22|+00.70|+03.47", "distance": 1.322455239309849, "com": {"x": -1.2185925245285034, "y": 0.7214745283126831, "z": 3.470879554748535}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan202/13/rgb_0.png", "image_2": "FloorPlan202/13/rgb_1.png"}
train/FloorPlan202/13/rgb_0.png ADDED

Git LFS Details

  • SHA256: 5a057daeda036972e5d3c91eb5552db6949b413d6f0d455c01f1f21fa7c2d561
  • Pointer size: 132 Bytes
  • Size of remote file: 1.03 MB
train/FloorPlan202/13/rgb_0_mask_Curtains|-03.97|+02.26|+01.45.png ADDED

Git LFS Details

  • SHA256: 46478fd5cae38f4a4e248222b3451b6eb4f98aac7a78b67a99bade1a14739d4a
  • Pointer size: 131 Bytes
  • Size of remote file: 878 kB
train/FloorPlan202/13/rgb_0_mask_HousePlant|-02.01|+00.45|+02.36.png ADDED

Git LFS Details

  • SHA256: a1c0f7deeaa16bd2441e9d27b13d928d92b8fb30852e394a10ae32ae88f0c9ab
  • Pointer size: 131 Bytes
  • Size of remote file: 898 kB
train/FloorPlan202/13/rgb_1.png ADDED

Git LFS Details

  • SHA256: 70c3b63aa7eccf5ba9100ed2282d726bddc441a10773e3ac544dadfab69a7831
  • Pointer size: 131 Bytes
  • Size of remote file: 830 kB
train/FloorPlan202/13/rgb_1_mask_Curtains|-03.97|+02.26|+01.45.png ADDED

Git LFS Details

  • SHA256: f1c09e9e6134f31447b93ad2ed205806b35bceb87fdca550381b4bcaee65a19c
  • Pointer size: 131 Bytes
  • Size of remote file: 669 kB
train/FloorPlan202/13/rgb_1_mask_HousePlant|-02.01|+00.45|+02.36.png ADDED

Git LFS Details

  • SHA256: 0839eb8aa232611d22c2ebccf04f8d7accb4c730ac33d4e5d9e95cd8abf8be78
  • Pointer size: 131 Bytes
  • Size of remote file: 712 kB
train/FloorPlan202/13/semantic_0.png ADDED
train/FloorPlan202/13/semantic_1.png ADDED
train/FloorPlan202/14/0.json ADDED
@@ -0,0 +1,1469 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "object": [
3
+ {
4
+ "objectId": "TVStand|-01.57|+00.00|+03.87",
5
+ "object_info": {
6
+ "name": "TVStand_db473108",
7
+ "position": {
8
+ "x": -1.5669846534729004,
9
+ "y": 0.004306167364120483,
10
+ "z": 3.8690543174743652
11
+ },
12
+ "rotation": {
13
+ "x": 0.004767519421875477,
14
+ "y": -0.00041609088657423854,
15
+ "z": 359.98919677734375
16
+ },
17
+ "visible": false,
18
+ "isInteractable": false,
19
+ "receptacle": true,
20
+ "toggleable": false,
21
+ "isToggled": false,
22
+ "breakable": false,
23
+ "isBroken": false,
24
+ "canFillWithLiquid": false,
25
+ "isFilledWithLiquid": false,
26
+ "fillLiquid": null,
27
+ "dirtyable": false,
28
+ "isDirty": false,
29
+ "canBeUsedUp": false,
30
+ "isUsedUp": false,
31
+ "cookable": false,
32
+ "isCooked": false,
33
+ "temperature": "RoomTemp",
34
+ "isHeatSource": false,
35
+ "isColdSource": false,
36
+ "sliceable": false,
37
+ "isSliced": false,
38
+ "openable": false,
39
+ "isOpen": false,
40
+ "openness": 0.0,
41
+ "pickupable": false,
42
+ "isPickedUp": false,
43
+ "moveable": true,
44
+ "mass": 11.0,
45
+ "salientMaterials": [
46
+ "Wood"
47
+ ],
48
+ "receptacleObjectIds": [
49
+ "KeyChain|-01.01|+00.70|+03.53",
50
+ "Watch|-01.22|+00.70|+03.47",
51
+ "Television|-01.51|+01.19|+04.13",
52
+ "Book|-01.94|+00.70|+03.61"
53
+ ],
54
+ "distance": 2.578254222869873,
55
+ "objectType": "TVStand",
56
+ "objectId": "TVStand|-01.57|+00.00|+03.87",
57
+ "assetId": "TV_Stand_202_1",
58
+ "parentReceptacles": [
59
+ "Floor|+00.00|+00.00|+00.00"
60
+ ],
61
+ "controlledObjects": null,
62
+ "isMoving": false,
63
+ "axisAlignedBoundingBox": {
64
+ "cornerPoints": [
65
+ [
66
+ -0.9635045528411865,
67
+ 0.703944206237793,
68
+ 4.3159098625183105
69
+ ],
70
+ [
71
+ -0.9635045528411865,
72
+ 0.703944206237793,
73
+ 3.4221649169921875
74
+ ],
75
+ [
76
+ -0.9635045528411865,
77
+ 4.291534423828125e-06,
78
+ 4.3159098625183105
79
+ ],
80
+ [
81
+ -0.9635045528411865,
82
+ 4.291534423828125e-06,
83
+ 3.4221649169921875
84
+ ],
85
+ [
86
+ -2.165553331375122,
87
+ 0.703944206237793,
88
+ 4.3159098625183105
89
+ ],
90
+ [
91
+ -2.165553331375122,
92
+ 0.703944206237793,
93
+ 3.4221649169921875
94
+ ],
95
+ [
96
+ -2.165553331375122,
97
+ 4.291534423828125e-06,
98
+ 4.3159098625183105
99
+ ],
100
+ [
101
+ -2.165553331375122,
102
+ 4.291534423828125e-06,
103
+ 3.4221649169921875
104
+ ]
105
+ ],
106
+ "center": {
107
+ "x": -1.5645289421081543,
108
+ "y": 0.3519742488861084,
109
+ "z": 3.869037389755249
110
+ },
111
+ "size": {
112
+ "x": 1.2020487785339355,
113
+ "y": 0.7039399147033691,
114
+ "z": 0.893744945526123
115
+ }
116
+ },
117
+ "objectOrientedBoundingBox": {
118
+ "cornerPoints": [
119
+ [
120
+ -0.9635430574417114,
121
+ 4.3013133108615875e-06,
122
+ 4.3158955574035645
123
+ ],
124
+ [
125
+ -2.165553092956543,
126
+ 6.169313564896584e-05,
127
+ 4.31588888168335
128
+ ],
129
+ [
130
+ -2.165548324584961,
131
+ 7.986510172486305e-05,
132
+ 3.4221651554107666
133
+ ],
134
+ [
135
+ -0.9635381102561951,
136
+ 2.2473279386758804e-05,
137
+ 3.4221718311309814
138
+ ],
139
+ [
140
+ -0.9635094404220581,
141
+ 0.7038686871528625,
142
+ 4.3159098625183105
143
+ ],
144
+ [
145
+ -2.1655197143554688,
146
+ 0.7039260268211365,
147
+ 4.315903186798096
148
+ ],
149
+ [
150
+ -2.1655147075653076,
151
+ 0.7039441466331482,
152
+ 3.4221794605255127
153
+ ],
154
+ [
155
+ -0.9635044932365417,
156
+ 0.7038868069648743,
157
+ 3.4221861362457275
158
+ ]
159
+ ]
160
+ }
161
+ }
162
+ },
163
+ {
164
+ "objectId": "Sofa|-01.14|00.00|+00.52",
165
+ "object_info": {
166
+ "name": "Sofa_5f6946f9",
167
+ "position": {
168
+ "x": -1.1358411312103271,
169
+ "y": -0.004815518856048584,
170
+ "z": 0.5171529054641724
171
+ },
172
+ "rotation": {
173
+ "x": 0.00011686379730235785,
174
+ "y": 0.7543776631355286,
175
+ "z": -8.622366294730455e-06
176
+ },
177
+ "visible": true,
178
+ "isInteractable": true,
179
+ "receptacle": true,
180
+ "toggleable": false,
181
+ "isToggled": false,
182
+ "breakable": false,
183
+ "isBroken": false,
184
+ "canFillWithLiquid": false,
185
+ "isFilledWithLiquid": false,
186
+ "fillLiquid": null,
187
+ "dirtyable": false,
188
+ "isDirty": false,
189
+ "canBeUsedUp": false,
190
+ "isUsedUp": false,
191
+ "cookable": false,
192
+ "isCooked": false,
193
+ "temperature": "RoomTemp",
194
+ "isHeatSource": false,
195
+ "isColdSource": false,
196
+ "sliceable": false,
197
+ "isSliced": false,
198
+ "openable": false,
199
+ "isOpen": false,
200
+ "openness": 0.0,
201
+ "pickupable": false,
202
+ "isPickedUp": false,
203
+ "moveable": true,
204
+ "mass": 103.99999237060547,
205
+ "salientMaterials": [
206
+ "Fabric"
207
+ ],
208
+ "receptacleObjectIds": [
209
+ "Pillow|-00.50|+00.69|+00.51"
210
+ ],
211
+ "distance": 1.6198784112930298,
212
+ "objectType": "Sofa",
213
+ "objectId": "Sofa|-01.14|00.00|+00.52",
214
+ "assetId": "Sofa_201_2",
215
+ "parentReceptacles": [
216
+ "Floor|+00.00|+00.00|+00.00"
217
+ ],
218
+ "controlledObjects": null,
219
+ "isMoving": false,
220
+ "axisAlignedBoundingBox": {
221
+ "cornerPoints": [
222
+ [
223
+ 0.07678508758544922,
224
+ 1.1200249195098877,
225
+ 1.0050995349884033
226
+ ],
227
+ [
228
+ 0.07678508758544922,
229
+ 1.1200249195098877,
230
+ 0.0026784539222717285
231
+ ],
232
+ [
233
+ 0.07678508758544922,
234
+ 5.447864532470703e-05,
235
+ 1.0050995349884033
236
+ ],
237
+ [
238
+ 0.07678508758544922,
239
+ 5.447864532470703e-05,
240
+ 0.0026784539222717285
241
+ ],
242
+ [
243
+ -2.3401033878326416,
244
+ 1.1200249195098877,
245
+ 1.0050995349884033
246
+ ],
247
+ [
248
+ -2.3401033878326416,
249
+ 1.1200249195098877,
250
+ 0.0026784539222717285
251
+ ],
252
+ [
253
+ -2.3401033878326416,
254
+ 5.447864532470703e-05,
255
+ 1.0050995349884033
256
+ ],
257
+ [
258
+ -2.3401033878326416,
259
+ 5.447864532470703e-05,
260
+ 0.0026784539222717285
261
+ ]
262
+ ],
263
+ "center": {
264
+ "x": -1.1316591501235962,
265
+ "y": 0.5600396990776062,
266
+ "z": 0.5038890242576599
267
+ },
268
+ "size": {
269
+ "x": 2.416888475418091,
270
+ "y": 1.119970440864563,
271
+ "z": 1.0024211406707764
272
+ }
273
+ },
274
+ "objectOrientedBoundingBox": {
275
+ "cornerPoints": [
276
+ [
277
+ 0.07697510719299316,
278
+ 4.681432619690895e-05,
279
+ 0.9761027097702026
280
+ ],
281
+ [
282
+ -2.327432155609131,
283
+ 4.617590457201004e-05,
284
+ 1.0077885389328003
285
+ ],
286
+ [
287
+ -2.3402976989746094,
288
+ 4.647718742489815e-05,
289
+ 0.03151249885559082
290
+ ],
291
+ [
292
+ 0.06410956382751465,
293
+ 4.711560904979706e-05,
294
+ -0.00017338991165161133
295
+ ],
296
+ [
297
+ 0.07697486877441406,
298
+ 1.1200108528137207,
299
+ 0.9761030673980713
300
+ ],
301
+ [
302
+ -2.327432632446289,
303
+ 1.1200101375579834,
304
+ 1.007788896560669
305
+ ],
306
+ [
307
+ -2.3402981758117676,
308
+ 1.1200103759765625,
309
+ 0.03151285648345947
310
+ ],
311
+ [
312
+ 0.064109206199646,
313
+ 1.1200110912322998,
314
+ -0.00017303228378295898
315
+ ]
316
+ ]
317
+ }
318
+ }
319
+ },
320
+ {
321
+ "objectId": "Painting|-03.05|+01.69|+04.34",
322
+ "object_info": {
323
+ "name": "Painting_665d0b7a",
324
+ "position": {
325
+ "x": -3.049999952316284,
326
+ "y": 1.6900659799575806,
327
+ "z": 4.341033935546875
328
+ },
329
+ "rotation": {
330
+ "x": -0.0,
331
+ "y": 0.0,
332
+ "z": 0.0
333
+ },
334
+ "visible": false,
335
+ "isInteractable": false,
336
+ "receptacle": false,
337
+ "toggleable": false,
338
+ "isToggled": false,
339
+ "breakable": false,
340
+ "isBroken": false,
341
+ "canFillWithLiquid": false,
342
+ "isFilledWithLiquid": false,
343
+ "fillLiquid": null,
344
+ "dirtyable": false,
345
+ "isDirty": false,
346
+ "canBeUsedUp": false,
347
+ "isUsedUp": false,
348
+ "cookable": false,
349
+ "isCooked": false,
350
+ "temperature": "RoomTemp",
351
+ "isHeatSource": false,
352
+ "isColdSource": false,
353
+ "sliceable": false,
354
+ "isSliced": false,
355
+ "openable": false,
356
+ "isOpen": false,
357
+ "openness": 0.0,
358
+ "pickupable": false,
359
+ "isPickedUp": false,
360
+ "moveable": false,
361
+ "mass": 0.0,
362
+ "salientMaterials": null,
363
+ "receptacleObjectIds": null,
364
+ "distance": 3.755011558532715,
365
+ "objectType": "Painting",
366
+ "objectId": "Painting|-03.05|+01.69|+04.34",
367
+ "assetId": "",
368
+ "parentReceptacles": null,
369
+ "controlledObjects": null,
370
+ "isMoving": false,
371
+ "axisAlignedBoundingBox": {
372
+ "cornerPoints": [
373
+ [
374
+ -2.1866981983184814,
375
+ 2.3122336864471436,
376
+ 4.369747638702393
377
+ ],
378
+ [
379
+ -2.1866981983184814,
380
+ 2.3122336864471436,
381
+ 4.312320232391357
382
+ ],
383
+ [
384
+ -2.1866981983184814,
385
+ 1.0678982734680176,
386
+ 4.369747638702393
387
+ ],
388
+ [
389
+ -2.1866981983184814,
390
+ 1.0678982734680176,
391
+ 4.312320232391357
392
+ ],
393
+ [
394
+ -3.913301706314087,
395
+ 2.3122336864471436,
396
+ 4.369747638702393
397
+ ],
398
+ [
399
+ -3.913301706314087,
400
+ 2.3122336864471436,
401
+ 4.312320232391357
402
+ ],
403
+ [
404
+ -3.913301706314087,
405
+ 1.0678982734680176,
406
+ 4.369747638702393
407
+ ],
408
+ [
409
+ -3.913301706314087,
410
+ 1.0678982734680176,
411
+ 4.312320232391357
412
+ ]
413
+ ],
414
+ "center": {
415
+ "x": -3.049999952316284,
416
+ "y": 1.6900659799575806,
417
+ "z": 4.341033935546875
418
+ },
419
+ "size": {
420
+ "x": 1.7266035079956055,
421
+ "y": 1.244335412979126,
422
+ "z": 0.057427406311035156
423
+ }
424
+ },
425
+ "objectOrientedBoundingBox": null
426
+ }
427
+ },
428
+ {
429
+ "objectId": "Painting|-01.10|+01.77|-00.02",
430
+ "object_info": {
431
+ "name": "Painting_c2682828",
432
+ "position": {
433
+ "x": -1.096000075340271,
434
+ "y": 1.7739999294281006,
435
+ "z": -0.017000000923871994
436
+ },
437
+ "rotation": {
438
+ "x": -0.0,
439
+ "y": 0.0,
440
+ "z": 0.0
441
+ },
442
+ "visible": false,
443
+ "isInteractable": false,
444
+ "receptacle": false,
445
+ "toggleable": false,
446
+ "isToggled": false,
447
+ "breakable": false,
448
+ "isBroken": false,
449
+ "canFillWithLiquid": false,
450
+ "isFilledWithLiquid": false,
451
+ "fillLiquid": null,
452
+ "dirtyable": false,
453
+ "isDirty": false,
454
+ "canBeUsedUp": false,
455
+ "isUsedUp": false,
456
+ "cookable": false,
457
+ "isCooked": false,
458
+ "temperature": "RoomTemp",
459
+ "isHeatSource": false,
460
+ "isColdSource": false,
461
+ "sliceable": false,
462
+ "isSliced": false,
463
+ "openable": false,
464
+ "isOpen": false,
465
+ "openness": 0.0,
466
+ "pickupable": false,
467
+ "isPickedUp": false,
468
+ "moveable": false,
469
+ "mass": 0.0,
470
+ "salientMaterials": null,
471
+ "receptacleObjectIds": null,
472
+ "distance": 2.0162723064422607,
473
+ "objectType": "Painting",
474
+ "objectId": "Painting|-01.10|+01.77|-00.02",
475
+ "assetId": "",
476
+ "parentReceptacles": null,
477
+ "controlledObjects": null,
478
+ "isMoving": false,
479
+ "axisAlignedBoundingBox": {
480
+ "cornerPoints": [
481
+ [
482
+ -0.5423712730407715,
483
+ 2.231011390686035,
484
+ 0.047744959592819214
485
+ ],
486
+ [
487
+ -0.5423712730407715,
488
+ 2.231011390686035,
489
+ -0.09480203688144684
490
+ ],
491
+ [
492
+ -0.5423712730407715,
493
+ 1.316988468170166,
494
+ 0.047744959592819214
495
+ ],
496
+ [
497
+ -0.5423712730407715,
498
+ 1.316988468170166,
499
+ -0.09480203688144684
500
+ ],
501
+ [
502
+ -1.6496288776397705,
503
+ 2.231011390686035,
504
+ 0.047744959592819214
505
+ ],
506
+ [
507
+ -1.6496288776397705,
508
+ 2.231011390686035,
509
+ -0.09480203688144684
510
+ ],
511
+ [
512
+ -1.6496288776397705,
513
+ 1.316988468170166,
514
+ 0.047744959592819214
515
+ ],
516
+ [
517
+ -1.6496288776397705,
518
+ 1.316988468170166,
519
+ -0.09480203688144684
520
+ ]
521
+ ],
522
+ "center": {
523
+ "x": -1.096000075340271,
524
+ "y": 1.7739999294281006,
525
+ "z": -0.023528538644313812
526
+ },
527
+ "size": {
528
+ "x": 1.107257604598999,
529
+ "y": 0.9140229225158691,
530
+ "z": 0.14254699647426605
531
+ }
532
+ },
533
+ "objectOrientedBoundingBox": null
534
+ }
535
+ },
536
+ {
537
+ "objectId": "Curtains|-03.97|+02.26|+01.45",
538
+ "object_info": {
539
+ "name": "Curtains_f437c5aa",
540
+ "position": {
541
+ "x": -3.9739997386932373,
542
+ "y": 2.254999876022339,
543
+ "z": 1.4539999961853027
544
+ },
545
+ "rotation": {
546
+ "x": -0.0,
547
+ "y": 0.0,
548
+ "z": 0.0
549
+ },
550
+ "visible": false,
551
+ "isInteractable": false,
552
+ "receptacle": false,
553
+ "toggleable": false,
554
+ "isToggled": false,
555
+ "breakable": false,
556
+ "isBroken": false,
557
+ "canFillWithLiquid": false,
558
+ "isFilledWithLiquid": false,
559
+ "fillLiquid": null,
560
+ "dirtyable": false,
561
+ "isDirty": false,
562
+ "canBeUsedUp": false,
563
+ "isUsedUp": false,
564
+ "cookable": false,
565
+ "isCooked": false,
566
+ "temperature": "RoomTemp",
567
+ "isHeatSource": false,
568
+ "isColdSource": false,
569
+ "sliceable": false,
570
+ "isSliced": false,
571
+ "openable": false,
572
+ "isOpen": false,
573
+ "openness": 0.0,
574
+ "pickupable": false,
575
+ "isPickedUp": false,
576
+ "moveable": false,
577
+ "mass": 0.0,
578
+ "salientMaterials": null,
579
+ "receptacleObjectIds": null,
580
+ "distance": 3.7366271018981934,
581
+ "objectType": "Curtains",
582
+ "objectId": "Curtains|-03.97|+02.26|+01.45",
583
+ "assetId": "",
584
+ "parentReceptacles": [
585
+ "Floor|+00.00|+00.00|+00.00"
586
+ ],
587
+ "controlledObjects": null,
588
+ "isMoving": false,
589
+ "axisAlignedBoundingBox": {
590
+ "cornerPoints": [
591
+ [
592
+ -3.768399238586426,
593
+ 2.2671194076538086,
594
+ 2.6316933631896973
595
+ ],
596
+ [
597
+ -3.768399238586426,
598
+ 2.2671194076538086,
599
+ 0.35443973541259766
600
+ ],
601
+ [
602
+ -3.768399238586426,
603
+ 0.032193660736083984,
604
+ 2.6316933631896973
605
+ ],
606
+ [
607
+ -3.768399238586426,
608
+ 0.032193660736083984,
609
+ 0.35443973541259766
610
+ ],
611
+ [
612
+ -4.0606513023376465,
613
+ 2.2671194076538086,
614
+ 2.6316933631896973
615
+ ],
616
+ [
617
+ -4.0606513023376465,
618
+ 2.2671194076538086,
619
+ 0.35443973541259766
620
+ ],
621
+ [
622
+ -4.0606513023376465,
623
+ 0.032193660736083984,
624
+ 2.6316933631896973
625
+ ],
626
+ [
627
+ -4.0606513023376465,
628
+ 0.032193660736083984,
629
+ 0.35443973541259766
630
+ ]
631
+ ],
632
+ "center": {
633
+ "x": -3.914525270462036,
634
+ "y": 1.1496565341949463,
635
+ "z": 1.4930665493011475
636
+ },
637
+ "size": {
638
+ "x": 0.2922520637512207,
639
+ "y": 2.2349257469177246,
640
+ "z": 2.2772536277770996
641
+ }
642
+ },
643
+ "objectOrientedBoundingBox": null
644
+ }
645
+ },
646
+ {
647
+ "objectId": "CoffeeTable|-01.73|+00.01|+02.36",
648
+ "object_info": {
649
+ "name": "CoffeeTable_f6dcd9dd",
650
+ "position": {
651
+ "x": -1.7349979877471924,
652
+ "y": 0.005640685558319092,
653
+ "z": 2.3609893321990967
654
+ },
655
+ "rotation": {
656
+ "x": 0.0014754097210243344,
657
+ "y": 0.00011461416579550132,
658
+ "z": -0.0009494048426859081
659
+ },
660
+ "visible": true,
661
+ "isInteractable": true,
662
+ "receptacle": true,
663
+ "toggleable": false,
664
+ "isToggled": false,
665
+ "breakable": false,
666
+ "isBroken": false,
667
+ "canFillWithLiquid": false,
668
+ "isFilledWithLiquid": false,
669
+ "fillLiquid": null,
670
+ "dirtyable": false,
671
+ "isDirty": false,
672
+ "canBeUsedUp": false,
673
+ "isUsedUp": false,
674
+ "cookable": false,
675
+ "isCooked": false,
676
+ "temperature": "RoomTemp",
677
+ "isHeatSource": false,
678
+ "isColdSource": false,
679
+ "sliceable": false,
680
+ "isSliced": false,
681
+ "openable": false,
682
+ "isOpen": false,
683
+ "openness": 0.0,
684
+ "pickupable": false,
685
+ "isPickedUp": false,
686
+ "moveable": true,
687
+ "mass": 11.0,
688
+ "salientMaterials": [
689
+ "Wood"
690
+ ],
691
+ "receptacleObjectIds": [
692
+ "RemoteControl|-01.27|+00.44|+02.15",
693
+ "CreditCard|-02.10|+00.44|+02.58",
694
+ "HousePlant|-02.01|+00.45|+02.36"
695
+ ],
696
+ "distance": 1.6624913215637207,
697
+ "objectType": "CoffeeTable",
698
+ "objectId": "CoffeeTable|-01.73|+00.01|+02.36",
699
+ "assetId": "Coffee_Table_202_1",
700
+ "parentReceptacles": [
701
+ "Floor|+00.00|+00.00|+00.00"
702
+ ],
703
+ "controlledObjects": null,
704
+ "isMoving": false,
705
+ "axisAlignedBoundingBox": {
706
+ "cornerPoints": [
707
+ [
708
+ -1.228797435760498,
709
+ 0.4434751868247986,
710
+ 2.6887097358703613
711
+ ],
712
+ [
713
+ -1.228797435760498,
714
+ 0.4434751868247986,
715
+ 2.0332765579223633
716
+ ],
717
+ [
718
+ -1.228797435760498,
719
+ 4.315376281738281e-05,
720
+ 2.6887097358703613
721
+ ],
722
+ [
723
+ -1.228797435760498,
724
+ 4.315376281738281e-05,
725
+ 2.0332765579223633
726
+ ],
727
+ [
728
+ -2.2424564361572266,
729
+ 0.4434751868247986,
730
+ 2.6887097358703613
731
+ ],
732
+ [
733
+ -2.2424564361572266,
734
+ 0.4434751868247986,
735
+ 2.0332765579223633
736
+ ],
737
+ [
738
+ -2.2424564361572266,
739
+ 4.315376281738281e-05,
740
+ 2.6887097358703613
741
+ ],
742
+ [
743
+ -2.2424564361572266,
744
+ 4.315376281738281e-05,
745
+ 2.0332765579223633
746
+ ]
747
+ ],
748
+ "center": {
749
+ "x": -1.7356269359588623,
750
+ "y": 0.22175917029380798,
751
+ "z": 2.3609931468963623
752
+ },
753
+ "size": {
754
+ "x": 1.0136590003967285,
755
+ "y": 0.4434320330619812,
756
+ "z": 0.655433177947998
757
+ }
758
+ },
759
+ "objectOrientedBoundingBox": {
760
+ "cornerPoints": [
761
+ [
762
+ -1.22880220413208,
763
+ 4.938757047057152e-05,
764
+ 2.6887128353118896
765
+ ],
766
+ [
767
+ -2.2424585819244385,
768
+ 5.36525622010231e-05,
769
+ 2.6887078285217285
770
+ ],
771
+ [
772
+ -2.242455244064331,
773
+ 4.747509956359863e-05,
774
+ 2.03328013420105
775
+ ],
776
+ [
777
+ -1.2287988662719727,
778
+ 4.321010783314705e-05,
779
+ 2.03328537940979
780
+ ],
781
+ [
782
+ -1.2288004159927368,
783
+ 0.4434714615345001,
784
+ 2.688708782196045
785
+ ],
786
+ [
787
+ -2.2424566745758057,
788
+ 0.44347572326660156,
789
+ 2.6887035369873047
790
+ ],
791
+ [
792
+ -2.2424533367156982,
793
+ 0.4434695243835449,
794
+ 2.033276081085205
795
+ ],
796
+ [
797
+ -1.2287970781326294,
798
+ 0.4434652626514435,
799
+ 2.033281087875366
800
+ ]
801
+ ]
802
+ }
803
+ }
804
+ },
805
+ {
806
+ "objectId": "HousePlant|-02.01|+00.45|+02.36",
807
+ "object_info": {
808
+ "name": "HousePlant_c0410d81",
809
+ "position": {
810
+ "x": -2.0149343013763428,
811
+ "y": 0.44758614897727966,
812
+ "z": 2.3577699661254883
813
+ },
814
+ "rotation": {
815
+ "x": 0.13371217250823975,
816
+ "y": 0.43230530619621277,
817
+ "z": 359.86834716796875
818
+ },
819
+ "visible": true,
820
+ "isInteractable": true,
821
+ "receptacle": false,
822
+ "toggleable": false,
823
+ "isToggled": false,
824
+ "breakable": false,
825
+ "isBroken": false,
826
+ "canFillWithLiquid": true,
827
+ "isFilledWithLiquid": false,
828
+ "fillLiquid": null,
829
+ "dirtyable": false,
830
+ "isDirty": false,
831
+ "canBeUsedUp": false,
832
+ "isUsedUp": false,
833
+ "cookable": false,
834
+ "isCooked": false,
835
+ "temperature": "RoomTemp",
836
+ "isHeatSource": false,
837
+ "isColdSource": false,
838
+ "sliceable": false,
839
+ "isSliced": false,
840
+ "openable": false,
841
+ "isOpen": false,
842
+ "openness": 0.0,
843
+ "pickupable": false,
844
+ "isPickedUp": false,
845
+ "moveable": true,
846
+ "mass": 3.0,
847
+ "salientMaterials": [
848
+ "Ceramic",
849
+ "Organic"
850
+ ],
851
+ "receptacleObjectIds": null,
852
+ "distance": 1.7126917839050293,
853
+ "objectType": "HousePlant",
854
+ "objectId": "HousePlant|-02.01|+00.45|+02.36",
855
+ "assetId": "Houseplant_2",
856
+ "parentReceptacles": [
857
+ "CoffeeTable|-01.73|+00.01|+02.36"
858
+ ],
859
+ "controlledObjects": null,
860
+ "isMoving": false,
861
+ "axisAlignedBoundingBox": {
862
+ "cornerPoints": [
863
+ [
864
+ -1.9226515293121338,
865
+ 1.1414202451705933,
866
+ 2.4988555908203125
867
+ ],
868
+ [
869
+ -1.9226515293121338,
870
+ 1.1414202451705933,
871
+ 2.2222766876220703
872
+ ],
873
+ [
874
+ -1.9226515293121338,
875
+ 0.4434148073196411,
876
+ 2.4988555908203125
877
+ ],
878
+ [
879
+ -1.9226515293121338,
880
+ 0.4434148073196411,
881
+ 2.2222766876220703
882
+ ],
883
+ [
884
+ -2.1600968837738037,
885
+ 1.1414202451705933,
886
+ 2.4988555908203125
887
+ ],
888
+ [
889
+ -2.1600968837738037,
890
+ 1.1414202451705933,
891
+ 2.2222766876220703
892
+ ],
893
+ [
894
+ -2.1600968837738037,
895
+ 0.4434148073196411,
896
+ 2.4988555908203125
897
+ ],
898
+ [
899
+ -2.1600968837738037,
900
+ 0.4434148073196411,
901
+ 2.2222766876220703
902
+ ]
903
+ ],
904
+ "center": {
905
+ "x": -2.0413742065429688,
906
+ "y": 0.7924175262451172,
907
+ "z": 2.3605661392211914
908
+ },
909
+ "size": {
910
+ "x": 0.23744535446166992,
911
+ "y": 0.6980054378509521,
912
+ "z": 0.2765789031982422
913
+ }
914
+ },
915
+ "objectOrientedBoundingBox": {
916
+ "cornerPoints": [
917
+ [
918
+ -1.923201322555542,
919
+ 0.4431056082248688,
920
+ 2.4955716133117676
921
+ ],
922
+ [
923
+ -2.1597938537597656,
924
+ 0.4436492919921875,
925
+ 2.4973580837249756
926
+ ],
927
+ [
928
+ -2.161877155303955,
929
+ 0.4442936182022095,
930
+ 2.221266746520996
931
+ ],
932
+ [
933
+ -1.925284504890442,
934
+ 0.44374993443489075,
935
+ 2.219480276107788
936
+ ],
937
+ [
938
+ -1.921585202217102,
939
+ 1.1410508155822754,
940
+ 2.4971883296966553
941
+ ],
942
+ [
943
+ -2.1581778526306152,
944
+ 1.1415945291519165,
945
+ 2.4989748001098633
946
+ ],
947
+ [
948
+ -2.1602609157562256,
949
+ 1.1422388553619385,
950
+ 2.222883462905884
951
+ ],
952
+ [
953
+ -1.923668384552002,
954
+ 1.1416951417922974,
955
+ 2.221096992492676
956
+ ]
957
+ ]
958
+ }
959
+ }
960
+ },
961
+ {
962
+ "objectId": "ArmChair|-03.06|+00.00|+00.52",
963
+ "object_info": {
964
+ "name": "ArmChair_ce633ece",
965
+ "position": {
966
+ "x": -3.063239574432373,
967
+ "y": 0.000896841287612915,
968
+ "z": 0.5175459980964661
969
+ },
970
+ "rotation": {
971
+ "x": -0.004098193719983101,
972
+ "y": -0.005070995539426804,
973
+ "z": 359.9940185546875
974
+ },
975
+ "visible": false,
976
+ "isInteractable": false,
977
+ "receptacle": true,
978
+ "toggleable": false,
979
+ "isToggled": false,
980
+ "breakable": false,
981
+ "isBroken": false,
982
+ "canFillWithLiquid": false,
983
+ "isFilledWithLiquid": false,
984
+ "fillLiquid": null,
985
+ "dirtyable": false,
986
+ "isDirty": false,
987
+ "canBeUsedUp": false,
988
+ "isUsedUp": false,
989
+ "cookable": false,
990
+ "isCooked": false,
991
+ "temperature": "RoomTemp",
992
+ "isHeatSource": false,
993
+ "isColdSource": false,
994
+ "sliceable": false,
995
+ "isSliced": false,
996
+ "openable": false,
997
+ "isOpen": false,
998
+ "openness": 0.0,
999
+ "pickupable": false,
1000
+ "isPickedUp": false,
1001
+ "moveable": true,
1002
+ "mass": 28.299999237060547,
1003
+ "salientMaterials": [
1004
+ "Fabric"
1005
+ ],
1006
+ "receptacleObjectIds": [
1007
+ "Laptop|-03.22|+00.61|+00.58"
1008
+ ],
1009
+ "distance": 2.962880849838257,
1010
+ "objectType": "ArmChair",
1011
+ "objectId": "ArmChair|-03.06|+00.00|+00.52",
1012
+ "assetId": "Armchair_202_1",
1013
+ "parentReceptacles": [
1014
+ "Floor|+00.00|+00.00|+00.00"
1015
+ ],
1016
+ "controlledObjects": null,
1017
+ "isMoving": false,
1018
+ "axisAlignedBoundingBox": {
1019
+ "cornerPoints": [
1020
+ [
1021
+ -2.356858730316162,
1022
+ 1.2624226808547974,
1023
+ 0.9900634288787842
1024
+ ],
1025
+ [
1026
+ -2.356858730316162,
1027
+ 1.2624226808547974,
1028
+ 0.02552032470703125
1029
+ ],
1030
+ [
1031
+ -2.356858730316162,
1032
+ -8.189678192138672e-05,
1033
+ 0.9900634288787842
1034
+ ],
1035
+ [
1036
+ -2.356858730316162,
1037
+ -8.189678192138672e-05,
1038
+ 0.02552032470703125
1039
+ ],
1040
+ [
1041
+ -3.7685675621032715,
1042
+ 1.2624226808547974,
1043
+ 0.9900634288787842
1044
+ ],
1045
+ [
1046
+ -3.7685675621032715,
1047
+ 1.2624226808547974,
1048
+ 0.02552032470703125
1049
+ ],
1050
+ [
1051
+ -3.7685675621032715,
1052
+ -8.189678192138672e-05,
1053
+ 0.9900634288787842
1054
+ ],
1055
+ [
1056
+ -3.7685675621032715,
1057
+ -8.189678192138672e-05,
1058
+ 0.02552032470703125
1059
+ ]
1060
+ ],
1061
+ "center": {
1062
+ "x": -3.062713146209717,
1063
+ "y": 0.631170392036438,
1064
+ "z": 0.5077918767929077
1065
+ },
1066
+ "size": {
1067
+ "x": 1.4117088317871094,
1068
+ "y": 1.2625045776367188,
1069
+ "z": 0.9645431041717529
1070
+ }
1071
+ },
1072
+ "objectOrientedBoundingBox": {
1073
+ "cornerPoints": [
1074
+ [
1075
+ -2.3570618629455566,
1076
+ 3.343092976137996e-05,
1077
+ 0.9901637434959412
1078
+ ],
1079
+ [
1080
+ -3.768569231033325,
1081
+ 0.00021634536096826196,
1082
+ 0.9900387525558472
1083
+ ],
1084
+ [
1085
+ -3.768483877182007,
1086
+ 9.867834160104394e-05,
1087
+ 0.025649964809417725
1088
+ ],
1089
+ [
1090
+ -2.3569765090942383,
1091
+ -8.423603139817715e-05,
1092
+ 0.025774985551834106
1093
+ ],
1094
+ [
1095
+ -2.356898307800293,
1096
+ 1.2623553276062012,
1097
+ 0.9900097846984863
1098
+ ],
1099
+ [
1100
+ -3.7684056758880615,
1101
+ 1.262538194656372,
1102
+ 0.9898847341537476
1103
+ ],
1104
+ [
1105
+ -3.768320322036743,
1106
+ 1.262420415878296,
1107
+ 0.025495946407318115
1108
+ ],
1109
+ [
1110
+ -2.3568129539489746,
1111
+ 1.262237548828125,
1112
+ 0.025620967149734497
1113
+ ]
1114
+ ]
1115
+ }
1116
+ }
1117
+ },
1118
+ {
1119
+ "objectId": "FloorLamp|-03.69|00.00|+04.01",
1120
+ "object_info": {
1121
+ "name": "FloorLamp_b57ba885",
1122
+ "position": {
1123
+ "x": -3.6869943141937256,
1124
+ "y": -0.0018325448036193848,
1125
+ "z": 4.01390266418457
1126
+ },
1127
+ "rotation": {
1128
+ "x": 0.03727647662162781,
1129
+ "y": -0.0034957421012222767,
1130
+ "z": 0.029693126678466797
1131
+ },
1132
+ "visible": false,
1133
+ "isInteractable": false,
1134
+ "receptacle": false,
1135
+ "toggleable": true,
1136
+ "isToggled": true,
1137
+ "breakable": false,
1138
+ "isBroken": false,
1139
+ "canFillWithLiquid": false,
1140
+ "isFilledWithLiquid": false,
1141
+ "fillLiquid": null,
1142
+ "dirtyable": false,
1143
+ "isDirty": false,
1144
+ "canBeUsedUp": false,
1145
+ "isUsedUp": false,
1146
+ "cookable": false,
1147
+ "isCooked": false,
1148
+ "temperature": "RoomTemp",
1149
+ "isHeatSource": false,
1150
+ "isColdSource": false,
1151
+ "sliceable": false,
1152
+ "isSliced": false,
1153
+ "openable": false,
1154
+ "isOpen": false,
1155
+ "openness": 0.0,
1156
+ "pickupable": false,
1157
+ "isPickedUp": false,
1158
+ "moveable": true,
1159
+ "mass": 3.9300003051757812,
1160
+ "salientMaterials": [
1161
+ "Metal"
1162
+ ],
1163
+ "receptacleObjectIds": null,
1164
+ "distance": 4.040577411651611,
1165
+ "objectType": "FloorLamp",
1166
+ "objectId": "FloorLamp|-03.69|00.00|+04.01",
1167
+ "assetId": "Floor_Lamp_2",
1168
+ "parentReceptacles": [
1169
+ "Floor|+00.00|+00.00|+00.00"
1170
+ ],
1171
+ "controlledObjects": [],
1172
+ "isMoving": false,
1173
+ "axisAlignedBoundingBox": {
1174
+ "cornerPoints": [
1175
+ [
1176
+ -3.435807228088379,
1177
+ 2.0757384300231934,
1178
+ 4.269536018371582
1179
+ ],
1180
+ [
1181
+ -3.435807228088379,
1182
+ 2.0757384300231934,
1183
+ 3.7622499465942383
1184
+ ],
1185
+ [
1186
+ -3.435807228088379,
1187
+ -0.001973748207092285,
1188
+ 4.269536018371582
1189
+ ],
1190
+ [
1191
+ -3.435807228088379,
1192
+ -0.001973748207092285,
1193
+ 3.7622499465942383
1194
+ ],
1195
+ [
1196
+ -3.9434471130371094,
1197
+ 2.0757384300231934,
1198
+ 4.269536018371582
1199
+ ],
1200
+ [
1201
+ -3.9434471130371094,
1202
+ 2.0757384300231934,
1203
+ 3.7622499465942383
1204
+ ],
1205
+ [
1206
+ -3.9434471130371094,
1207
+ -0.001973748207092285,
1208
+ 4.269536018371582
1209
+ ],
1210
+ [
1211
+ -3.9434471130371094,
1212
+ -0.001973748207092285,
1213
+ 3.7622499465942383
1214
+ ]
1215
+ ],
1216
+ "center": {
1217
+ "x": -3.689627170562744,
1218
+ "y": 1.0368822813034058,
1219
+ "z": 4.01589298248291
1220
+ },
1221
+ "size": {
1222
+ "x": 0.5076398849487305,
1223
+ "y": 2.077712059020996,
1224
+ "z": 0.5072860717773438
1225
+ }
1226
+ },
1227
+ "objectOrientedBoundingBox": {
1228
+ "cornerPoints": [
1229
+ [
1230
+ -3.4347498416900635,
1231
+ -0.0018672464648261666,
1232
+ 4.268197536468506
1233
+ ],
1234
+ [
1235
+ -3.94240403175354,
1236
+ -0.002130334498360753,
1237
+ 4.268166542053223
1238
+ ],
1239
+ [
1240
+ -3.942373037338257,
1241
+ -0.0018002894939854741,
1242
+ 3.760871171951294
1243
+ ],
1244
+ [
1245
+ -3.4347188472747803,
1246
+ -0.0015372014604508877,
1247
+ 3.760902166366577
1248
+ ],
1249
+ [
1250
+ -3.435826539993286,
1251
+ 2.075571060180664,
1252
+ 4.2695488929748535
1253
+ ],
1254
+ [
1255
+ -3.9434807300567627,
1256
+ 2.075308084487915,
1257
+ 4.26951789855957
1258
+ ],
1259
+ [
1260
+ -3.9434497356414795,
1261
+ 2.0756380558013916,
1262
+ 3.7622225284576416
1263
+ ],
1264
+ [
1265
+ -3.435795545578003,
1266
+ 2.0759010314941406,
1267
+ 3.762253761291504
1268
+ ]
1269
+ ]
1270
+ }
1271
+ }
1272
+ },
1273
+ {
1274
+ "objectId": "Laptop|-03.22|+00.61|+00.58",
1275
+ "object_info": {
1276
+ "name": "Laptop_1793eb2d",
1277
+ "position": {
1278
+ "x": -3.215677499771118,
1279
+ "y": 0.6147335767745972,
1280
+ "z": 0.5826804041862488
1281
+ },
1282
+ "rotation": {
1283
+ "x": 0.0037529009860008955,
1284
+ "y": 29.944215774536133,
1285
+ "z": 359.9883117675781
1286
+ },
1287
+ "visible": false,
1288
+ "isInteractable": false,
1289
+ "receptacle": false,
1290
+ "toggleable": true,
1291
+ "isToggled": false,
1292
+ "breakable": true,
1293
+ "isBroken": false,
1294
+ "canFillWithLiquid": false,
1295
+ "isFilledWithLiquid": false,
1296
+ "fillLiquid": null,
1297
+ "dirtyable": false,
1298
+ "isDirty": false,
1299
+ "canBeUsedUp": false,
1300
+ "isUsedUp": false,
1301
+ "cookable": false,
1302
+ "isCooked": false,
1303
+ "temperature": "RoomTemp",
1304
+ "isHeatSource": false,
1305
+ "isColdSource": false,
1306
+ "sliceable": false,
1307
+ "isSliced": false,
1308
+ "openable": true,
1309
+ "isOpen": true,
1310
+ "openness": 1.0,
1311
+ "pickupable": true,
1312
+ "isPickedUp": false,
1313
+ "moveable": false,
1314
+ "mass": 2.299999952316284,
1315
+ "salientMaterials": [
1316
+ "Metal",
1317
+ "Plastic",
1318
+ "Glass"
1319
+ ],
1320
+ "receptacleObjectIds": null,
1321
+ "distance": 2.9504714012145996,
1322
+ "objectType": "Laptop",
1323
+ "objectId": "Laptop|-03.22|+00.61|+00.58",
1324
+ "assetId": "Laptop_2",
1325
+ "parentReceptacles": [
1326
+ "ArmChair|-03.06|+00.00|+00.52"
1327
+ ],
1328
+ "controlledObjects": [],
1329
+ "isMoving": false,
1330
+ "axisAlignedBoundingBox": {
1331
+ "cornerPoints": [
1332
+ [
1333
+ -2.9909815788269043,
1334
+ 0.8978071212768555,
1335
+ 0.7951347231864929
1336
+ ],
1337
+ [
1338
+ -2.9909815788269043,
1339
+ 0.8978071212768555,
1340
+ 0.3770233988761902
1341
+ ],
1342
+ [
1343
+ -2.9909815788269043,
1344
+ 0.6147116422653198,
1345
+ 0.7951347231864929
1346
+ ],
1347
+ [
1348
+ -2.9909815788269043,
1349
+ 0.6147116422653198,
1350
+ 0.3770233988761902
1351
+ ],
1352
+ [
1353
+ -3.436422824859619,
1354
+ 0.8978071212768555,
1355
+ 0.7951347231864929
1356
+ ],
1357
+ [
1358
+ -3.436422824859619,
1359
+ 0.8978071212768555,
1360
+ 0.3770233988761902
1361
+ ],
1362
+ [
1363
+ -3.436422824859619,
1364
+ 0.6147116422653198,
1365
+ 0.7951347231864929
1366
+ ],
1367
+ [
1368
+ -3.436422824859619,
1369
+ 0.6147116422653198,
1370
+ 0.3770233988761902
1371
+ ]
1372
+ ],
1373
+ "center": {
1374
+ "x": -3.2137022018432617,
1375
+ "y": 0.7562593817710876,
1376
+ "z": 0.5860790610313416
1377
+ },
1378
+ "size": {
1379
+ "x": 0.44544124603271484,
1380
+ "y": 0.28309547901153564,
1381
+ "z": 0.41811132431030273
1382
+ }
1383
+ },
1384
+ "objectOrientedBoundingBox": {
1385
+ "cornerPoints": [
1386
+ [
1387
+ -2.9909849166870117,
1388
+ 0.6147116422653198,
1389
+ 0.6187126636505127
1390
+ ],
1391
+ [
1392
+ -3.2971856594085693,
1393
+ 0.6147809028625488,
1394
+ 0.7951347231864929
1395
+ ],
1396
+ [
1397
+ -3.4364240169525146,
1398
+ 0.6147835850715637,
1399
+ 0.5534706711769104
1400
+ ],
1401
+ [
1402
+ -3.130223274230957,
1403
+ 0.6147143244743347,
1404
+ 0.3770485818386078
1405
+ ],
1406
+ [
1407
+ -2.9909355640411377,
1408
+ 0.8977351188659668,
1409
+ 0.6186873316764832
1410
+ ],
1411
+ [
1412
+ -3.2971363067626953,
1413
+ 0.8978043794631958,
1414
+ 0.7951093912124634
1415
+ ],
1416
+ [
1417
+ -3.4363746643066406,
1418
+ 0.8978070616722107,
1419
+ 0.5534453392028809
1420
+ ],
1421
+ [
1422
+ -3.130173683166504,
1423
+ 0.8977378010749817,
1424
+ 0.37702327966690063
1425
+ ]
1426
+ ]
1427
+ }
1428
+ }
1429
+ }
1430
+ ],
1431
+ "Agent": {
1432
+ "agent_position": {
1433
+ "x": -1.0,
1434
+ "y": 0.9010459184646606,
1435
+ "z": 3.200000047683716
1436
+ },
1437
+ "agent_rotation": {
1438
+ "x": -0.0,
1439
+ "y": 242.0,
1440
+ "z": 0.0
1441
+ },
1442
+ "agent_cameraHorizon": 0.0,
1443
+ "agent_isStanding": true,
1444
+ "agent_inHighFrictionArea": false
1445
+ },
1446
+ "camera_info": {
1447
+ "cameraPosition": {
1448
+ "x": -1.0,
1449
+ "y": 1.5760459899902344,
1450
+ "z": 3.200000047683716
1451
+ },
1452
+ "cameraOrthSize": -1.0,
1453
+ "fov": 90.0
1454
+ },
1455
+ "common_object": [
1456
+ "Laptop|-03.22|+00.61|+00.58",
1457
+ "HousePlant|-02.01|+00.45|+02.36",
1458
+ "Curtains|-03.97|+02.26|+01.45",
1459
+ "ArmChair|-03.06|+00.00|+00.52",
1460
+ "Painting|-01.10|+01.77|-00.02",
1461
+ "Sofa|-01.14|00.00|+00.52",
1462
+ "CoffeeTable|-01.73|+00.01|+02.36"
1463
+ ],
1464
+ "different_object": [
1465
+ "TVStand|-01.57|+00.00|+03.87",
1466
+ "FloorLamp|-03.69|00.00|+04.01",
1467
+ "Painting|-03.05|+01.69|+04.34"
1468
+ ]
1469
+ }
train/FloorPlan202/14/0_depth_npy.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5ab5eac890ccf21187951f99a3f27e5b3026e3df15aeb6eb45449adfcec33613
3
+ size 3145856
train/FloorPlan202/14/0_semantic_sensor_npy.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d244988c0363ba3c7efd8bc3097aae69e1a716244ec9df9c3f5d06238f571e14
3
+ size 2359424
train/FloorPlan202/14/1.json ADDED
@@ -0,0 +1,1938 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "object": [
3
+ {
4
+ "objectId": "SideTable|+00.63|+00.01|+00.34",
5
+ "object_info": {
6
+ "name": "SideTable_f52edd16",
7
+ "position": {
8
+ "x": 0.6269959807395935,
9
+ "y": 0.0067979395389556885,
10
+ "z": 0.34000352025032043
11
+ },
12
+ "rotation": {
13
+ "x": -1.8670654753805138e-05,
14
+ "y": 0.0005228848312981427,
15
+ "z": 2.621133944558096e-06
16
+ },
17
+ "visible": false,
18
+ "isInteractable": false,
19
+ "receptacle": true,
20
+ "toggleable": false,
21
+ "isToggled": false,
22
+ "breakable": false,
23
+ "isBroken": false,
24
+ "canFillWithLiquid": false,
25
+ "isFilledWithLiquid": false,
26
+ "fillLiquid": null,
27
+ "dirtyable": false,
28
+ "isDirty": false,
29
+ "canBeUsedUp": false,
30
+ "isUsedUp": false,
31
+ "cookable": false,
32
+ "isCooked": false,
33
+ "temperature": "RoomTemp",
34
+ "isHeatSource": false,
35
+ "isColdSource": false,
36
+ "sliceable": false,
37
+ "isSliced": false,
38
+ "openable": false,
39
+ "isOpen": false,
40
+ "openness": 0.0,
41
+ "pickupable": false,
42
+ "isPickedUp": false,
43
+ "moveable": true,
44
+ "mass": 11.0,
45
+ "salientMaterials": [
46
+ "Wood"
47
+ ],
48
+ "receptacleObjectIds": [
49
+ "Statue|+00.86|+00.71|+00.33",
50
+ "Box|+00.33|+00.90|+00.49"
51
+ ],
52
+ "distance": 1.9797450304031372,
53
+ "objectType": "SideTable",
54
+ "objectId": "SideTable|+00.63|+00.01|+00.34",
55
+ "assetId": "Side_Table_202_1",
56
+ "parentReceptacles": [
57
+ "Floor|+00.00|+00.00|+00.00"
58
+ ],
59
+ "controlledObjects": null,
60
+ "isMoving": false,
61
+ "axisAlignedBoundingBox": {
62
+ "cornerPoints": [
63
+ [
64
+ 1.139021396636963,
65
+ 0.7156378030776978,
66
+ 0.6653361916542053
67
+ ],
68
+ [
69
+ 1.139021396636963,
70
+ 0.7156378030776978,
71
+ 0.015287637710571289
72
+ ],
73
+ [
74
+ 1.139021396636963,
75
+ 4.100799560546875e-05,
76
+ 0.6653361916542053
77
+ ],
78
+ [
79
+ 1.139021396636963,
80
+ 4.100799560546875e-05,
81
+ 0.015287637710571289
82
+ ],
83
+ [
84
+ 0.1209859848022461,
85
+ 0.7156378030776978,
86
+ 0.6653361916542053
87
+ ],
88
+ [
89
+ 0.1209859848022461,
90
+ 0.7156378030776978,
91
+ 0.015287637710571289
92
+ ],
93
+ [
94
+ 0.1209859848022461,
95
+ 4.100799560546875e-05,
96
+ 0.6653361916542053
97
+ ],
98
+ [
99
+ 0.1209859848022461,
100
+ 4.100799560546875e-05,
101
+ 0.015287637710571289
102
+ ]
103
+ ],
104
+ "center": {
105
+ "x": 0.6300036907196045,
106
+ "y": 0.3578394055366516,
107
+ "z": 0.3403119146823883
108
+ },
109
+ "size": {
110
+ "x": 1.0180354118347168,
111
+ "y": 0.7155967950820923,
112
+ "z": 0.650048553943634
113
+ }
114
+ },
115
+ "objectOrientedBoundingBox": {
116
+ "cornerPoints": [
117
+ [
118
+ 1.139021635055542,
119
+ 4.119798541069031e-05,
120
+ 0.665334939956665
121
+ ],
122
+ [
123
+ 0.12098664045333862,
124
+ 4.0972139686346054e-05,
125
+ 0.6653361320495605
126
+ ],
127
+ [
128
+ 0.12098580598831177,
129
+ 4.111742600798607e-05,
130
+ 0.015288949012756348
131
+ ],
132
+ [
133
+ 1.1390206813812256,
134
+ 4.134327173233032e-05,
135
+ 0.015287727117538452
136
+ ],
137
+ [
138
+ 1.139021396636963,
139
+ 0.7156376838684082,
140
+ 0.6653350591659546
141
+ ],
142
+ [
143
+ 0.1209864616394043,
144
+ 0.7156374454498291,
145
+ 0.6653362512588501
146
+ ],
147
+ [
148
+ 0.12098568677902222,
149
+ 0.7156375646591187,
150
+ 0.015289098024368286
151
+ ],
152
+ [
153
+ 1.1390206813812256,
154
+ 0.7156378030776978,
155
+ 0.01528787612915039
156
+ ]
157
+ ]
158
+ }
159
+ }
160
+ },
161
+ {
162
+ "objectId": "Pillow|-00.50|+00.69|+00.51",
163
+ "object_info": {
164
+ "name": "Pillow_245c6418",
165
+ "position": {
166
+ "x": -0.5007399320602417,
167
+ "y": 0.6944788694381714,
168
+ "z": 0.5054006576538086
169
+ },
170
+ "rotation": {
171
+ "x": 36.54594039916992,
172
+ "y": 0.7677531242370605,
173
+ "z": 0.0022578639909625053
174
+ },
175
+ "visible": false,
176
+ "isInteractable": false,
177
+ "receptacle": false,
178
+ "toggleable": false,
179
+ "isToggled": false,
180
+ "breakable": false,
181
+ "isBroken": false,
182
+ "canFillWithLiquid": false,
183
+ "isFilledWithLiquid": false,
184
+ "fillLiquid": null,
185
+ "dirtyable": false,
186
+ "isDirty": false,
187
+ "canBeUsedUp": false,
188
+ "isUsedUp": false,
189
+ "cookable": false,
190
+ "isCooked": false,
191
+ "temperature": "RoomTemp",
192
+ "isHeatSource": false,
193
+ "isColdSource": false,
194
+ "sliceable": false,
195
+ "isSliced": false,
196
+ "openable": false,
197
+ "isOpen": false,
198
+ "openness": 0.0,
199
+ "pickupable": true,
200
+ "isPickedUp": false,
201
+ "moveable": false,
202
+ "mass": 0.699999988079071,
203
+ "salientMaterials": [
204
+ "Fabric"
205
+ ],
206
+ "receptacleObjectIds": null,
207
+ "distance": 1.2123275995254517,
208
+ "objectType": "Pillow",
209
+ "objectId": "Pillow|-00.50|+00.69|+00.51",
210
+ "assetId": "pillow_2",
211
+ "parentReceptacles": [
212
+ "Sofa|-01.14|00.00|+00.52"
213
+ ],
214
+ "controlledObjects": null,
215
+ "isMoving": false,
216
+ "axisAlignedBoundingBox": {
217
+ "cornerPoints": [
218
+ [
219
+ -0.20044898986816406,
220
+ 0.83591628074646,
221
+ 0.6792938113212585
222
+ ],
223
+ [
224
+ -0.20044898986816406,
225
+ 0.83591628074646,
226
+ 0.3255564570426941
227
+ ],
228
+ [
229
+ -0.20044898986816406,
230
+ 0.5331065654754639,
231
+ 0.6792938113212585
232
+ ],
233
+ [
234
+ -0.20044898986816406,
235
+ 0.5331065654754639,
236
+ 0.3255564570426941
237
+ ],
238
+ [
239
+ -0.801109790802002,
240
+ 0.83591628074646,
241
+ 0.6792938113212585
242
+ ],
243
+ [
244
+ -0.801109790802002,
245
+ 0.83591628074646,
246
+ 0.3255564570426941
247
+ ],
248
+ [
249
+ -0.801109790802002,
250
+ 0.5331065654754639,
251
+ 0.6792938113212585
252
+ ],
253
+ [
254
+ -0.801109790802002,
255
+ 0.5331065654754639,
256
+ 0.3255564570426941
257
+ ]
258
+ ],
259
+ "center": {
260
+ "x": -0.500779390335083,
261
+ "y": 0.6845114231109619,
262
+ "z": 0.5024251341819763
263
+ },
264
+ "size": {
265
+ "x": 0.6006608009338379,
266
+ "y": 0.3028097152709961,
267
+ "z": 0.35373735427856445
268
+ }
269
+ },
270
+ "objectOrientedBoundingBox": {
271
+ "cornerPoints": [
272
+ [
273
+ -0.2014685869216919,
274
+ 0.5331254601478577,
275
+ 0.5948636531829834
276
+ ],
277
+ [
278
+ -0.7975009083747864,
279
+ 0.5331065654754639,
280
+ 0.6028369069099426
281
+ ],
282
+ [
283
+ -0.801109790802002,
284
+ 0.7327356934547424,
285
+ 0.3335297405719757
286
+ ],
287
+ [
288
+ -0.20507746934890747,
289
+ 0.7327545881271362,
290
+ 0.32555651664733887
291
+ ],
292
+ [
293
+ -0.20044904947280884,
294
+ 0.6362871527671814,
295
+ 0.6713205575942993
296
+ ],
297
+ [
298
+ -0.7964813709259033,
299
+ 0.6362683176994324,
300
+ 0.6792938113212585
301
+ ],
302
+ [
303
+ -0.8000902533531189,
304
+ 0.8358973860740662,
305
+ 0.409986674785614
306
+ ],
307
+ [
308
+ -0.20405793190002441,
309
+ 0.83591628074646,
310
+ 0.4020134508609772
311
+ ]
312
+ ]
313
+ }
314
+ }
315
+ },
316
+ {
317
+ "objectId": "Statue|+00.86|+00.71|+00.33",
318
+ "object_info": {
319
+ "name": "Statue_d7da8aef",
320
+ "position": {
321
+ "x": 0.8586571216583252,
322
+ "y": 0.7144324779510498,
323
+ "z": 0.32777735590934753
324
+ },
325
+ "rotation": {
326
+ "x": 0.0007107684505172074,
327
+ "y": 0.0015323956031352282,
328
+ "z": 0.0008562243892811239
329
+ },
330
+ "visible": false,
331
+ "isInteractable": false,
332
+ "receptacle": false,
333
+ "toggleable": false,
334
+ "isToggled": false,
335
+ "breakable": true,
336
+ "isBroken": false,
337
+ "canFillWithLiquid": false,
338
+ "isFilledWithLiquid": false,
339
+ "fillLiquid": null,
340
+ "dirtyable": false,
341
+ "isDirty": false,
342
+ "canBeUsedUp": false,
343
+ "isUsedUp": false,
344
+ "cookable": false,
345
+ "isCooked": false,
346
+ "temperature": "RoomTemp",
347
+ "isHeatSource": false,
348
+ "isColdSource": false,
349
+ "sliceable": false,
350
+ "isSliced": false,
351
+ "openable": false,
352
+ "isOpen": false,
353
+ "openness": 0.0,
354
+ "pickupable": true,
355
+ "isPickedUp": false,
356
+ "moveable": false,
357
+ "mass": 1.0,
358
+ "salientMaterials": [
359
+ "Metal"
360
+ ],
361
+ "receptacleObjectIds": null,
362
+ "distance": 1.9400434494018555,
363
+ "objectType": "Statue",
364
+ "objectId": "Statue|+00.86|+00.71|+00.33",
365
+ "assetId": "Waving_Statue_1",
366
+ "parentReceptacles": [
367
+ "SideTable|+00.63|+00.01|+00.34"
368
+ ],
369
+ "controlledObjects": null,
370
+ "isMoving": false,
371
+ "axisAlignedBoundingBox": {
372
+ "cornerPoints": [
373
+ [
374
+ 0.9674795866012573,
375
+ 1.0739277601242065,
376
+ 0.4256771206855774
377
+ ],
378
+ [
379
+ 0.9674795866012573,
380
+ 1.0739277601242065,
381
+ 0.22988349199295044
382
+ ],
383
+ [
384
+ 0.9674795866012573,
385
+ 0.7156358957290649,
386
+ 0.4256771206855774
387
+ ],
388
+ [
389
+ 0.9674795866012573,
390
+ 0.7156358957290649,
391
+ 0.22988349199295044
392
+ ],
393
+ [
394
+ 0.7594599723815918,
395
+ 1.0739277601242065,
396
+ 0.4256771206855774
397
+ ],
398
+ [
399
+ 0.7594599723815918,
400
+ 1.0739277601242065,
401
+ 0.22988349199295044
402
+ ],
403
+ [
404
+ 0.7594599723815918,
405
+ 0.7156358957290649,
406
+ 0.4256771206855774
407
+ ],
408
+ [
409
+ 0.7594599723815918,
410
+ 0.7156358957290649,
411
+ 0.22988349199295044
412
+ ]
413
+ ],
414
+ "center": {
415
+ "x": 0.8634697794914246,
416
+ "y": 0.8947818279266357,
417
+ "z": 0.3277803063392639
418
+ },
419
+ "size": {
420
+ "x": 0.20801961421966553,
421
+ "y": 0.3582918643951416,
422
+ "z": 0.19579362869262695
423
+ }
424
+ },
425
+ "objectOrientedBoundingBox": {
426
+ "cornerPoints": [
427
+ [
428
+ 0.9674806594848633,
429
+ 0.715636670589447,
430
+ 0.42567718029022217
431
+ ],
432
+ [
433
+ 0.7594602704048157,
434
+ 0.715636134147644,
435
+ 0.42567795515060425
436
+ ],
437
+ [
438
+ 0.7594595551490784,
439
+ 0.7156368494033813,
440
+ 0.22988370060920715
441
+ ],
442
+ [
443
+ 0.967479944229126,
444
+ 0.7156373858451843,
445
+ 0.22988292574882507
446
+ ],
447
+ [
448
+ 0.9674797058105469,
449
+ 1.0739264488220215,
450
+ 0.4256784915924072
451
+ ],
452
+ [
453
+ 0.7594593167304993,
454
+ 1.0739258527755737,
455
+ 0.4256792664527893
456
+ ],
457
+ [
458
+ 0.759458601474762,
459
+ 1.073926568031311,
460
+ 0.22988498210906982
461
+ ],
462
+ [
463
+ 0.9674789905548096,
464
+ 1.0739271640777588,
465
+ 0.22988420724868774
466
+ ]
467
+ ]
468
+ }
469
+ }
470
+ },
471
+ {
472
+ "objectId": "Box|+00.33|+00.90|+00.49",
473
+ "object_info": {
474
+ "name": "Box_9f2261ac",
475
+ "position": {
476
+ "x": 0.33192160725593567,
477
+ "y": 0.9017186164855957,
478
+ "z": 0.4884287416934967
479
+ },
480
+ "rotation": {
481
+ "x": 0.0012737453216686845,
482
+ "y": 0.014757201075553894,
483
+ "z": 0.0011800919892266393
484
+ },
485
+ "visible": false,
486
+ "isInteractable": false,
487
+ "receptacle": true,
488
+ "toggleable": false,
489
+ "isToggled": false,
490
+ "breakable": false,
491
+ "isBroken": false,
492
+ "canFillWithLiquid": false,
493
+ "isFilledWithLiquid": false,
494
+ "fillLiquid": null,
495
+ "dirtyable": false,
496
+ "isDirty": false,
497
+ "canBeUsedUp": false,
498
+ "isUsedUp": false,
499
+ "cookable": false,
500
+ "isCooked": false,
501
+ "temperature": "RoomTemp",
502
+ "isHeatSource": false,
503
+ "isColdSource": false,
504
+ "sliceable": false,
505
+ "isSliced": false,
506
+ "openable": true,
507
+ "isOpen": true,
508
+ "openness": 1.0,
509
+ "pickupable": true,
510
+ "isPickedUp": false,
511
+ "moveable": false,
512
+ "mass": 0.30000001192092896,
513
+ "salientMaterials": [
514
+ "Paper"
515
+ ],
516
+ "receptacleObjectIds": [],
517
+ "distance": 1.4696935415267944,
518
+ "objectType": "Box",
519
+ "objectId": "Box|+00.33|+00.90|+00.49",
520
+ "assetId": "Box_2",
521
+ "parentReceptacles": [
522
+ "SideTable|+00.63|+00.01|+00.34"
523
+ ],
524
+ "controlledObjects": null,
525
+ "isMoving": false,
526
+ "axisAlignedBoundingBox": {
527
+ "cornerPoints": [
528
+ [
529
+ 0.6266247034072876,
530
+ 0.9971388578414917,
531
+ 0.6210201978683472
532
+ ],
533
+ [
534
+ 0.6266247034072876,
535
+ 0.9971388578414917,
536
+ 0.07037034630775452
537
+ ],
538
+ [
539
+ 0.6266247034072876,
540
+ 0.7156296968460083,
541
+ 0.6210201978683472
542
+ ],
543
+ [
544
+ 0.6266247034072876,
545
+ 0.7156296968460083,
546
+ 0.07037034630775452
547
+ ],
548
+ [
549
+ 0.026602834463119507,
550
+ 0.9971388578414917,
551
+ 0.6210201978683472
552
+ ],
553
+ [
554
+ 0.026602834463119507,
555
+ 0.9971388578414917,
556
+ 0.07037034630775452
557
+ ],
558
+ [
559
+ 0.026602834463119507,
560
+ 0.7156296968460083,
561
+ 0.6210201978683472
562
+ ],
563
+ [
564
+ 0.026602834463119507,
565
+ 0.7156296968460083,
566
+ 0.07037034630775452
567
+ ]
568
+ ],
569
+ "center": {
570
+ "x": 0.32661375403404236,
571
+ "y": 0.85638427734375,
572
+ "z": 0.34569528698921204
573
+ },
574
+ "size": {
575
+ "x": 0.6000218391418457,
576
+ "y": 0.2815091609954834,
577
+ "z": 0.550649881362915
578
+ }
579
+ },
580
+ "objectOrientedBoundingBox": {
581
+ "cornerPoints": [
582
+ [
583
+ 0.6266443729400635,
584
+ 0.715626060962677,
585
+ 0.6209068298339844
586
+ ],
587
+ [
588
+ 0.026710599660873413,
589
+ 0.7156375646591187,
590
+ 0.6210560202598572
591
+ ],
592
+ [
593
+ 0.02657368779182434,
594
+ 0.7156435251235962,
595
+ 0.07048055529594421
596
+ ],
597
+ [
598
+ 0.6265075206756592,
599
+ 0.7156319618225098,
600
+ 0.07033136487007141
601
+ ],
602
+ [
603
+ 0.6266498565673828,
604
+ 0.9971340298652649,
605
+ 0.6209098696708679
606
+ ],
607
+ [
608
+ 0.026716023683547974,
609
+ 0.9971455335617065,
610
+ 0.6210590600967407
611
+ ],
612
+ [
613
+ 0.0265791118144989,
614
+ 0.9971514344215393,
615
+ 0.07048356533050537
616
+ ],
617
+ [
618
+ 0.626512885093689,
619
+ 0.9971399307250977,
620
+ 0.07033437490463257
621
+ ]
622
+ ]
623
+ }
624
+ }
625
+ },
626
+ {
627
+ "objectId": "Sofa|-01.14|00.00|+00.52",
628
+ "object_info": {
629
+ "name": "Sofa_5f6946f9",
630
+ "position": {
631
+ "x": -1.1358411312103271,
632
+ "y": -0.004815518856048584,
633
+ "z": 0.5171529054641724
634
+ },
635
+ "rotation": {
636
+ "x": 0.00011686379730235785,
637
+ "y": 0.7543776631355286,
638
+ "z": -8.622366294730455e-06
639
+ },
640
+ "visible": true,
641
+ "isInteractable": true,
642
+ "receptacle": true,
643
+ "toggleable": false,
644
+ "isToggled": false,
645
+ "breakable": false,
646
+ "isBroken": false,
647
+ "canFillWithLiquid": false,
648
+ "isFilledWithLiquid": false,
649
+ "fillLiquid": null,
650
+ "dirtyable": false,
651
+ "isDirty": false,
652
+ "canBeUsedUp": false,
653
+ "isUsedUp": false,
654
+ "cookable": false,
655
+ "isCooked": false,
656
+ "temperature": "RoomTemp",
657
+ "isHeatSource": false,
658
+ "isColdSource": false,
659
+ "sliceable": false,
660
+ "isSliced": false,
661
+ "openable": false,
662
+ "isOpen": false,
663
+ "openness": 0.0,
664
+ "pickupable": false,
665
+ "isPickedUp": false,
666
+ "moveable": true,
667
+ "mass": 103.99999237060547,
668
+ "salientMaterials": [
669
+ "Fabric"
670
+ ],
671
+ "receptacleObjectIds": [
672
+ "Pillow|-00.50|+00.69|+00.51"
673
+ ],
674
+ "distance": 1.6198784112930298,
675
+ "objectType": "Sofa",
676
+ "objectId": "Sofa|-01.14|00.00|+00.52",
677
+ "assetId": "Sofa_201_2",
678
+ "parentReceptacles": [
679
+ "Floor|+00.00|+00.00|+00.00"
680
+ ],
681
+ "controlledObjects": null,
682
+ "isMoving": false,
683
+ "axisAlignedBoundingBox": {
684
+ "cornerPoints": [
685
+ [
686
+ 0.07678508758544922,
687
+ 1.1200249195098877,
688
+ 1.0050995349884033
689
+ ],
690
+ [
691
+ 0.07678508758544922,
692
+ 1.1200249195098877,
693
+ 0.0026784539222717285
694
+ ],
695
+ [
696
+ 0.07678508758544922,
697
+ 5.447864532470703e-05,
698
+ 1.0050995349884033
699
+ ],
700
+ [
701
+ 0.07678508758544922,
702
+ 5.447864532470703e-05,
703
+ 0.0026784539222717285
704
+ ],
705
+ [
706
+ -2.3401033878326416,
707
+ 1.1200249195098877,
708
+ 1.0050995349884033
709
+ ],
710
+ [
711
+ -2.3401033878326416,
712
+ 1.1200249195098877,
713
+ 0.0026784539222717285
714
+ ],
715
+ [
716
+ -2.3401033878326416,
717
+ 5.447864532470703e-05,
718
+ 1.0050995349884033
719
+ ],
720
+ [
721
+ -2.3401033878326416,
722
+ 5.447864532470703e-05,
723
+ 0.0026784539222717285
724
+ ]
725
+ ],
726
+ "center": {
727
+ "x": -1.1316591501235962,
728
+ "y": 0.5600396990776062,
729
+ "z": 0.5038890242576599
730
+ },
731
+ "size": {
732
+ "x": 2.416888475418091,
733
+ "y": 1.119970440864563,
734
+ "z": 1.0024211406707764
735
+ }
736
+ },
737
+ "objectOrientedBoundingBox": {
738
+ "cornerPoints": [
739
+ [
740
+ 0.07697510719299316,
741
+ 4.681432619690895e-05,
742
+ 0.9761027097702026
743
+ ],
744
+ [
745
+ -2.327432155609131,
746
+ 4.617590457201004e-05,
747
+ 1.0077885389328003
748
+ ],
749
+ [
750
+ -2.3402976989746094,
751
+ 4.647718742489815e-05,
752
+ 0.03151249885559082
753
+ ],
754
+ [
755
+ 0.06410956382751465,
756
+ 4.711560904979706e-05,
757
+ -0.00017338991165161133
758
+ ],
759
+ [
760
+ 0.07697486877441406,
761
+ 1.1200108528137207,
762
+ 0.9761030673980713
763
+ ],
764
+ [
765
+ -2.327432632446289,
766
+ 1.1200101375579834,
767
+ 1.007788896560669
768
+ ],
769
+ [
770
+ -2.3402981758117676,
771
+ 1.1200103759765625,
772
+ 0.03151285648345947
773
+ ],
774
+ [
775
+ 0.064109206199646,
776
+ 1.1200110912322998,
777
+ -0.00017303228378295898
778
+ ]
779
+ ]
780
+ }
781
+ }
782
+ },
783
+ {
784
+ "objectId": "Painting|-01.10|+01.77|-00.02",
785
+ "object_info": {
786
+ "name": "Painting_c2682828",
787
+ "position": {
788
+ "x": -1.096000075340271,
789
+ "y": 1.7739999294281006,
790
+ "z": -0.017000000923871994
791
+ },
792
+ "rotation": {
793
+ "x": -0.0,
794
+ "y": 0.0,
795
+ "z": 0.0
796
+ },
797
+ "visible": false,
798
+ "isInteractable": false,
799
+ "receptacle": false,
800
+ "toggleable": false,
801
+ "isToggled": false,
802
+ "breakable": false,
803
+ "isBroken": false,
804
+ "canFillWithLiquid": false,
805
+ "isFilledWithLiquid": false,
806
+ "fillLiquid": null,
807
+ "dirtyable": false,
808
+ "isDirty": false,
809
+ "canBeUsedUp": false,
810
+ "isUsedUp": false,
811
+ "cookable": false,
812
+ "isCooked": false,
813
+ "temperature": "RoomTemp",
814
+ "isHeatSource": false,
815
+ "isColdSource": false,
816
+ "sliceable": false,
817
+ "isSliced": false,
818
+ "openable": false,
819
+ "isOpen": false,
820
+ "openness": 0.0,
821
+ "pickupable": false,
822
+ "isPickedUp": false,
823
+ "moveable": false,
824
+ "mass": 0.0,
825
+ "salientMaterials": null,
826
+ "receptacleObjectIds": null,
827
+ "distance": 2.0162723064422607,
828
+ "objectType": "Painting",
829
+ "objectId": "Painting|-01.10|+01.77|-00.02",
830
+ "assetId": "",
831
+ "parentReceptacles": null,
832
+ "controlledObjects": null,
833
+ "isMoving": false,
834
+ "axisAlignedBoundingBox": {
835
+ "cornerPoints": [
836
+ [
837
+ -0.5423712730407715,
838
+ 2.231011390686035,
839
+ 0.047744959592819214
840
+ ],
841
+ [
842
+ -0.5423712730407715,
843
+ 2.231011390686035,
844
+ -0.09480203688144684
845
+ ],
846
+ [
847
+ -0.5423712730407715,
848
+ 1.316988468170166,
849
+ 0.047744959592819214
850
+ ],
851
+ [
852
+ -0.5423712730407715,
853
+ 1.316988468170166,
854
+ -0.09480203688144684
855
+ ],
856
+ [
857
+ -1.6496288776397705,
858
+ 2.231011390686035,
859
+ 0.047744959592819214
860
+ ],
861
+ [
862
+ -1.6496288776397705,
863
+ 2.231011390686035,
864
+ -0.09480203688144684
865
+ ],
866
+ [
867
+ -1.6496288776397705,
868
+ 1.316988468170166,
869
+ 0.047744959592819214
870
+ ],
871
+ [
872
+ -1.6496288776397705,
873
+ 1.316988468170166,
874
+ -0.09480203688144684
875
+ ]
876
+ ],
877
+ "center": {
878
+ "x": -1.096000075340271,
879
+ "y": 1.7739999294281006,
880
+ "z": -0.023528538644313812
881
+ },
882
+ "size": {
883
+ "x": 1.107257604598999,
884
+ "y": 0.9140229225158691,
885
+ "z": 0.14254699647426605
886
+ }
887
+ },
888
+ "objectOrientedBoundingBox": null
889
+ }
890
+ },
891
+ {
892
+ "objectId": "RemoteControl|-01.27|+00.44|+02.15",
893
+ "object_info": {
894
+ "name": "RemoteControl_6aec8052",
895
+ "position": {
896
+ "x": -1.273537278175354,
897
+ "y": 0.44417518377304077,
898
+ "z": 2.1527976989746094
899
+ },
900
+ "rotation": {
901
+ "x": 0.011795872822403908,
902
+ "y": 359.96044921875,
903
+ "z": 359.80902099609375
904
+ },
905
+ "visible": false,
906
+ "isInteractable": false,
907
+ "receptacle": false,
908
+ "toggleable": false,
909
+ "isToggled": false,
910
+ "breakable": false,
911
+ "isBroken": false,
912
+ "canFillWithLiquid": false,
913
+ "isFilledWithLiquid": false,
914
+ "fillLiquid": null,
915
+ "dirtyable": false,
916
+ "isDirty": false,
917
+ "canBeUsedUp": false,
918
+ "isUsedUp": false,
919
+ "cookable": false,
920
+ "isCooked": false,
921
+ "temperature": "RoomTemp",
922
+ "isHeatSource": false,
923
+ "isColdSource": false,
924
+ "sliceable": false,
925
+ "isSliced": false,
926
+ "openable": false,
927
+ "isOpen": false,
928
+ "openness": 0.0,
929
+ "pickupable": true,
930
+ "isPickedUp": false,
931
+ "moveable": false,
932
+ "mass": 0.15000000596046448,
933
+ "salientMaterials": [
934
+ "Metal",
935
+ "Plastic"
936
+ ],
937
+ "receptacleObjectIds": null,
938
+ "distance": 1.0060399770736694,
939
+ "objectType": "RemoteControl",
940
+ "objectId": "RemoteControl|-01.27|+00.44|+02.15",
941
+ "assetId": "Remote_2",
942
+ "parentReceptacles": [
943
+ "CoffeeTable|-01.73|+00.01|+02.36"
944
+ ],
945
+ "controlledObjects": null,
946
+ "isMoving": false,
947
+ "axisAlignedBoundingBox": {
948
+ "cornerPoints": [
949
+ [
950
+ -1.2442559003829956,
951
+ 0.46738266944885254,
952
+ 2.258861780166626
953
+ ],
954
+ [
955
+ -1.2442559003829956,
956
+ 0.46738266944885254,
957
+ 2.0467159748077393
958
+ ],
959
+ [
960
+ -1.2442559003829956,
961
+ 0.4434448480606079,
962
+ 2.258861780166626
963
+ ],
964
+ [
965
+ -1.2442559003829956,
966
+ 0.4434448480606079,
967
+ 2.0467159748077393
968
+ ],
969
+ [
970
+ -1.302942156791687,
971
+ 0.46738266944885254,
972
+ 2.258861780166626
973
+ ],
974
+ [
975
+ -1.302942156791687,
976
+ 0.46738266944885254,
977
+ 2.0467159748077393
978
+ ],
979
+ [
980
+ -1.302942156791687,
981
+ 0.4434448480606079,
982
+ 2.258861780166626
983
+ ],
984
+ [
985
+ -1.302942156791687,
986
+ 0.4434448480606079,
987
+ 2.0467159748077393
988
+ ]
989
+ ],
990
+ "center": {
991
+ "x": -1.2735990285873413,
992
+ "y": 0.4554137587547302,
993
+ "z": 2.1527888774871826
994
+ },
995
+ "size": {
996
+ "x": 0.058686256408691406,
997
+ "y": 0.02393782138824463,
998
+ "z": 0.21214580535888672
999
+ }
1000
+ },
1001
+ "objectOrientedBoundingBox": {
1002
+ "cornerPoints": [
1003
+ [
1004
+ -1.244377851486206,
1005
+ 0.4434448480606079,
1006
+ 2.258861780166626
1007
+ ],
1008
+ [
1009
+ -1.3029422760009766,
1010
+ 0.4434700906276703,
1011
+ 2.258831024169922
1012
+ ],
1013
+ [
1014
+ -1.302830696105957,
1015
+ 0.4434703588485718,
1016
+ 2.0467159748077393
1017
+ ],
1018
+ [
1019
+ -1.2442662715911865,
1020
+ 0.4434451162815094,
1021
+ 2.0467467308044434
1022
+ ],
1023
+ [
1024
+ -1.2443674802780151,
1025
+ 0.46735715866088867,
1026
+ 2.258861780166626
1027
+ ],
1028
+ [
1029
+ -1.3029319047927856,
1030
+ 0.46738240122795105,
1031
+ 2.258831024169922
1032
+ ],
1033
+ [
1034
+ -1.3028203248977661,
1035
+ 0.46738266944885254,
1036
+ 2.0467159748077393
1037
+ ],
1038
+ [
1039
+ -1.2442559003829956,
1040
+ 0.46735742688179016,
1041
+ 2.0467467308044434
1042
+ ]
1043
+ ]
1044
+ }
1045
+ }
1046
+ },
1047
+ {
1048
+ "objectId": "Curtains|-03.97|+02.26|+01.45",
1049
+ "object_info": {
1050
+ "name": "Curtains_f437c5aa",
1051
+ "position": {
1052
+ "x": -3.9739997386932373,
1053
+ "y": 2.254999876022339,
1054
+ "z": 1.4539999961853027
1055
+ },
1056
+ "rotation": {
1057
+ "x": -0.0,
1058
+ "y": 0.0,
1059
+ "z": 0.0
1060
+ },
1061
+ "visible": false,
1062
+ "isInteractable": false,
1063
+ "receptacle": false,
1064
+ "toggleable": false,
1065
+ "isToggled": false,
1066
+ "breakable": false,
1067
+ "isBroken": false,
1068
+ "canFillWithLiquid": false,
1069
+ "isFilledWithLiquid": false,
1070
+ "fillLiquid": null,
1071
+ "dirtyable": false,
1072
+ "isDirty": false,
1073
+ "canBeUsedUp": false,
1074
+ "isUsedUp": false,
1075
+ "cookable": false,
1076
+ "isCooked": false,
1077
+ "temperature": "RoomTemp",
1078
+ "isHeatSource": false,
1079
+ "isColdSource": false,
1080
+ "sliceable": false,
1081
+ "isSliced": false,
1082
+ "openable": false,
1083
+ "isOpen": false,
1084
+ "openness": 0.0,
1085
+ "pickupable": false,
1086
+ "isPickedUp": false,
1087
+ "moveable": false,
1088
+ "mass": 0.0,
1089
+ "salientMaterials": null,
1090
+ "receptacleObjectIds": null,
1091
+ "distance": 3.7366271018981934,
1092
+ "objectType": "Curtains",
1093
+ "objectId": "Curtains|-03.97|+02.26|+01.45",
1094
+ "assetId": "",
1095
+ "parentReceptacles": [
1096
+ "Floor|+00.00|+00.00|+00.00"
1097
+ ],
1098
+ "controlledObjects": null,
1099
+ "isMoving": false,
1100
+ "axisAlignedBoundingBox": {
1101
+ "cornerPoints": [
1102
+ [
1103
+ -3.768399238586426,
1104
+ 2.2671194076538086,
1105
+ 2.6316933631896973
1106
+ ],
1107
+ [
1108
+ -3.768399238586426,
1109
+ 2.2671194076538086,
1110
+ 0.35443973541259766
1111
+ ],
1112
+ [
1113
+ -3.768399238586426,
1114
+ 0.032193660736083984,
1115
+ 2.6316933631896973
1116
+ ],
1117
+ [
1118
+ -3.768399238586426,
1119
+ 0.032193660736083984,
1120
+ 0.35443973541259766
1121
+ ],
1122
+ [
1123
+ -4.0606513023376465,
1124
+ 2.2671194076538086,
1125
+ 2.6316933631896973
1126
+ ],
1127
+ [
1128
+ -4.0606513023376465,
1129
+ 2.2671194076538086,
1130
+ 0.35443973541259766
1131
+ ],
1132
+ [
1133
+ -4.0606513023376465,
1134
+ 0.032193660736083984,
1135
+ 2.6316933631896973
1136
+ ],
1137
+ [
1138
+ -4.0606513023376465,
1139
+ 0.032193660736083984,
1140
+ 0.35443973541259766
1141
+ ]
1142
+ ],
1143
+ "center": {
1144
+ "x": -3.914525270462036,
1145
+ "y": 1.1496565341949463,
1146
+ "z": 1.4930665493011475
1147
+ },
1148
+ "size": {
1149
+ "x": 0.2922520637512207,
1150
+ "y": 2.2349257469177246,
1151
+ "z": 2.2772536277770996
1152
+ }
1153
+ },
1154
+ "objectOrientedBoundingBox": null
1155
+ }
1156
+ },
1157
+ {
1158
+ "objectId": "CoffeeTable|-01.73|+00.01|+02.36",
1159
+ "object_info": {
1160
+ "name": "CoffeeTable_f6dcd9dd",
1161
+ "position": {
1162
+ "x": -1.7349979877471924,
1163
+ "y": 0.005640685558319092,
1164
+ "z": 2.3609893321990967
1165
+ },
1166
+ "rotation": {
1167
+ "x": 0.0014754097210243344,
1168
+ "y": 0.00011461416579550132,
1169
+ "z": -0.0009494048426859081
1170
+ },
1171
+ "visible": true,
1172
+ "isInteractable": true,
1173
+ "receptacle": true,
1174
+ "toggleable": false,
1175
+ "isToggled": false,
1176
+ "breakable": false,
1177
+ "isBroken": false,
1178
+ "canFillWithLiquid": false,
1179
+ "isFilledWithLiquid": false,
1180
+ "fillLiquid": null,
1181
+ "dirtyable": false,
1182
+ "isDirty": false,
1183
+ "canBeUsedUp": false,
1184
+ "isUsedUp": false,
1185
+ "cookable": false,
1186
+ "isCooked": false,
1187
+ "temperature": "RoomTemp",
1188
+ "isHeatSource": false,
1189
+ "isColdSource": false,
1190
+ "sliceable": false,
1191
+ "isSliced": false,
1192
+ "openable": false,
1193
+ "isOpen": false,
1194
+ "openness": 0.0,
1195
+ "pickupable": false,
1196
+ "isPickedUp": false,
1197
+ "moveable": true,
1198
+ "mass": 11.0,
1199
+ "salientMaterials": [
1200
+ "Wood"
1201
+ ],
1202
+ "receptacleObjectIds": [
1203
+ "RemoteControl|-01.27|+00.44|+02.15",
1204
+ "CreditCard|-02.10|+00.44|+02.58",
1205
+ "HousePlant|-02.01|+00.45|+02.36"
1206
+ ],
1207
+ "distance": 1.6624913215637207,
1208
+ "objectType": "CoffeeTable",
1209
+ "objectId": "CoffeeTable|-01.73|+00.01|+02.36",
1210
+ "assetId": "Coffee_Table_202_1",
1211
+ "parentReceptacles": [
1212
+ "Floor|+00.00|+00.00|+00.00"
1213
+ ],
1214
+ "controlledObjects": null,
1215
+ "isMoving": false,
1216
+ "axisAlignedBoundingBox": {
1217
+ "cornerPoints": [
1218
+ [
1219
+ -1.228797435760498,
1220
+ 0.4434751868247986,
1221
+ 2.6887097358703613
1222
+ ],
1223
+ [
1224
+ -1.228797435760498,
1225
+ 0.4434751868247986,
1226
+ 2.0332765579223633
1227
+ ],
1228
+ [
1229
+ -1.228797435760498,
1230
+ 4.315376281738281e-05,
1231
+ 2.6887097358703613
1232
+ ],
1233
+ [
1234
+ -1.228797435760498,
1235
+ 4.315376281738281e-05,
1236
+ 2.0332765579223633
1237
+ ],
1238
+ [
1239
+ -2.2424564361572266,
1240
+ 0.4434751868247986,
1241
+ 2.6887097358703613
1242
+ ],
1243
+ [
1244
+ -2.2424564361572266,
1245
+ 0.4434751868247986,
1246
+ 2.0332765579223633
1247
+ ],
1248
+ [
1249
+ -2.2424564361572266,
1250
+ 4.315376281738281e-05,
1251
+ 2.6887097358703613
1252
+ ],
1253
+ [
1254
+ -2.2424564361572266,
1255
+ 4.315376281738281e-05,
1256
+ 2.0332765579223633
1257
+ ]
1258
+ ],
1259
+ "center": {
1260
+ "x": -1.7356269359588623,
1261
+ "y": 0.22175917029380798,
1262
+ "z": 2.3609931468963623
1263
+ },
1264
+ "size": {
1265
+ "x": 1.0136590003967285,
1266
+ "y": 0.4434320330619812,
1267
+ "z": 0.655433177947998
1268
+ }
1269
+ },
1270
+ "objectOrientedBoundingBox": {
1271
+ "cornerPoints": [
1272
+ [
1273
+ -1.22880220413208,
1274
+ 4.938757047057152e-05,
1275
+ 2.6887128353118896
1276
+ ],
1277
+ [
1278
+ -2.2424585819244385,
1279
+ 5.36525622010231e-05,
1280
+ 2.6887078285217285
1281
+ ],
1282
+ [
1283
+ -2.242455244064331,
1284
+ 4.747509956359863e-05,
1285
+ 2.03328013420105
1286
+ ],
1287
+ [
1288
+ -1.2287988662719727,
1289
+ 4.321010783314705e-05,
1290
+ 2.03328537940979
1291
+ ],
1292
+ [
1293
+ -1.2288004159927368,
1294
+ 0.4434714615345001,
1295
+ 2.688708782196045
1296
+ ],
1297
+ [
1298
+ -2.2424566745758057,
1299
+ 0.44347572326660156,
1300
+ 2.6887035369873047
1301
+ ],
1302
+ [
1303
+ -2.2424533367156982,
1304
+ 0.4434695243835449,
1305
+ 2.033276081085205
1306
+ ],
1307
+ [
1308
+ -1.2287970781326294,
1309
+ 0.4434652626514435,
1310
+ 2.033281087875366
1311
+ ]
1312
+ ]
1313
+ }
1314
+ }
1315
+ },
1316
+ {
1317
+ "objectId": "HousePlant|-02.01|+00.45|+02.36",
1318
+ "object_info": {
1319
+ "name": "HousePlant_c0410d81",
1320
+ "position": {
1321
+ "x": -2.0149343013763428,
1322
+ "y": 0.44758614897727966,
1323
+ "z": 2.3577699661254883
1324
+ },
1325
+ "rotation": {
1326
+ "x": 0.13371217250823975,
1327
+ "y": 0.43230530619621277,
1328
+ "z": 359.86834716796875
1329
+ },
1330
+ "visible": true,
1331
+ "isInteractable": true,
1332
+ "receptacle": false,
1333
+ "toggleable": false,
1334
+ "isToggled": false,
1335
+ "breakable": false,
1336
+ "isBroken": false,
1337
+ "canFillWithLiquid": true,
1338
+ "isFilledWithLiquid": false,
1339
+ "fillLiquid": null,
1340
+ "dirtyable": false,
1341
+ "isDirty": false,
1342
+ "canBeUsedUp": false,
1343
+ "isUsedUp": false,
1344
+ "cookable": false,
1345
+ "isCooked": false,
1346
+ "temperature": "RoomTemp",
1347
+ "isHeatSource": false,
1348
+ "isColdSource": false,
1349
+ "sliceable": false,
1350
+ "isSliced": false,
1351
+ "openable": false,
1352
+ "isOpen": false,
1353
+ "openness": 0.0,
1354
+ "pickupable": false,
1355
+ "isPickedUp": false,
1356
+ "moveable": true,
1357
+ "mass": 3.0,
1358
+ "salientMaterials": [
1359
+ "Ceramic",
1360
+ "Organic"
1361
+ ],
1362
+ "receptacleObjectIds": null,
1363
+ "distance": 1.7126917839050293,
1364
+ "objectType": "HousePlant",
1365
+ "objectId": "HousePlant|-02.01|+00.45|+02.36",
1366
+ "assetId": "Houseplant_2",
1367
+ "parentReceptacles": [
1368
+ "CoffeeTable|-01.73|+00.01|+02.36"
1369
+ ],
1370
+ "controlledObjects": null,
1371
+ "isMoving": false,
1372
+ "axisAlignedBoundingBox": {
1373
+ "cornerPoints": [
1374
+ [
1375
+ -1.9226515293121338,
1376
+ 1.1414202451705933,
1377
+ 2.4988555908203125
1378
+ ],
1379
+ [
1380
+ -1.9226515293121338,
1381
+ 1.1414202451705933,
1382
+ 2.2222766876220703
1383
+ ],
1384
+ [
1385
+ -1.9226515293121338,
1386
+ 0.4434148073196411,
1387
+ 2.4988555908203125
1388
+ ],
1389
+ [
1390
+ -1.9226515293121338,
1391
+ 0.4434148073196411,
1392
+ 2.2222766876220703
1393
+ ],
1394
+ [
1395
+ -2.1600968837738037,
1396
+ 1.1414202451705933,
1397
+ 2.4988555908203125
1398
+ ],
1399
+ [
1400
+ -2.1600968837738037,
1401
+ 1.1414202451705933,
1402
+ 2.2222766876220703
1403
+ ],
1404
+ [
1405
+ -2.1600968837738037,
1406
+ 0.4434148073196411,
1407
+ 2.4988555908203125
1408
+ ],
1409
+ [
1410
+ -2.1600968837738037,
1411
+ 0.4434148073196411,
1412
+ 2.2222766876220703
1413
+ ]
1414
+ ],
1415
+ "center": {
1416
+ "x": -2.0413742065429688,
1417
+ "y": 0.7924175262451172,
1418
+ "z": 2.3605661392211914
1419
+ },
1420
+ "size": {
1421
+ "x": 0.23744535446166992,
1422
+ "y": 0.6980054378509521,
1423
+ "z": 0.2765789031982422
1424
+ }
1425
+ },
1426
+ "objectOrientedBoundingBox": {
1427
+ "cornerPoints": [
1428
+ [
1429
+ -1.923201322555542,
1430
+ 0.4431056082248688,
1431
+ 2.4955716133117676
1432
+ ],
1433
+ [
1434
+ -2.1597938537597656,
1435
+ 0.4436492919921875,
1436
+ 2.4973580837249756
1437
+ ],
1438
+ [
1439
+ -2.161877155303955,
1440
+ 0.4442936182022095,
1441
+ 2.221266746520996
1442
+ ],
1443
+ [
1444
+ -1.925284504890442,
1445
+ 0.44374993443489075,
1446
+ 2.219480276107788
1447
+ ],
1448
+ [
1449
+ -1.921585202217102,
1450
+ 1.1410508155822754,
1451
+ 2.4971883296966553
1452
+ ],
1453
+ [
1454
+ -2.1581778526306152,
1455
+ 1.1415945291519165,
1456
+ 2.4989748001098633
1457
+ ],
1458
+ [
1459
+ -2.1602609157562256,
1460
+ 1.1422388553619385,
1461
+ 2.222883462905884
1462
+ ],
1463
+ [
1464
+ -1.923668384552002,
1465
+ 1.1416951417922974,
1466
+ 2.221096992492676
1467
+ ]
1468
+ ]
1469
+ }
1470
+ }
1471
+ },
1472
+ {
1473
+ "objectId": "ArmChair|-03.06|+00.00|+00.52",
1474
+ "object_info": {
1475
+ "name": "ArmChair_ce633ece",
1476
+ "position": {
1477
+ "x": -3.063239574432373,
1478
+ "y": 0.000896841287612915,
1479
+ "z": 0.5175459980964661
1480
+ },
1481
+ "rotation": {
1482
+ "x": -0.004098193719983101,
1483
+ "y": -0.005070995539426804,
1484
+ "z": 359.9940185546875
1485
+ },
1486
+ "visible": false,
1487
+ "isInteractable": false,
1488
+ "receptacle": true,
1489
+ "toggleable": false,
1490
+ "isToggled": false,
1491
+ "breakable": false,
1492
+ "isBroken": false,
1493
+ "canFillWithLiquid": false,
1494
+ "isFilledWithLiquid": false,
1495
+ "fillLiquid": null,
1496
+ "dirtyable": false,
1497
+ "isDirty": false,
1498
+ "canBeUsedUp": false,
1499
+ "isUsedUp": false,
1500
+ "cookable": false,
1501
+ "isCooked": false,
1502
+ "temperature": "RoomTemp",
1503
+ "isHeatSource": false,
1504
+ "isColdSource": false,
1505
+ "sliceable": false,
1506
+ "isSliced": false,
1507
+ "openable": false,
1508
+ "isOpen": false,
1509
+ "openness": 0.0,
1510
+ "pickupable": false,
1511
+ "isPickedUp": false,
1512
+ "moveable": true,
1513
+ "mass": 28.299999237060547,
1514
+ "salientMaterials": [
1515
+ "Fabric"
1516
+ ],
1517
+ "receptacleObjectIds": [
1518
+ "Laptop|-03.22|+00.61|+00.58"
1519
+ ],
1520
+ "distance": 2.962880849838257,
1521
+ "objectType": "ArmChair",
1522
+ "objectId": "ArmChair|-03.06|+00.00|+00.52",
1523
+ "assetId": "Armchair_202_1",
1524
+ "parentReceptacles": [
1525
+ "Floor|+00.00|+00.00|+00.00"
1526
+ ],
1527
+ "controlledObjects": null,
1528
+ "isMoving": false,
1529
+ "axisAlignedBoundingBox": {
1530
+ "cornerPoints": [
1531
+ [
1532
+ -2.356858730316162,
1533
+ 1.2624226808547974,
1534
+ 0.9900634288787842
1535
+ ],
1536
+ [
1537
+ -2.356858730316162,
1538
+ 1.2624226808547974,
1539
+ 0.02552032470703125
1540
+ ],
1541
+ [
1542
+ -2.356858730316162,
1543
+ -8.189678192138672e-05,
1544
+ 0.9900634288787842
1545
+ ],
1546
+ [
1547
+ -2.356858730316162,
1548
+ -8.189678192138672e-05,
1549
+ 0.02552032470703125
1550
+ ],
1551
+ [
1552
+ -3.7685675621032715,
1553
+ 1.2624226808547974,
1554
+ 0.9900634288787842
1555
+ ],
1556
+ [
1557
+ -3.7685675621032715,
1558
+ 1.2624226808547974,
1559
+ 0.02552032470703125
1560
+ ],
1561
+ [
1562
+ -3.7685675621032715,
1563
+ -8.189678192138672e-05,
1564
+ 0.9900634288787842
1565
+ ],
1566
+ [
1567
+ -3.7685675621032715,
1568
+ -8.189678192138672e-05,
1569
+ 0.02552032470703125
1570
+ ]
1571
+ ],
1572
+ "center": {
1573
+ "x": -3.062713146209717,
1574
+ "y": 0.631170392036438,
1575
+ "z": 0.5077918767929077
1576
+ },
1577
+ "size": {
1578
+ "x": 1.4117088317871094,
1579
+ "y": 1.2625045776367188,
1580
+ "z": 0.9645431041717529
1581
+ }
1582
+ },
1583
+ "objectOrientedBoundingBox": {
1584
+ "cornerPoints": [
1585
+ [
1586
+ -2.3570618629455566,
1587
+ 3.343092976137996e-05,
1588
+ 0.9901637434959412
1589
+ ],
1590
+ [
1591
+ -3.768569231033325,
1592
+ 0.00021634536096826196,
1593
+ 0.9900387525558472
1594
+ ],
1595
+ [
1596
+ -3.768483877182007,
1597
+ 9.867834160104394e-05,
1598
+ 0.025649964809417725
1599
+ ],
1600
+ [
1601
+ -2.3569765090942383,
1602
+ -8.423603139817715e-05,
1603
+ 0.025774985551834106
1604
+ ],
1605
+ [
1606
+ -2.356898307800293,
1607
+ 1.2623553276062012,
1608
+ 0.9900097846984863
1609
+ ],
1610
+ [
1611
+ -3.7684056758880615,
1612
+ 1.262538194656372,
1613
+ 0.9898847341537476
1614
+ ],
1615
+ [
1616
+ -3.768320322036743,
1617
+ 1.262420415878296,
1618
+ 0.025495946407318115
1619
+ ],
1620
+ [
1621
+ -2.3568129539489746,
1622
+ 1.262237548828125,
1623
+ 0.025620967149734497
1624
+ ]
1625
+ ]
1626
+ }
1627
+ }
1628
+ },
1629
+ {
1630
+ "objectId": "Shelf|+00.62|+00.24|+00.34",
1631
+ "object_info": {
1632
+ "name": "Shelf_2ef847cf",
1633
+ "position": {
1634
+ "x": 0.6229959726333618,
1635
+ "y": 0.23879793286323547,
1636
+ "z": 0.34000349044799805
1637
+ },
1638
+ "rotation": {
1639
+ "x": -1.8670654753805138e-05,
1640
+ "y": 0.0005228848312981427,
1641
+ "z": 2.6211334898107452e-06
1642
+ },
1643
+ "visible": false,
1644
+ "isInteractable": false,
1645
+ "receptacle": true,
1646
+ "toggleable": false,
1647
+ "isToggled": false,
1648
+ "breakable": false,
1649
+ "isBroken": false,
1650
+ "canFillWithLiquid": false,
1651
+ "isFilledWithLiquid": false,
1652
+ "fillLiquid": null,
1653
+ "dirtyable": false,
1654
+ "isDirty": false,
1655
+ "canBeUsedUp": false,
1656
+ "isUsedUp": false,
1657
+ "cookable": false,
1658
+ "isCooked": false,
1659
+ "temperature": "RoomTemp",
1660
+ "isHeatSource": false,
1661
+ "isColdSource": false,
1662
+ "sliceable": false,
1663
+ "isSliced": false,
1664
+ "openable": false,
1665
+ "isOpen": false,
1666
+ "openness": 0.0,
1667
+ "pickupable": false,
1668
+ "isPickedUp": false,
1669
+ "moveable": false,
1670
+ "mass": 0.0,
1671
+ "salientMaterials": null,
1672
+ "receptacleObjectIds": [],
1673
+ "distance": 1.8839540481567383,
1674
+ "objectType": "Shelf",
1675
+ "objectId": "Shelf|+00.62|+00.24|+00.34",
1676
+ "assetId": "",
1677
+ "parentReceptacles": [
1678
+ "Floor|+00.00|+00.00|+00.00"
1679
+ ],
1680
+ "controlledObjects": null,
1681
+ "isMoving": false,
1682
+ "axisAlignedBoundingBox": {
1683
+ "cornerPoints": [
1684
+ [
1685
+ 1.1153661012649536,
1686
+ 0.8257793188095093,
1687
+ 0.6623780727386475
1688
+ ],
1689
+ [
1690
+ 1.1153661012649536,
1691
+ 0.8257793188095093,
1692
+ 0.01762211322784424
1693
+ ],
1694
+ [
1695
+ 1.1153661012649536,
1696
+ 0.090691477060318,
1697
+ 0.6623780727386475
1698
+ ],
1699
+ [
1700
+ 1.1153661012649536,
1701
+ 0.090691477060318,
1702
+ 0.01762211322784424
1703
+ ],
1704
+ [
1705
+ 0.13083338737487793,
1706
+ 0.8257793188095093,
1707
+ 0.6623780727386475
1708
+ ],
1709
+ [
1710
+ 0.13083338737487793,
1711
+ 0.8257793188095093,
1712
+ 0.01762211322784424
1713
+ ],
1714
+ [
1715
+ 0.13083338737487793,
1716
+ 0.090691477060318,
1717
+ 0.6623780727386475
1718
+ ],
1719
+ [
1720
+ 0.13083338737487793,
1721
+ 0.090691477060318,
1722
+ 0.01762211322784424
1723
+ ]
1724
+ ],
1725
+ "center": {
1726
+ "x": 0.6230997443199158,
1727
+ "y": 0.45823541283607483,
1728
+ "z": 0.34000009298324585
1729
+ },
1730
+ "size": {
1731
+ "x": 0.9845327138900757,
1732
+ "y": 0.7350878715515137,
1733
+ "z": 0.6447559595108032
1734
+ }
1735
+ },
1736
+ "objectOrientedBoundingBox": null
1737
+ }
1738
+ },
1739
+ {
1740
+ "objectId": "Laptop|-03.22|+00.61|+00.58",
1741
+ "object_info": {
1742
+ "name": "Laptop_1793eb2d",
1743
+ "position": {
1744
+ "x": -3.215677499771118,
1745
+ "y": 0.6147335767745972,
1746
+ "z": 0.5826804041862488
1747
+ },
1748
+ "rotation": {
1749
+ "x": 0.0037529009860008955,
1750
+ "y": 29.944215774536133,
1751
+ "z": 359.9883117675781
1752
+ },
1753
+ "visible": false,
1754
+ "isInteractable": false,
1755
+ "receptacle": false,
1756
+ "toggleable": true,
1757
+ "isToggled": false,
1758
+ "breakable": true,
1759
+ "isBroken": false,
1760
+ "canFillWithLiquid": false,
1761
+ "isFilledWithLiquid": false,
1762
+ "fillLiquid": null,
1763
+ "dirtyable": false,
1764
+ "isDirty": false,
1765
+ "canBeUsedUp": false,
1766
+ "isUsedUp": false,
1767
+ "cookable": false,
1768
+ "isCooked": false,
1769
+ "temperature": "RoomTemp",
1770
+ "isHeatSource": false,
1771
+ "isColdSource": false,
1772
+ "sliceable": false,
1773
+ "isSliced": false,
1774
+ "openable": true,
1775
+ "isOpen": true,
1776
+ "openness": 1.0,
1777
+ "pickupable": true,
1778
+ "isPickedUp": false,
1779
+ "moveable": false,
1780
+ "mass": 2.299999952316284,
1781
+ "salientMaterials": [
1782
+ "Metal",
1783
+ "Plastic",
1784
+ "Glass"
1785
+ ],
1786
+ "receptacleObjectIds": null,
1787
+ "distance": 2.9504714012145996,
1788
+ "objectType": "Laptop",
1789
+ "objectId": "Laptop|-03.22|+00.61|+00.58",
1790
+ "assetId": "Laptop_2",
1791
+ "parentReceptacles": [
1792
+ "ArmChair|-03.06|+00.00|+00.52"
1793
+ ],
1794
+ "controlledObjects": [],
1795
+ "isMoving": false,
1796
+ "axisAlignedBoundingBox": {
1797
+ "cornerPoints": [
1798
+ [
1799
+ -2.9909815788269043,
1800
+ 0.8978071212768555,
1801
+ 0.7951347231864929
1802
+ ],
1803
+ [
1804
+ -2.9909815788269043,
1805
+ 0.8978071212768555,
1806
+ 0.3770233988761902
1807
+ ],
1808
+ [
1809
+ -2.9909815788269043,
1810
+ 0.6147116422653198,
1811
+ 0.7951347231864929
1812
+ ],
1813
+ [
1814
+ -2.9909815788269043,
1815
+ 0.6147116422653198,
1816
+ 0.3770233988761902
1817
+ ],
1818
+ [
1819
+ -3.436422824859619,
1820
+ 0.8978071212768555,
1821
+ 0.7951347231864929
1822
+ ],
1823
+ [
1824
+ -3.436422824859619,
1825
+ 0.8978071212768555,
1826
+ 0.3770233988761902
1827
+ ],
1828
+ [
1829
+ -3.436422824859619,
1830
+ 0.6147116422653198,
1831
+ 0.7951347231864929
1832
+ ],
1833
+ [
1834
+ -3.436422824859619,
1835
+ 0.6147116422653198,
1836
+ 0.3770233988761902
1837
+ ]
1838
+ ],
1839
+ "center": {
1840
+ "x": -3.2137022018432617,
1841
+ "y": 0.7562593817710876,
1842
+ "z": 0.5860790610313416
1843
+ },
1844
+ "size": {
1845
+ "x": 0.44544124603271484,
1846
+ "y": 0.28309547901153564,
1847
+ "z": 0.41811132431030273
1848
+ }
1849
+ },
1850
+ "objectOrientedBoundingBox": {
1851
+ "cornerPoints": [
1852
+ [
1853
+ -2.9909849166870117,
1854
+ 0.6147116422653198,
1855
+ 0.6187126636505127
1856
+ ],
1857
+ [
1858
+ -3.2971856594085693,
1859
+ 0.6147809028625488,
1860
+ 0.7951347231864929
1861
+ ],
1862
+ [
1863
+ -3.4364240169525146,
1864
+ 0.6147835850715637,
1865
+ 0.5534706711769104
1866
+ ],
1867
+ [
1868
+ -3.130223274230957,
1869
+ 0.6147143244743347,
1870
+ 0.3770485818386078
1871
+ ],
1872
+ [
1873
+ -2.9909355640411377,
1874
+ 0.8977351188659668,
1875
+ 0.6186873316764832
1876
+ ],
1877
+ [
1878
+ -3.2971363067626953,
1879
+ 0.8978043794631958,
1880
+ 0.7951093912124634
1881
+ ],
1882
+ [
1883
+ -3.4363746643066406,
1884
+ 0.8978070616722107,
1885
+ 0.5534453392028809
1886
+ ],
1887
+ [
1888
+ -3.130173683166504,
1889
+ 0.8977378010749817,
1890
+ 0.37702327966690063
1891
+ ]
1892
+ ]
1893
+ }
1894
+ }
1895
+ }
1896
+ ],
1897
+ "Agent": {
1898
+ "agent_position": {
1899
+ "x": -3.700000047683716,
1900
+ "y": 0.9010459184646606,
1901
+ "z": 3.0
1902
+ },
1903
+ "agent_rotation": {
1904
+ "x": -0.0,
1905
+ "y": 145.0,
1906
+ "z": 0.0
1907
+ },
1908
+ "agent_cameraHorizon": -0.0,
1909
+ "agent_isStanding": true,
1910
+ "agent_inHighFrictionArea": false
1911
+ },
1912
+ "camera_info": {
1913
+ "cameraPosition": {
1914
+ "x": -3.700000047683716,
1915
+ "y": 1.5760459899902344,
1916
+ "z": 3.0
1917
+ },
1918
+ "cameraOrthSize": -1.0,
1919
+ "fov": 90.0
1920
+ },
1921
+ "common_object": [
1922
+ "Laptop|-03.22|+00.61|+00.58",
1923
+ "HousePlant|-02.01|+00.45|+02.36",
1924
+ "Curtains|-03.97|+02.26|+01.45",
1925
+ "ArmChair|-03.06|+00.00|+00.52",
1926
+ "Painting|-01.10|+01.77|-00.02",
1927
+ "Sofa|-01.14|00.00|+00.52",
1928
+ "CoffeeTable|-01.73|+00.01|+02.36"
1929
+ ],
1930
+ "different_object": [
1931
+ "RemoteControl|-01.27|+00.44|+02.15",
1932
+ "Statue|+00.86|+00.71|+00.33",
1933
+ "SideTable|+00.63|+00.01|+00.34",
1934
+ "Pillow|-00.50|+00.69|+00.51",
1935
+ "Shelf|+00.62|+00.24|+00.34",
1936
+ "Box|+00.33|+00.90|+00.49"
1937
+ ]
1938
+ }
train/FloorPlan202/14/1_depth_npy.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1446dcec40dbfd5413730cc7c41ad256f865abdf82892588bbb3d1ef158383d8
3
+ size 3145856
train/FloorPlan202/14/1_semantic_sensor_npy.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:68e5d3bdefed196076ff8d8fb9006565810db5c83a48fc11c081204c8f025af4
3
+ size 2359424
train/FloorPlan202/14/depth_0.png ADDED
train/FloorPlan202/14/depth_1.png ADDED
train/FloorPlan202/14/mask_questions.jsonl ADDED
@@ -0,0 +1,8 @@
 
 
 
 
 
 
 
 
 
1
+ {"id": 3145, "folder_dir": "FloorPlan202/14", "pair_name": "0-1:Laptop|-03.22|+00.61|+00.58", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. HousePlant\nB. Laptop\nC. FloorLamp\nD. Painting", "answer": "B", "object_name": "Laptop", "image_1": "FloorPlan202/14/rgb_0.png", "image_2": "FloorPlan202/14/rgb_1.png", "mask_image": "FloorPlan202/14/rgb_1_mask_Laptop|-03.22|+00.61|+00.58.png", "options": ["HousePlant", "Laptop", "FloorLamp", "Painting"]}
2
+ {"id": 3146, "folder_dir": "FloorPlan202/14", "pair_name": "0-1:Curtains|-03.97|+02.26|+01.45", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. FloorLamp\nB. TVStand\nC. Curtains\nD. Laptop", "answer": "C", "object_name": "Curtains", "image_1": "FloorPlan202/14/rgb_0.png", "image_2": "FloorPlan202/14/rgb_1.png", "mask_image": "FloorPlan202/14/rgb_1_mask_Curtains|-03.97|+02.26|+01.45.png", "options": ["FloorLamp", "TVStand", "Curtains", "Laptop"]}
3
+ {"id": 3147, "folder_dir": "FloorPlan202/14", "pair_name": "0-1:Painting|-01.10|+01.77|-00.02", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. FloorLamp\nB. Painting\nC. Laptop\nD. TVStand", "answer": "B", "object_name": "Painting", "image_1": "FloorPlan202/14/rgb_0.png", "image_2": "FloorPlan202/14/rgb_1.png", "mask_image": "FloorPlan202/14/rgb_1_mask_Painting|-01.10|+01.77|-00.02.png", "options": ["FloorLamp", "Painting", "Laptop", "TVStand"]}
4
+ {"id": 3148, "folder_dir": "FloorPlan202/14", "pair_name": "1-0:Laptop|-03.22|+00.61|+00.58", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Laptop\nB. Shelf\nC. HousePlant\nD. RemoteControl", "answer": "A", "object_name": "Laptop", "image_1": "FloorPlan202/14/rgb_1.png", "image_2": "FloorPlan202/14/rgb_0.png", "mask_image": "FloorPlan202/14/rgb_0_mask_Laptop|-03.22|+00.61|+00.58.png", "options": ["Laptop", "Shelf", "HousePlant", "RemoteControl"]}
5
+ {"id": 3149, "folder_dir": "FloorPlan202/14", "pair_name": "1-0:HousePlant|-02.01|+00.45|+02.36", "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. Laptop\nC. HousePlant\nD. Shelf", "answer": "C", "object_name": "HousePlant", "image_1": "FloorPlan202/14/rgb_1.png", "image_2": "FloorPlan202/14/rgb_0.png", "mask_image": "FloorPlan202/14/rgb_0_mask_HousePlant|-02.01|+00.45|+02.36.png", "options": ["Pillow", "Laptop", "HousePlant", "Shelf"]}
6
+ {"id": 3150, "folder_dir": "FloorPlan202/14", "pair_name": "1-0:Painting|-01.10|+01.77|-00.02", "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. Laptop\nC. Painting\nD. SideTable", "answer": "C", "object_name": "Painting", "image_1": "FloorPlan202/14/rgb_1.png", "image_2": "FloorPlan202/14/rgb_0.png", "mask_image": "FloorPlan202/14/rgb_0_mask_Painting|-01.10|+01.77|-00.02.png", "options": ["Box", "Laptop", "Painting", "SideTable"]}
7
+ {"id": 3151, "folder_dir": "FloorPlan202/14", "pair_name": "1-0:Sofa|-01.14|00.00|+00.52", "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. Box\nC. Laptop\nD. Sofa", "answer": "D", "object_name": "Sofa", "image_1": "FloorPlan202/14/rgb_1.png", "image_2": "FloorPlan202/14/rgb_0.png", "mask_image": "FloorPlan202/14/rgb_0_mask_Sofa|-01.14|00.00|+00.52.png", "options": ["SideTable", "Box", "Laptop", "Sofa"]}
8
+ {"id": 3152, "folder_dir": "FloorPlan202/14", "pair_name": "1-0:CoffeeTable|-01.73|+00.01|+02.36", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Laptop\nB. RemoteControl\nC. CoffeeTable\nD. Statue", "answer": "C", "object_name": "CoffeeTable", "image_1": "FloorPlan202/14/rgb_1.png", "image_2": "FloorPlan202/14/rgb_0.png", "mask_image": "FloorPlan202/14/rgb_0_mask_CoffeeTable|-01.73|+00.01|+02.36.png", "options": ["Laptop", "RemoteControl", "CoffeeTable", "Statue"]}
train/FloorPlan202/14/questions_distance.jsonl ADDED
@@ -0,0 +1,5 @@
 
 
 
 
 
 
1
+ {"id": 1087, "folder_dir": "FloorPlan202/14", "query": "Which of the following objects is closest to HousePlant in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. CoffeeTable\nB. TVStand\nC. RemoteControl\nD. Other\n", "answer": "A", "src_object": "HousePlant", "target_object": "CoffeeTable", "question": "Which of the following objects is closest to HousePlant in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "CoffeeTable", "semantic_id": "CoffeeTable|-01.73|+00.01|+02.36", "distance": 0.6474044601500955, "com": {"x": -1.7356269359588623, "y": 0.22175917029380798, "z": 2.3609931468963623}}, {"text": "TVStand", "semantic_id": "TVStand|-01.57|+00.00|+03.87", "distance": 1.6422110706216897, "com": {"x": -1.5645289421081543, "y": 0.3519742488861084, "z": 3.869037389755249}}, {"text": "RemoteControl", "semantic_id": "RemoteControl|-01.27|+00.44|+02.15", "distance": 0.8638412201794916, "com": {"x": -1.2735990285873413, "y": 0.4554137587547302, "z": 2.1527888774871826}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan202/14/rgb_0.png", "image_2": "FloorPlan202/14/rgb_1.png"}
2
+ {"id": 1088, "folder_dir": "FloorPlan202/14", "query": "Which of the following objects is closest to Curtains 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. Laptop\nC. HousePlant\nD. Other\n", "answer": "B", "src_object": "Curtains", "target_object": "Laptop", "question": "Which of the following objects is closest to Curtains 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|-03.06|+00.00|+00.52", "distance": 1.4018480498684158, "com": {"x": -3.062713146209717, "y": 0.631170392036438, "z": 0.5077918767929077}}, {"text": "Laptop", "semantic_id": "Laptop|-03.22|+00.61|+00.58", "distance": 1.2118335681608294, "com": {"x": -3.2137022018432617, "y": 0.7562593817710876, "z": 0.5860790610313416}}, {"text": "HousePlant", "semantic_id": "HousePlant|-02.01|+00.45|+02.36", "distance": 2.0949630439636775, "com": {"x": -2.0413742065429688, "y": 0.7924175262451172, "z": 2.3605661392211914}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan202/14/rgb_0.png", "image_2": "FloorPlan202/14/rgb_1.png"}
3
+ {"id": 1089, "folder_dir": "FloorPlan202/14", "query": "Which of the following objects is closest to ArmChair in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Laptop\nB. Sofa\nC. Curtains\nD. Other\n", "answer": "A", "src_object": "ArmChair", "target_object": "Laptop", "question": "Which of the following objects is closest to ArmChair in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Laptop", "semantic_id": "Laptop|-03.22|+00.61|+00.58", "distance": 0.211125160722088, "com": {"x": -3.2137022018432617, "y": 0.7562593817710876, "z": 0.5860790610313416}}, {"text": "Sofa", "semantic_id": "Sofa|-01.14|00.00|+00.52", "distance": 1.9323675487698737, "com": {"x": -1.1316591501235962, "y": 0.5600396990776062, "z": 0.5038890242576599}}, {"text": "Curtains", "semantic_id": "Curtains|-03.97|+02.26|+01.45", "distance": 1.4018480498684158, "com": {"x": -3.914525270462036, "y": 1.1496565341949463, "z": 1.4930665493011475}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan202/14/rgb_0.png", "image_2": "FloorPlan202/14/rgb_1.png"}
4
+ {"id": 1090, "folder_dir": "FloorPlan202/14", "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. Box\nB. RemoteControl\nC. Pillow\nD. Other\n", "answer": "C", "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": "Box", "semantic_id": "Box|+00.33|+00.90|+00.49", "distance": 1.496464243000497, "com": {"x": 0.32661375403404236, "y": 0.85638427734375, "z": 0.34569528698921204}}, {"text": "RemoteControl", "semantic_id": "RemoteControl|-01.27|+00.44|+02.15", "distance": 1.6583016138408266, "com": {"x": -1.2735990285873413, "y": 0.4554137587547302, "z": 2.1527888774871826}}, {"text": "Pillow", "semantic_id": "Pillow|-00.50|+00.69|+00.51", "distance": 0.6430432523312889, "com": {"x": -0.500779390335083, "y": 0.6845114231109619, "z": 0.5024251341819763}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan202/14/rgb_0.png", "image_2": "FloorPlan202/14/rgb_1.png"}
5
+ {"id": 1091, "folder_dir": "FloorPlan202/14", "query": "Which of the following objects is closest to CoffeeTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. TVStand\nB. RemoteControl\nC. HousePlant\nD. Other\n", "answer": "B", "src_object": "CoffeeTable", "target_object": "RemoteControl", "question": "Which of the following objects is closest to CoffeeTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "TVStand", "semantic_id": "TVStand|-01.57|+00.00|+03.87", "distance": 1.523295089144703, "com": {"x": -1.5645289421081543, "y": 0.3519742488861084, "z": 3.869037389755249}}, {"text": "RemoteControl", "semantic_id": "RemoteControl|-01.27|+00.44|+02.15", "distance": 0.5580441485215664, "com": {"x": -1.2735990285873413, "y": 0.4554137587547302, "z": 2.1527888774871826}}, {"text": "HousePlant", "semantic_id": "HousePlant|-02.01|+00.45|+02.36", "distance": 0.6474044601500955, "com": {"x": -2.0413742065429688, "y": 0.7924175262451172, "z": 2.3605661392211914}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan202/14/rgb_0.png", "image_2": "FloorPlan202/14/rgb_1.png"}
train/FloorPlan202/14/rgb_0.png ADDED

Git LFS Details

  • SHA256: 25ea261c47d59b2da8de71f6b119d0b7db8e6fa63ec615abfed4b0776844b3f0
  • Pointer size: 132 Bytes
  • Size of remote file: 1 MB
train/FloorPlan202/14/rgb_0_mask_CoffeeTable|-01.73|+00.01|+02.36.png ADDED

Git LFS Details

  • SHA256: 2b31b1ddcd929882b6f24bac28f81b9f8c4d52cb4e8476d4059fa7db0fb2585c
  • Pointer size: 131 Bytes
  • Size of remote file: 842 kB
train/FloorPlan202/14/rgb_0_mask_HousePlant|-02.01|+00.45|+02.36.png ADDED

Git LFS Details

  • SHA256: 5e3cce9758a34dc4159efed8833c43df9282334075c2e6fe79dfa5a54bc5d653
  • Pointer size: 131 Bytes
  • Size of remote file: 837 kB
train/FloorPlan202/14/rgb_0_mask_Laptop|-03.22|+00.61|+00.58.png ADDED

Git LFS Details

  • SHA256: b77fdb8ae11e5bc2c3d12fb73fd9504337b4972d68b4e2ce6cf350f5d17b4973
  • Pointer size: 131 Bytes
  • Size of remote file: 881 kB
train/FloorPlan202/14/rgb_0_mask_Painting|-01.10|+01.77|-00.02.png ADDED

Git LFS Details

  • SHA256: c38f15d78f82967b03abe62d5bd08a5ac42dc754f1402ec05a9ec0333839f833
  • Pointer size: 131 Bytes
  • Size of remote file: 877 kB
train/FloorPlan202/14/rgb_0_mask_Sofa|-01.14|00.00|+00.52.png ADDED

Git LFS Details

  • SHA256: 9a37dfa78f7668bfc698adff068c34496bf7874c7e6bd382873acb55e108a0da
  • Pointer size: 131 Bytes
  • Size of remote file: 783 kB
train/FloorPlan202/14/rgb_1.png ADDED

Git LFS Details

  • SHA256: 9e8bb0e14c929fa8a2ab8f2d3ee8655ef017fe93222b97334b1da2f02dfdaed8
  • Pointer size: 131 Bytes
  • Size of remote file: 973 kB
train/FloorPlan202/14/rgb_1_mask_Curtains|-03.97|+02.26|+01.45.png ADDED

Git LFS Details

  • SHA256: 04a7e5ed09138a28d3374e7197d101aa28dc8302925f1d6c828b9a04ed38429d
  • Pointer size: 131 Bytes
  • Size of remote file: 707 kB
train/FloorPlan202/14/rgb_1_mask_Laptop|-03.22|+00.61|+00.58.png ADDED

Git LFS Details

  • SHA256: b88211c3ed3589078e2be22ba76ea1eb31caf1d696e171dc5d66f80db5e27930
  • Pointer size: 131 Bytes
  • Size of remote file: 848 kB
train/FloorPlan202/14/rgb_1_mask_Painting|-01.10|+01.77|-00.02.png ADDED

Git LFS Details

  • SHA256: 2fdee511f5dafdf305f17749caed1bb7c5d15437cc26ec7282373642ed1cb89a
  • Pointer size: 131 Bytes
  • Size of remote file: 844 kB
train/FloorPlan202/14/semantic_0.png ADDED
train/FloorPlan202/14/semantic_1.png ADDED
train/FloorPlan202/15/0.json ADDED
@@ -0,0 +1,1781 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "object": [
3
+ {
4
+ "objectId": "SideTable|+00.63|+00.01|+00.34",
5
+ "object_info": {
6
+ "name": "SideTable_f52edd16",
7
+ "position": {
8
+ "x": 0.6269959807395935,
9
+ "y": 0.0067979395389556885,
10
+ "z": 0.34000352025032043
11
+ },
12
+ "rotation": {
13
+ "x": -1.8670654753805138e-05,
14
+ "y": 0.0005228848312981427,
15
+ "z": 2.621133944558096e-06
16
+ },
17
+ "visible": false,
18
+ "isInteractable": false,
19
+ "receptacle": true,
20
+ "toggleable": false,
21
+ "isToggled": false,
22
+ "breakable": false,
23
+ "isBroken": false,
24
+ "canFillWithLiquid": false,
25
+ "isFilledWithLiquid": false,
26
+ "fillLiquid": null,
27
+ "dirtyable": false,
28
+ "isDirty": false,
29
+ "canBeUsedUp": false,
30
+ "isUsedUp": false,
31
+ "cookable": false,
32
+ "isCooked": false,
33
+ "temperature": "RoomTemp",
34
+ "isHeatSource": false,
35
+ "isColdSource": false,
36
+ "sliceable": false,
37
+ "isSliced": false,
38
+ "openable": false,
39
+ "isOpen": false,
40
+ "openness": 0.0,
41
+ "pickupable": false,
42
+ "isPickedUp": false,
43
+ "moveable": true,
44
+ "mass": 11.0,
45
+ "salientMaterials": [
46
+ "Wood"
47
+ ],
48
+ "receptacleObjectIds": [
49
+ "Statue|+00.86|+00.71|+00.33",
50
+ "Box|+00.33|+00.90|+00.49"
51
+ ],
52
+ "distance": 1.9797450304031372,
53
+ "objectType": "SideTable",
54
+ "objectId": "SideTable|+00.63|+00.01|+00.34",
55
+ "assetId": "Side_Table_202_1",
56
+ "parentReceptacles": [
57
+ "Floor|+00.00|+00.00|+00.00"
58
+ ],
59
+ "controlledObjects": null,
60
+ "isMoving": false,
61
+ "axisAlignedBoundingBox": {
62
+ "cornerPoints": [
63
+ [
64
+ 1.139021396636963,
65
+ 0.7156378030776978,
66
+ 0.6653361916542053
67
+ ],
68
+ [
69
+ 1.139021396636963,
70
+ 0.7156378030776978,
71
+ 0.015287637710571289
72
+ ],
73
+ [
74
+ 1.139021396636963,
75
+ 4.100799560546875e-05,
76
+ 0.6653361916542053
77
+ ],
78
+ [
79
+ 1.139021396636963,
80
+ 4.100799560546875e-05,
81
+ 0.015287637710571289
82
+ ],
83
+ [
84
+ 0.1209859848022461,
85
+ 0.7156378030776978,
86
+ 0.6653361916542053
87
+ ],
88
+ [
89
+ 0.1209859848022461,
90
+ 0.7156378030776978,
91
+ 0.015287637710571289
92
+ ],
93
+ [
94
+ 0.1209859848022461,
95
+ 4.100799560546875e-05,
96
+ 0.6653361916542053
97
+ ],
98
+ [
99
+ 0.1209859848022461,
100
+ 4.100799560546875e-05,
101
+ 0.015287637710571289
102
+ ]
103
+ ],
104
+ "center": {
105
+ "x": 0.6300036907196045,
106
+ "y": 0.3578394055366516,
107
+ "z": 0.3403119146823883
108
+ },
109
+ "size": {
110
+ "x": 1.0180354118347168,
111
+ "y": 0.7155967950820923,
112
+ "z": 0.650048553943634
113
+ }
114
+ },
115
+ "objectOrientedBoundingBox": {
116
+ "cornerPoints": [
117
+ [
118
+ 1.139021635055542,
119
+ 4.119798541069031e-05,
120
+ 0.665334939956665
121
+ ],
122
+ [
123
+ 0.12098664045333862,
124
+ 4.0972139686346054e-05,
125
+ 0.6653361320495605
126
+ ],
127
+ [
128
+ 0.12098580598831177,
129
+ 4.111742600798607e-05,
130
+ 0.015288949012756348
131
+ ],
132
+ [
133
+ 1.1390206813812256,
134
+ 4.134327173233032e-05,
135
+ 0.015287727117538452
136
+ ],
137
+ [
138
+ 1.139021396636963,
139
+ 0.7156376838684082,
140
+ 0.6653350591659546
141
+ ],
142
+ [
143
+ 0.1209864616394043,
144
+ 0.7156374454498291,
145
+ 0.6653362512588501
146
+ ],
147
+ [
148
+ 0.12098568677902222,
149
+ 0.7156375646591187,
150
+ 0.015289098024368286
151
+ ],
152
+ [
153
+ 1.1390206813812256,
154
+ 0.7156378030776978,
155
+ 0.01528787612915039
156
+ ]
157
+ ]
158
+ }
159
+ }
160
+ },
161
+ {
162
+ "objectId": "Pillow|-00.50|+00.69|+00.51",
163
+ "object_info": {
164
+ "name": "Pillow_245c6418",
165
+ "position": {
166
+ "x": -0.5007399320602417,
167
+ "y": 0.6944788694381714,
168
+ "z": 0.5054006576538086
169
+ },
170
+ "rotation": {
171
+ "x": 36.54594039916992,
172
+ "y": 0.7677531242370605,
173
+ "z": 0.0022578639909625053
174
+ },
175
+ "visible": false,
176
+ "isInteractable": false,
177
+ "receptacle": false,
178
+ "toggleable": false,
179
+ "isToggled": false,
180
+ "breakable": false,
181
+ "isBroken": false,
182
+ "canFillWithLiquid": false,
183
+ "isFilledWithLiquid": false,
184
+ "fillLiquid": null,
185
+ "dirtyable": false,
186
+ "isDirty": false,
187
+ "canBeUsedUp": false,
188
+ "isUsedUp": false,
189
+ "cookable": false,
190
+ "isCooked": false,
191
+ "temperature": "RoomTemp",
192
+ "isHeatSource": false,
193
+ "isColdSource": false,
194
+ "sliceable": false,
195
+ "isSliced": false,
196
+ "openable": false,
197
+ "isOpen": false,
198
+ "openness": 0.0,
199
+ "pickupable": true,
200
+ "isPickedUp": false,
201
+ "moveable": false,
202
+ "mass": 0.699999988079071,
203
+ "salientMaterials": [
204
+ "Fabric"
205
+ ],
206
+ "receptacleObjectIds": null,
207
+ "distance": 1.2123275995254517,
208
+ "objectType": "Pillow",
209
+ "objectId": "Pillow|-00.50|+00.69|+00.51",
210
+ "assetId": "pillow_2",
211
+ "parentReceptacles": [
212
+ "Sofa|-01.14|00.00|+00.52"
213
+ ],
214
+ "controlledObjects": null,
215
+ "isMoving": false,
216
+ "axisAlignedBoundingBox": {
217
+ "cornerPoints": [
218
+ [
219
+ -0.20044898986816406,
220
+ 0.83591628074646,
221
+ 0.6792938113212585
222
+ ],
223
+ [
224
+ -0.20044898986816406,
225
+ 0.83591628074646,
226
+ 0.3255564570426941
227
+ ],
228
+ [
229
+ -0.20044898986816406,
230
+ 0.5331065654754639,
231
+ 0.6792938113212585
232
+ ],
233
+ [
234
+ -0.20044898986816406,
235
+ 0.5331065654754639,
236
+ 0.3255564570426941
237
+ ],
238
+ [
239
+ -0.801109790802002,
240
+ 0.83591628074646,
241
+ 0.6792938113212585
242
+ ],
243
+ [
244
+ -0.801109790802002,
245
+ 0.83591628074646,
246
+ 0.3255564570426941
247
+ ],
248
+ [
249
+ -0.801109790802002,
250
+ 0.5331065654754639,
251
+ 0.6792938113212585
252
+ ],
253
+ [
254
+ -0.801109790802002,
255
+ 0.5331065654754639,
256
+ 0.3255564570426941
257
+ ]
258
+ ],
259
+ "center": {
260
+ "x": -0.500779390335083,
261
+ "y": 0.6845114231109619,
262
+ "z": 0.5024251341819763
263
+ },
264
+ "size": {
265
+ "x": 0.6006608009338379,
266
+ "y": 0.3028097152709961,
267
+ "z": 0.35373735427856445
268
+ }
269
+ },
270
+ "objectOrientedBoundingBox": {
271
+ "cornerPoints": [
272
+ [
273
+ -0.2014685869216919,
274
+ 0.5331254601478577,
275
+ 0.5948636531829834
276
+ ],
277
+ [
278
+ -0.7975009083747864,
279
+ 0.5331065654754639,
280
+ 0.6028369069099426
281
+ ],
282
+ [
283
+ -0.801109790802002,
284
+ 0.7327356934547424,
285
+ 0.3335297405719757
286
+ ],
287
+ [
288
+ -0.20507746934890747,
289
+ 0.7327545881271362,
290
+ 0.32555651664733887
291
+ ],
292
+ [
293
+ -0.20044904947280884,
294
+ 0.6362871527671814,
295
+ 0.6713205575942993
296
+ ],
297
+ [
298
+ -0.7964813709259033,
299
+ 0.6362683176994324,
300
+ 0.6792938113212585
301
+ ],
302
+ [
303
+ -0.8000902533531189,
304
+ 0.8358973860740662,
305
+ 0.409986674785614
306
+ ],
307
+ [
308
+ -0.20405793190002441,
309
+ 0.83591628074646,
310
+ 0.4020134508609772
311
+ ]
312
+ ]
313
+ }
314
+ }
315
+ },
316
+ {
317
+ "objectId": "Statue|+00.86|+00.71|+00.33",
318
+ "object_info": {
319
+ "name": "Statue_d7da8aef",
320
+ "position": {
321
+ "x": 0.8586571216583252,
322
+ "y": 0.7144324779510498,
323
+ "z": 0.32777735590934753
324
+ },
325
+ "rotation": {
326
+ "x": 0.0007107684505172074,
327
+ "y": 0.0015323956031352282,
328
+ "z": 0.0008562243892811239
329
+ },
330
+ "visible": false,
331
+ "isInteractable": false,
332
+ "receptacle": false,
333
+ "toggleable": false,
334
+ "isToggled": false,
335
+ "breakable": true,
336
+ "isBroken": false,
337
+ "canFillWithLiquid": false,
338
+ "isFilledWithLiquid": false,
339
+ "fillLiquid": null,
340
+ "dirtyable": false,
341
+ "isDirty": false,
342
+ "canBeUsedUp": false,
343
+ "isUsedUp": false,
344
+ "cookable": false,
345
+ "isCooked": false,
346
+ "temperature": "RoomTemp",
347
+ "isHeatSource": false,
348
+ "isColdSource": false,
349
+ "sliceable": false,
350
+ "isSliced": false,
351
+ "openable": false,
352
+ "isOpen": false,
353
+ "openness": 0.0,
354
+ "pickupable": true,
355
+ "isPickedUp": false,
356
+ "moveable": false,
357
+ "mass": 1.0,
358
+ "salientMaterials": [
359
+ "Metal"
360
+ ],
361
+ "receptacleObjectIds": null,
362
+ "distance": 1.9400434494018555,
363
+ "objectType": "Statue",
364
+ "objectId": "Statue|+00.86|+00.71|+00.33",
365
+ "assetId": "Waving_Statue_1",
366
+ "parentReceptacles": [
367
+ "SideTable|+00.63|+00.01|+00.34"
368
+ ],
369
+ "controlledObjects": null,
370
+ "isMoving": false,
371
+ "axisAlignedBoundingBox": {
372
+ "cornerPoints": [
373
+ [
374
+ 0.9674795866012573,
375
+ 1.0739277601242065,
376
+ 0.4256771206855774
377
+ ],
378
+ [
379
+ 0.9674795866012573,
380
+ 1.0739277601242065,
381
+ 0.22988349199295044
382
+ ],
383
+ [
384
+ 0.9674795866012573,
385
+ 0.7156358957290649,
386
+ 0.4256771206855774
387
+ ],
388
+ [
389
+ 0.9674795866012573,
390
+ 0.7156358957290649,
391
+ 0.22988349199295044
392
+ ],
393
+ [
394
+ 0.7594599723815918,
395
+ 1.0739277601242065,
396
+ 0.4256771206855774
397
+ ],
398
+ [
399
+ 0.7594599723815918,
400
+ 1.0739277601242065,
401
+ 0.22988349199295044
402
+ ],
403
+ [
404
+ 0.7594599723815918,
405
+ 0.7156358957290649,
406
+ 0.4256771206855774
407
+ ],
408
+ [
409
+ 0.7594599723815918,
410
+ 0.7156358957290649,
411
+ 0.22988349199295044
412
+ ]
413
+ ],
414
+ "center": {
415
+ "x": 0.8634697794914246,
416
+ "y": 0.8947818279266357,
417
+ "z": 0.3277803063392639
418
+ },
419
+ "size": {
420
+ "x": 0.20801961421966553,
421
+ "y": 0.3582918643951416,
422
+ "z": 0.19579362869262695
423
+ }
424
+ },
425
+ "objectOrientedBoundingBox": {
426
+ "cornerPoints": [
427
+ [
428
+ 0.9674806594848633,
429
+ 0.715636670589447,
430
+ 0.42567718029022217
431
+ ],
432
+ [
433
+ 0.7594602704048157,
434
+ 0.715636134147644,
435
+ 0.42567795515060425
436
+ ],
437
+ [
438
+ 0.7594595551490784,
439
+ 0.7156368494033813,
440
+ 0.22988370060920715
441
+ ],
442
+ [
443
+ 0.967479944229126,
444
+ 0.7156373858451843,
445
+ 0.22988292574882507
446
+ ],
447
+ [
448
+ 0.9674797058105469,
449
+ 1.0739264488220215,
450
+ 0.4256784915924072
451
+ ],
452
+ [
453
+ 0.7594593167304993,
454
+ 1.0739258527755737,
455
+ 0.4256792664527893
456
+ ],
457
+ [
458
+ 0.759458601474762,
459
+ 1.073926568031311,
460
+ 0.22988498210906982
461
+ ],
462
+ [
463
+ 0.9674789905548096,
464
+ 1.0739271640777588,
465
+ 0.22988420724868774
466
+ ]
467
+ ]
468
+ }
469
+ }
470
+ },
471
+ {
472
+ "objectId": "Box|+00.33|+00.90|+00.49",
473
+ "object_info": {
474
+ "name": "Box_9f2261ac",
475
+ "position": {
476
+ "x": 0.33192160725593567,
477
+ "y": 0.9017186164855957,
478
+ "z": 0.4884287416934967
479
+ },
480
+ "rotation": {
481
+ "x": 0.0012737453216686845,
482
+ "y": 0.014757201075553894,
483
+ "z": 0.0011800919892266393
484
+ },
485
+ "visible": false,
486
+ "isInteractable": false,
487
+ "receptacle": true,
488
+ "toggleable": false,
489
+ "isToggled": false,
490
+ "breakable": false,
491
+ "isBroken": false,
492
+ "canFillWithLiquid": false,
493
+ "isFilledWithLiquid": false,
494
+ "fillLiquid": null,
495
+ "dirtyable": false,
496
+ "isDirty": false,
497
+ "canBeUsedUp": false,
498
+ "isUsedUp": false,
499
+ "cookable": false,
500
+ "isCooked": false,
501
+ "temperature": "RoomTemp",
502
+ "isHeatSource": false,
503
+ "isColdSource": false,
504
+ "sliceable": false,
505
+ "isSliced": false,
506
+ "openable": true,
507
+ "isOpen": true,
508
+ "openness": 1.0,
509
+ "pickupable": true,
510
+ "isPickedUp": false,
511
+ "moveable": false,
512
+ "mass": 0.30000001192092896,
513
+ "salientMaterials": [
514
+ "Paper"
515
+ ],
516
+ "receptacleObjectIds": [],
517
+ "distance": 1.4696935415267944,
518
+ "objectType": "Box",
519
+ "objectId": "Box|+00.33|+00.90|+00.49",
520
+ "assetId": "Box_2",
521
+ "parentReceptacles": [
522
+ "SideTable|+00.63|+00.01|+00.34"
523
+ ],
524
+ "controlledObjects": null,
525
+ "isMoving": false,
526
+ "axisAlignedBoundingBox": {
527
+ "cornerPoints": [
528
+ [
529
+ 0.6266247034072876,
530
+ 0.9971388578414917,
531
+ 0.6210201978683472
532
+ ],
533
+ [
534
+ 0.6266247034072876,
535
+ 0.9971388578414917,
536
+ 0.07037034630775452
537
+ ],
538
+ [
539
+ 0.6266247034072876,
540
+ 0.7156296968460083,
541
+ 0.6210201978683472
542
+ ],
543
+ [
544
+ 0.6266247034072876,
545
+ 0.7156296968460083,
546
+ 0.07037034630775452
547
+ ],
548
+ [
549
+ 0.026602834463119507,
550
+ 0.9971388578414917,
551
+ 0.6210201978683472
552
+ ],
553
+ [
554
+ 0.026602834463119507,
555
+ 0.9971388578414917,
556
+ 0.07037034630775452
557
+ ],
558
+ [
559
+ 0.026602834463119507,
560
+ 0.7156296968460083,
561
+ 0.6210201978683472
562
+ ],
563
+ [
564
+ 0.026602834463119507,
565
+ 0.7156296968460083,
566
+ 0.07037034630775452
567
+ ]
568
+ ],
569
+ "center": {
570
+ "x": 0.32661375403404236,
571
+ "y": 0.85638427734375,
572
+ "z": 0.34569528698921204
573
+ },
574
+ "size": {
575
+ "x": 0.6000218391418457,
576
+ "y": 0.2815091609954834,
577
+ "z": 0.550649881362915
578
+ }
579
+ },
580
+ "objectOrientedBoundingBox": {
581
+ "cornerPoints": [
582
+ [
583
+ 0.6266443729400635,
584
+ 0.715626060962677,
585
+ 0.6209068298339844
586
+ ],
587
+ [
588
+ 0.026710599660873413,
589
+ 0.7156375646591187,
590
+ 0.6210560202598572
591
+ ],
592
+ [
593
+ 0.02657368779182434,
594
+ 0.7156435251235962,
595
+ 0.07048055529594421
596
+ ],
597
+ [
598
+ 0.6265075206756592,
599
+ 0.7156319618225098,
600
+ 0.07033136487007141
601
+ ],
602
+ [
603
+ 0.6266498565673828,
604
+ 0.9971340298652649,
605
+ 0.6209098696708679
606
+ ],
607
+ [
608
+ 0.026716023683547974,
609
+ 0.9971455335617065,
610
+ 0.6210590600967407
611
+ ],
612
+ [
613
+ 0.0265791118144989,
614
+ 0.9971514344215393,
615
+ 0.07048356533050537
616
+ ],
617
+ [
618
+ 0.626512885093689,
619
+ 0.9971399307250977,
620
+ 0.07033437490463257
621
+ ]
622
+ ]
623
+ }
624
+ }
625
+ },
626
+ {
627
+ "objectId": "Sofa|-01.14|00.00|+00.52",
628
+ "object_info": {
629
+ "name": "Sofa_5f6946f9",
630
+ "position": {
631
+ "x": -1.1358411312103271,
632
+ "y": -0.004815518856048584,
633
+ "z": 0.5171529054641724
634
+ },
635
+ "rotation": {
636
+ "x": 0.00011686379730235785,
637
+ "y": 0.7543776631355286,
638
+ "z": -8.622366294730455e-06
639
+ },
640
+ "visible": true,
641
+ "isInteractable": true,
642
+ "receptacle": true,
643
+ "toggleable": false,
644
+ "isToggled": false,
645
+ "breakable": false,
646
+ "isBroken": false,
647
+ "canFillWithLiquid": false,
648
+ "isFilledWithLiquid": false,
649
+ "fillLiquid": null,
650
+ "dirtyable": false,
651
+ "isDirty": false,
652
+ "canBeUsedUp": false,
653
+ "isUsedUp": false,
654
+ "cookable": false,
655
+ "isCooked": false,
656
+ "temperature": "RoomTemp",
657
+ "isHeatSource": false,
658
+ "isColdSource": false,
659
+ "sliceable": false,
660
+ "isSliced": false,
661
+ "openable": false,
662
+ "isOpen": false,
663
+ "openness": 0.0,
664
+ "pickupable": false,
665
+ "isPickedUp": false,
666
+ "moveable": true,
667
+ "mass": 103.99999237060547,
668
+ "salientMaterials": [
669
+ "Fabric"
670
+ ],
671
+ "receptacleObjectIds": [
672
+ "Pillow|-00.50|+00.69|+00.51"
673
+ ],
674
+ "distance": 1.6198784112930298,
675
+ "objectType": "Sofa",
676
+ "objectId": "Sofa|-01.14|00.00|+00.52",
677
+ "assetId": "Sofa_201_2",
678
+ "parentReceptacles": [
679
+ "Floor|+00.00|+00.00|+00.00"
680
+ ],
681
+ "controlledObjects": null,
682
+ "isMoving": false,
683
+ "axisAlignedBoundingBox": {
684
+ "cornerPoints": [
685
+ [
686
+ 0.07678508758544922,
687
+ 1.1200249195098877,
688
+ 1.0050995349884033
689
+ ],
690
+ [
691
+ 0.07678508758544922,
692
+ 1.1200249195098877,
693
+ 0.0026784539222717285
694
+ ],
695
+ [
696
+ 0.07678508758544922,
697
+ 5.447864532470703e-05,
698
+ 1.0050995349884033
699
+ ],
700
+ [
701
+ 0.07678508758544922,
702
+ 5.447864532470703e-05,
703
+ 0.0026784539222717285
704
+ ],
705
+ [
706
+ -2.3401033878326416,
707
+ 1.1200249195098877,
708
+ 1.0050995349884033
709
+ ],
710
+ [
711
+ -2.3401033878326416,
712
+ 1.1200249195098877,
713
+ 0.0026784539222717285
714
+ ],
715
+ [
716
+ -2.3401033878326416,
717
+ 5.447864532470703e-05,
718
+ 1.0050995349884033
719
+ ],
720
+ [
721
+ -2.3401033878326416,
722
+ 5.447864532470703e-05,
723
+ 0.0026784539222717285
724
+ ]
725
+ ],
726
+ "center": {
727
+ "x": -1.1316591501235962,
728
+ "y": 0.5600396990776062,
729
+ "z": 0.5038890242576599
730
+ },
731
+ "size": {
732
+ "x": 2.416888475418091,
733
+ "y": 1.119970440864563,
734
+ "z": 1.0024211406707764
735
+ }
736
+ },
737
+ "objectOrientedBoundingBox": {
738
+ "cornerPoints": [
739
+ [
740
+ 0.07697510719299316,
741
+ 4.681432619690895e-05,
742
+ 0.9761027097702026
743
+ ],
744
+ [
745
+ -2.327432155609131,
746
+ 4.617590457201004e-05,
747
+ 1.0077885389328003
748
+ ],
749
+ [
750
+ -2.3402976989746094,
751
+ 4.647718742489815e-05,
752
+ 0.03151249885559082
753
+ ],
754
+ [
755
+ 0.06410956382751465,
756
+ 4.711560904979706e-05,
757
+ -0.00017338991165161133
758
+ ],
759
+ [
760
+ 0.07697486877441406,
761
+ 1.1200108528137207,
762
+ 0.9761030673980713
763
+ ],
764
+ [
765
+ -2.327432632446289,
766
+ 1.1200101375579834,
767
+ 1.007788896560669
768
+ ],
769
+ [
770
+ -2.3402981758117676,
771
+ 1.1200103759765625,
772
+ 0.03151285648345947
773
+ ],
774
+ [
775
+ 0.064109206199646,
776
+ 1.1200110912322998,
777
+ -0.00017303228378295898
778
+ ]
779
+ ]
780
+ }
781
+ }
782
+ },
783
+ {
784
+ "objectId": "Painting|-01.10|+01.77|-00.02",
785
+ "object_info": {
786
+ "name": "Painting_c2682828",
787
+ "position": {
788
+ "x": -1.096000075340271,
789
+ "y": 1.7739999294281006,
790
+ "z": -0.017000000923871994
791
+ },
792
+ "rotation": {
793
+ "x": -0.0,
794
+ "y": 0.0,
795
+ "z": 0.0
796
+ },
797
+ "visible": false,
798
+ "isInteractable": false,
799
+ "receptacle": false,
800
+ "toggleable": false,
801
+ "isToggled": false,
802
+ "breakable": false,
803
+ "isBroken": false,
804
+ "canFillWithLiquid": false,
805
+ "isFilledWithLiquid": false,
806
+ "fillLiquid": null,
807
+ "dirtyable": false,
808
+ "isDirty": false,
809
+ "canBeUsedUp": false,
810
+ "isUsedUp": false,
811
+ "cookable": false,
812
+ "isCooked": false,
813
+ "temperature": "RoomTemp",
814
+ "isHeatSource": false,
815
+ "isColdSource": false,
816
+ "sliceable": false,
817
+ "isSliced": false,
818
+ "openable": false,
819
+ "isOpen": false,
820
+ "openness": 0.0,
821
+ "pickupable": false,
822
+ "isPickedUp": false,
823
+ "moveable": false,
824
+ "mass": 0.0,
825
+ "salientMaterials": null,
826
+ "receptacleObjectIds": null,
827
+ "distance": 2.0162723064422607,
828
+ "objectType": "Painting",
829
+ "objectId": "Painting|-01.10|+01.77|-00.02",
830
+ "assetId": "",
831
+ "parentReceptacles": null,
832
+ "controlledObjects": null,
833
+ "isMoving": false,
834
+ "axisAlignedBoundingBox": {
835
+ "cornerPoints": [
836
+ [
837
+ -0.5423712730407715,
838
+ 2.231011390686035,
839
+ 0.047744959592819214
840
+ ],
841
+ [
842
+ -0.5423712730407715,
843
+ 2.231011390686035,
844
+ -0.09480203688144684
845
+ ],
846
+ [
847
+ -0.5423712730407715,
848
+ 1.316988468170166,
849
+ 0.047744959592819214
850
+ ],
851
+ [
852
+ -0.5423712730407715,
853
+ 1.316988468170166,
854
+ -0.09480203688144684
855
+ ],
856
+ [
857
+ -1.6496288776397705,
858
+ 2.231011390686035,
859
+ 0.047744959592819214
860
+ ],
861
+ [
862
+ -1.6496288776397705,
863
+ 2.231011390686035,
864
+ -0.09480203688144684
865
+ ],
866
+ [
867
+ -1.6496288776397705,
868
+ 1.316988468170166,
869
+ 0.047744959592819214
870
+ ],
871
+ [
872
+ -1.6496288776397705,
873
+ 1.316988468170166,
874
+ -0.09480203688144684
875
+ ]
876
+ ],
877
+ "center": {
878
+ "x": -1.096000075340271,
879
+ "y": 1.7739999294281006,
880
+ "z": -0.023528538644313812
881
+ },
882
+ "size": {
883
+ "x": 1.107257604598999,
884
+ "y": 0.9140229225158691,
885
+ "z": 0.14254699647426605
886
+ }
887
+ },
888
+ "objectOrientedBoundingBox": null
889
+ }
890
+ },
891
+ {
892
+ "objectId": "Curtains|-03.97|+02.26|+01.45",
893
+ "object_info": {
894
+ "name": "Curtains_f437c5aa",
895
+ "position": {
896
+ "x": -3.9739997386932373,
897
+ "y": 2.254999876022339,
898
+ "z": 1.4539999961853027
899
+ },
900
+ "rotation": {
901
+ "x": -0.0,
902
+ "y": 0.0,
903
+ "z": 0.0
904
+ },
905
+ "visible": false,
906
+ "isInteractable": false,
907
+ "receptacle": false,
908
+ "toggleable": false,
909
+ "isToggled": false,
910
+ "breakable": false,
911
+ "isBroken": false,
912
+ "canFillWithLiquid": false,
913
+ "isFilledWithLiquid": false,
914
+ "fillLiquid": null,
915
+ "dirtyable": false,
916
+ "isDirty": false,
917
+ "canBeUsedUp": false,
918
+ "isUsedUp": false,
919
+ "cookable": false,
920
+ "isCooked": false,
921
+ "temperature": "RoomTemp",
922
+ "isHeatSource": false,
923
+ "isColdSource": false,
924
+ "sliceable": false,
925
+ "isSliced": false,
926
+ "openable": false,
927
+ "isOpen": false,
928
+ "openness": 0.0,
929
+ "pickupable": false,
930
+ "isPickedUp": false,
931
+ "moveable": false,
932
+ "mass": 0.0,
933
+ "salientMaterials": null,
934
+ "receptacleObjectIds": null,
935
+ "distance": 3.7366271018981934,
936
+ "objectType": "Curtains",
937
+ "objectId": "Curtains|-03.97|+02.26|+01.45",
938
+ "assetId": "",
939
+ "parentReceptacles": [
940
+ "Floor|+00.00|+00.00|+00.00"
941
+ ],
942
+ "controlledObjects": null,
943
+ "isMoving": false,
944
+ "axisAlignedBoundingBox": {
945
+ "cornerPoints": [
946
+ [
947
+ -3.768399238586426,
948
+ 2.2671194076538086,
949
+ 2.6316933631896973
950
+ ],
951
+ [
952
+ -3.768399238586426,
953
+ 2.2671194076538086,
954
+ 0.35443973541259766
955
+ ],
956
+ [
957
+ -3.768399238586426,
958
+ 0.032193660736083984,
959
+ 2.6316933631896973
960
+ ],
961
+ [
962
+ -3.768399238586426,
963
+ 0.032193660736083984,
964
+ 0.35443973541259766
965
+ ],
966
+ [
967
+ -4.0606513023376465,
968
+ 2.2671194076538086,
969
+ 2.6316933631896973
970
+ ],
971
+ [
972
+ -4.0606513023376465,
973
+ 2.2671194076538086,
974
+ 0.35443973541259766
975
+ ],
976
+ [
977
+ -4.0606513023376465,
978
+ 0.032193660736083984,
979
+ 2.6316933631896973
980
+ ],
981
+ [
982
+ -4.0606513023376465,
983
+ 0.032193660736083984,
984
+ 0.35443973541259766
985
+ ]
986
+ ],
987
+ "center": {
988
+ "x": -3.914525270462036,
989
+ "y": 1.1496565341949463,
990
+ "z": 1.4930665493011475
991
+ },
992
+ "size": {
993
+ "x": 0.2922520637512207,
994
+ "y": 2.2349257469177246,
995
+ "z": 2.2772536277770996
996
+ }
997
+ },
998
+ "objectOrientedBoundingBox": null
999
+ }
1000
+ },
1001
+ {
1002
+ "objectId": "CoffeeTable|-01.73|+00.01|+02.36",
1003
+ "object_info": {
1004
+ "name": "CoffeeTable_f6dcd9dd",
1005
+ "position": {
1006
+ "x": -1.7349979877471924,
1007
+ "y": 0.005640685558319092,
1008
+ "z": 2.3609893321990967
1009
+ },
1010
+ "rotation": {
1011
+ "x": 0.0014754097210243344,
1012
+ "y": 0.00011461416579550132,
1013
+ "z": -0.0009494048426859081
1014
+ },
1015
+ "visible": true,
1016
+ "isInteractable": true,
1017
+ "receptacle": true,
1018
+ "toggleable": false,
1019
+ "isToggled": false,
1020
+ "breakable": false,
1021
+ "isBroken": false,
1022
+ "canFillWithLiquid": false,
1023
+ "isFilledWithLiquid": false,
1024
+ "fillLiquid": null,
1025
+ "dirtyable": false,
1026
+ "isDirty": false,
1027
+ "canBeUsedUp": false,
1028
+ "isUsedUp": false,
1029
+ "cookable": false,
1030
+ "isCooked": false,
1031
+ "temperature": "RoomTemp",
1032
+ "isHeatSource": false,
1033
+ "isColdSource": false,
1034
+ "sliceable": false,
1035
+ "isSliced": false,
1036
+ "openable": false,
1037
+ "isOpen": false,
1038
+ "openness": 0.0,
1039
+ "pickupable": false,
1040
+ "isPickedUp": false,
1041
+ "moveable": true,
1042
+ "mass": 11.0,
1043
+ "salientMaterials": [
1044
+ "Wood"
1045
+ ],
1046
+ "receptacleObjectIds": [
1047
+ "RemoteControl|-01.27|+00.44|+02.15",
1048
+ "CreditCard|-02.10|+00.44|+02.58",
1049
+ "HousePlant|-02.01|+00.45|+02.36"
1050
+ ],
1051
+ "distance": 1.6624913215637207,
1052
+ "objectType": "CoffeeTable",
1053
+ "objectId": "CoffeeTable|-01.73|+00.01|+02.36",
1054
+ "assetId": "Coffee_Table_202_1",
1055
+ "parentReceptacles": [
1056
+ "Floor|+00.00|+00.00|+00.00"
1057
+ ],
1058
+ "controlledObjects": null,
1059
+ "isMoving": false,
1060
+ "axisAlignedBoundingBox": {
1061
+ "cornerPoints": [
1062
+ [
1063
+ -1.228797435760498,
1064
+ 0.4434751868247986,
1065
+ 2.6887097358703613
1066
+ ],
1067
+ [
1068
+ -1.228797435760498,
1069
+ 0.4434751868247986,
1070
+ 2.0332765579223633
1071
+ ],
1072
+ [
1073
+ -1.228797435760498,
1074
+ 4.315376281738281e-05,
1075
+ 2.6887097358703613
1076
+ ],
1077
+ [
1078
+ -1.228797435760498,
1079
+ 4.315376281738281e-05,
1080
+ 2.0332765579223633
1081
+ ],
1082
+ [
1083
+ -2.2424564361572266,
1084
+ 0.4434751868247986,
1085
+ 2.6887097358703613
1086
+ ],
1087
+ [
1088
+ -2.2424564361572266,
1089
+ 0.4434751868247986,
1090
+ 2.0332765579223633
1091
+ ],
1092
+ [
1093
+ -2.2424564361572266,
1094
+ 4.315376281738281e-05,
1095
+ 2.6887097358703613
1096
+ ],
1097
+ [
1098
+ -2.2424564361572266,
1099
+ 4.315376281738281e-05,
1100
+ 2.0332765579223633
1101
+ ]
1102
+ ],
1103
+ "center": {
1104
+ "x": -1.7356269359588623,
1105
+ "y": 0.22175917029380798,
1106
+ "z": 2.3609931468963623
1107
+ },
1108
+ "size": {
1109
+ "x": 1.0136590003967285,
1110
+ "y": 0.4434320330619812,
1111
+ "z": 0.655433177947998
1112
+ }
1113
+ },
1114
+ "objectOrientedBoundingBox": {
1115
+ "cornerPoints": [
1116
+ [
1117
+ -1.22880220413208,
1118
+ 4.938757047057152e-05,
1119
+ 2.6887128353118896
1120
+ ],
1121
+ [
1122
+ -2.2424585819244385,
1123
+ 5.36525622010231e-05,
1124
+ 2.6887078285217285
1125
+ ],
1126
+ [
1127
+ -2.242455244064331,
1128
+ 4.747509956359863e-05,
1129
+ 2.03328013420105
1130
+ ],
1131
+ [
1132
+ -1.2287988662719727,
1133
+ 4.321010783314705e-05,
1134
+ 2.03328537940979
1135
+ ],
1136
+ [
1137
+ -1.2288004159927368,
1138
+ 0.4434714615345001,
1139
+ 2.688708782196045
1140
+ ],
1141
+ [
1142
+ -2.2424566745758057,
1143
+ 0.44347572326660156,
1144
+ 2.6887035369873047
1145
+ ],
1146
+ [
1147
+ -2.2424533367156982,
1148
+ 0.4434695243835449,
1149
+ 2.033276081085205
1150
+ ],
1151
+ [
1152
+ -1.2287970781326294,
1153
+ 0.4434652626514435,
1154
+ 2.033281087875366
1155
+ ]
1156
+ ]
1157
+ }
1158
+ }
1159
+ },
1160
+ {
1161
+ "objectId": "HousePlant|-02.01|+00.45|+02.36",
1162
+ "object_info": {
1163
+ "name": "HousePlant_c0410d81",
1164
+ "position": {
1165
+ "x": -2.0149343013763428,
1166
+ "y": 0.44758614897727966,
1167
+ "z": 2.3577699661254883
1168
+ },
1169
+ "rotation": {
1170
+ "x": 0.13371217250823975,
1171
+ "y": 0.43230530619621277,
1172
+ "z": 359.86834716796875
1173
+ },
1174
+ "visible": true,
1175
+ "isInteractable": true,
1176
+ "receptacle": false,
1177
+ "toggleable": false,
1178
+ "isToggled": false,
1179
+ "breakable": false,
1180
+ "isBroken": false,
1181
+ "canFillWithLiquid": true,
1182
+ "isFilledWithLiquid": false,
1183
+ "fillLiquid": null,
1184
+ "dirtyable": false,
1185
+ "isDirty": false,
1186
+ "canBeUsedUp": false,
1187
+ "isUsedUp": false,
1188
+ "cookable": false,
1189
+ "isCooked": false,
1190
+ "temperature": "RoomTemp",
1191
+ "isHeatSource": false,
1192
+ "isColdSource": false,
1193
+ "sliceable": false,
1194
+ "isSliced": false,
1195
+ "openable": false,
1196
+ "isOpen": false,
1197
+ "openness": 0.0,
1198
+ "pickupable": false,
1199
+ "isPickedUp": false,
1200
+ "moveable": true,
1201
+ "mass": 3.0,
1202
+ "salientMaterials": [
1203
+ "Ceramic",
1204
+ "Organic"
1205
+ ],
1206
+ "receptacleObjectIds": null,
1207
+ "distance": 1.7126917839050293,
1208
+ "objectType": "HousePlant",
1209
+ "objectId": "HousePlant|-02.01|+00.45|+02.36",
1210
+ "assetId": "Houseplant_2",
1211
+ "parentReceptacles": [
1212
+ "CoffeeTable|-01.73|+00.01|+02.36"
1213
+ ],
1214
+ "controlledObjects": null,
1215
+ "isMoving": false,
1216
+ "axisAlignedBoundingBox": {
1217
+ "cornerPoints": [
1218
+ [
1219
+ -1.9226515293121338,
1220
+ 1.1414202451705933,
1221
+ 2.4988555908203125
1222
+ ],
1223
+ [
1224
+ -1.9226515293121338,
1225
+ 1.1414202451705933,
1226
+ 2.2222766876220703
1227
+ ],
1228
+ [
1229
+ -1.9226515293121338,
1230
+ 0.4434148073196411,
1231
+ 2.4988555908203125
1232
+ ],
1233
+ [
1234
+ -1.9226515293121338,
1235
+ 0.4434148073196411,
1236
+ 2.2222766876220703
1237
+ ],
1238
+ [
1239
+ -2.1600968837738037,
1240
+ 1.1414202451705933,
1241
+ 2.4988555908203125
1242
+ ],
1243
+ [
1244
+ -2.1600968837738037,
1245
+ 1.1414202451705933,
1246
+ 2.2222766876220703
1247
+ ],
1248
+ [
1249
+ -2.1600968837738037,
1250
+ 0.4434148073196411,
1251
+ 2.4988555908203125
1252
+ ],
1253
+ [
1254
+ -2.1600968837738037,
1255
+ 0.4434148073196411,
1256
+ 2.2222766876220703
1257
+ ]
1258
+ ],
1259
+ "center": {
1260
+ "x": -2.0413742065429688,
1261
+ "y": 0.7924175262451172,
1262
+ "z": 2.3605661392211914
1263
+ },
1264
+ "size": {
1265
+ "x": 0.23744535446166992,
1266
+ "y": 0.6980054378509521,
1267
+ "z": 0.2765789031982422
1268
+ }
1269
+ },
1270
+ "objectOrientedBoundingBox": {
1271
+ "cornerPoints": [
1272
+ [
1273
+ -1.923201322555542,
1274
+ 0.4431056082248688,
1275
+ 2.4955716133117676
1276
+ ],
1277
+ [
1278
+ -2.1597938537597656,
1279
+ 0.4436492919921875,
1280
+ 2.4973580837249756
1281
+ ],
1282
+ [
1283
+ -2.161877155303955,
1284
+ 0.4442936182022095,
1285
+ 2.221266746520996
1286
+ ],
1287
+ [
1288
+ -1.925284504890442,
1289
+ 0.44374993443489075,
1290
+ 2.219480276107788
1291
+ ],
1292
+ [
1293
+ -1.921585202217102,
1294
+ 1.1410508155822754,
1295
+ 2.4971883296966553
1296
+ ],
1297
+ [
1298
+ -2.1581778526306152,
1299
+ 1.1415945291519165,
1300
+ 2.4989748001098633
1301
+ ],
1302
+ [
1303
+ -2.1602609157562256,
1304
+ 1.1422388553619385,
1305
+ 2.222883462905884
1306
+ ],
1307
+ [
1308
+ -1.923668384552002,
1309
+ 1.1416951417922974,
1310
+ 2.221096992492676
1311
+ ]
1312
+ ]
1313
+ }
1314
+ }
1315
+ },
1316
+ {
1317
+ "objectId": "ArmChair|-03.06|+00.00|+00.52",
1318
+ "object_info": {
1319
+ "name": "ArmChair_ce633ece",
1320
+ "position": {
1321
+ "x": -3.063239574432373,
1322
+ "y": 0.000896841287612915,
1323
+ "z": 0.5175459980964661
1324
+ },
1325
+ "rotation": {
1326
+ "x": -0.004098193719983101,
1327
+ "y": -0.005070995539426804,
1328
+ "z": 359.9940185546875
1329
+ },
1330
+ "visible": false,
1331
+ "isInteractable": false,
1332
+ "receptacle": true,
1333
+ "toggleable": false,
1334
+ "isToggled": false,
1335
+ "breakable": false,
1336
+ "isBroken": false,
1337
+ "canFillWithLiquid": false,
1338
+ "isFilledWithLiquid": false,
1339
+ "fillLiquid": null,
1340
+ "dirtyable": false,
1341
+ "isDirty": false,
1342
+ "canBeUsedUp": false,
1343
+ "isUsedUp": false,
1344
+ "cookable": false,
1345
+ "isCooked": false,
1346
+ "temperature": "RoomTemp",
1347
+ "isHeatSource": false,
1348
+ "isColdSource": false,
1349
+ "sliceable": false,
1350
+ "isSliced": false,
1351
+ "openable": false,
1352
+ "isOpen": false,
1353
+ "openness": 0.0,
1354
+ "pickupable": false,
1355
+ "isPickedUp": false,
1356
+ "moveable": true,
1357
+ "mass": 28.299999237060547,
1358
+ "salientMaterials": [
1359
+ "Fabric"
1360
+ ],
1361
+ "receptacleObjectIds": [
1362
+ "Laptop|-03.22|+00.61|+00.58"
1363
+ ],
1364
+ "distance": 2.962880849838257,
1365
+ "objectType": "ArmChair",
1366
+ "objectId": "ArmChair|-03.06|+00.00|+00.52",
1367
+ "assetId": "Armchair_202_1",
1368
+ "parentReceptacles": [
1369
+ "Floor|+00.00|+00.00|+00.00"
1370
+ ],
1371
+ "controlledObjects": null,
1372
+ "isMoving": false,
1373
+ "axisAlignedBoundingBox": {
1374
+ "cornerPoints": [
1375
+ [
1376
+ -2.356858730316162,
1377
+ 1.2624226808547974,
1378
+ 0.9900634288787842
1379
+ ],
1380
+ [
1381
+ -2.356858730316162,
1382
+ 1.2624226808547974,
1383
+ 0.02552032470703125
1384
+ ],
1385
+ [
1386
+ -2.356858730316162,
1387
+ -8.189678192138672e-05,
1388
+ 0.9900634288787842
1389
+ ],
1390
+ [
1391
+ -2.356858730316162,
1392
+ -8.189678192138672e-05,
1393
+ 0.02552032470703125
1394
+ ],
1395
+ [
1396
+ -3.7685675621032715,
1397
+ 1.2624226808547974,
1398
+ 0.9900634288787842
1399
+ ],
1400
+ [
1401
+ -3.7685675621032715,
1402
+ 1.2624226808547974,
1403
+ 0.02552032470703125
1404
+ ],
1405
+ [
1406
+ -3.7685675621032715,
1407
+ -8.189678192138672e-05,
1408
+ 0.9900634288787842
1409
+ ],
1410
+ [
1411
+ -3.7685675621032715,
1412
+ -8.189678192138672e-05,
1413
+ 0.02552032470703125
1414
+ ]
1415
+ ],
1416
+ "center": {
1417
+ "x": -3.062713146209717,
1418
+ "y": 0.631170392036438,
1419
+ "z": 0.5077918767929077
1420
+ },
1421
+ "size": {
1422
+ "x": 1.4117088317871094,
1423
+ "y": 1.2625045776367188,
1424
+ "z": 0.9645431041717529
1425
+ }
1426
+ },
1427
+ "objectOrientedBoundingBox": {
1428
+ "cornerPoints": [
1429
+ [
1430
+ -2.3570618629455566,
1431
+ 3.343092976137996e-05,
1432
+ 0.9901637434959412
1433
+ ],
1434
+ [
1435
+ -3.768569231033325,
1436
+ 0.00021634536096826196,
1437
+ 0.9900387525558472
1438
+ ],
1439
+ [
1440
+ -3.768483877182007,
1441
+ 9.867834160104394e-05,
1442
+ 0.025649964809417725
1443
+ ],
1444
+ [
1445
+ -2.3569765090942383,
1446
+ -8.423603139817715e-05,
1447
+ 0.025774985551834106
1448
+ ],
1449
+ [
1450
+ -2.356898307800293,
1451
+ 1.2623553276062012,
1452
+ 0.9900097846984863
1453
+ ],
1454
+ [
1455
+ -3.7684056758880615,
1456
+ 1.262538194656372,
1457
+ 0.9898847341537476
1458
+ ],
1459
+ [
1460
+ -3.768320322036743,
1461
+ 1.262420415878296,
1462
+ 0.025495946407318115
1463
+ ],
1464
+ [
1465
+ -2.3568129539489746,
1466
+ 1.262237548828125,
1467
+ 0.025620967149734497
1468
+ ]
1469
+ ]
1470
+ }
1471
+ }
1472
+ },
1473
+ {
1474
+ "objectId": "Shelf|+00.62|+00.24|+00.34",
1475
+ "object_info": {
1476
+ "name": "Shelf_2ef847cf",
1477
+ "position": {
1478
+ "x": 0.6229959726333618,
1479
+ "y": 0.23879793286323547,
1480
+ "z": 0.34000349044799805
1481
+ },
1482
+ "rotation": {
1483
+ "x": -1.8670654753805138e-05,
1484
+ "y": 0.0005228848312981427,
1485
+ "z": 2.6211334898107452e-06
1486
+ },
1487
+ "visible": false,
1488
+ "isInteractable": false,
1489
+ "receptacle": true,
1490
+ "toggleable": false,
1491
+ "isToggled": false,
1492
+ "breakable": false,
1493
+ "isBroken": false,
1494
+ "canFillWithLiquid": false,
1495
+ "isFilledWithLiquid": false,
1496
+ "fillLiquid": null,
1497
+ "dirtyable": false,
1498
+ "isDirty": false,
1499
+ "canBeUsedUp": false,
1500
+ "isUsedUp": false,
1501
+ "cookable": false,
1502
+ "isCooked": false,
1503
+ "temperature": "RoomTemp",
1504
+ "isHeatSource": false,
1505
+ "isColdSource": false,
1506
+ "sliceable": false,
1507
+ "isSliced": false,
1508
+ "openable": false,
1509
+ "isOpen": false,
1510
+ "openness": 0.0,
1511
+ "pickupable": false,
1512
+ "isPickedUp": false,
1513
+ "moveable": false,
1514
+ "mass": 0.0,
1515
+ "salientMaterials": null,
1516
+ "receptacleObjectIds": [],
1517
+ "distance": 1.8839540481567383,
1518
+ "objectType": "Shelf",
1519
+ "objectId": "Shelf|+00.62|+00.24|+00.34",
1520
+ "assetId": "",
1521
+ "parentReceptacles": [
1522
+ "Floor|+00.00|+00.00|+00.00"
1523
+ ],
1524
+ "controlledObjects": null,
1525
+ "isMoving": false,
1526
+ "axisAlignedBoundingBox": {
1527
+ "cornerPoints": [
1528
+ [
1529
+ 1.1153661012649536,
1530
+ 0.8257793188095093,
1531
+ 0.6623780727386475
1532
+ ],
1533
+ [
1534
+ 1.1153661012649536,
1535
+ 0.8257793188095093,
1536
+ 0.01762211322784424
1537
+ ],
1538
+ [
1539
+ 1.1153661012649536,
1540
+ 0.090691477060318,
1541
+ 0.6623780727386475
1542
+ ],
1543
+ [
1544
+ 1.1153661012649536,
1545
+ 0.090691477060318,
1546
+ 0.01762211322784424
1547
+ ],
1548
+ [
1549
+ 0.13083338737487793,
1550
+ 0.8257793188095093,
1551
+ 0.6623780727386475
1552
+ ],
1553
+ [
1554
+ 0.13083338737487793,
1555
+ 0.8257793188095093,
1556
+ 0.01762211322784424
1557
+ ],
1558
+ [
1559
+ 0.13083338737487793,
1560
+ 0.090691477060318,
1561
+ 0.6623780727386475
1562
+ ],
1563
+ [
1564
+ 0.13083338737487793,
1565
+ 0.090691477060318,
1566
+ 0.01762211322784424
1567
+ ]
1568
+ ],
1569
+ "center": {
1570
+ "x": 0.6230997443199158,
1571
+ "y": 0.45823541283607483,
1572
+ "z": 0.34000009298324585
1573
+ },
1574
+ "size": {
1575
+ "x": 0.9845327138900757,
1576
+ "y": 0.7350878715515137,
1577
+ "z": 0.6447559595108032
1578
+ }
1579
+ },
1580
+ "objectOrientedBoundingBox": null
1581
+ }
1582
+ },
1583
+ {
1584
+ "objectId": "Laptop|-03.22|+00.61|+00.58",
1585
+ "object_info": {
1586
+ "name": "Laptop_1793eb2d",
1587
+ "position": {
1588
+ "x": -3.215677499771118,
1589
+ "y": 0.6147335767745972,
1590
+ "z": 0.5826804041862488
1591
+ },
1592
+ "rotation": {
1593
+ "x": 0.0037529009860008955,
1594
+ "y": 29.944215774536133,
1595
+ "z": 359.9883117675781
1596
+ },
1597
+ "visible": false,
1598
+ "isInteractable": false,
1599
+ "receptacle": false,
1600
+ "toggleable": true,
1601
+ "isToggled": false,
1602
+ "breakable": true,
1603
+ "isBroken": false,
1604
+ "canFillWithLiquid": false,
1605
+ "isFilledWithLiquid": false,
1606
+ "fillLiquid": null,
1607
+ "dirtyable": false,
1608
+ "isDirty": false,
1609
+ "canBeUsedUp": false,
1610
+ "isUsedUp": false,
1611
+ "cookable": false,
1612
+ "isCooked": false,
1613
+ "temperature": "RoomTemp",
1614
+ "isHeatSource": false,
1615
+ "isColdSource": false,
1616
+ "sliceable": false,
1617
+ "isSliced": false,
1618
+ "openable": true,
1619
+ "isOpen": true,
1620
+ "openness": 1.0,
1621
+ "pickupable": true,
1622
+ "isPickedUp": false,
1623
+ "moveable": false,
1624
+ "mass": 2.299999952316284,
1625
+ "salientMaterials": [
1626
+ "Metal",
1627
+ "Plastic",
1628
+ "Glass"
1629
+ ],
1630
+ "receptacleObjectIds": null,
1631
+ "distance": 2.9504714012145996,
1632
+ "objectType": "Laptop",
1633
+ "objectId": "Laptop|-03.22|+00.61|+00.58",
1634
+ "assetId": "Laptop_2",
1635
+ "parentReceptacles": [
1636
+ "ArmChair|-03.06|+00.00|+00.52"
1637
+ ],
1638
+ "controlledObjects": [],
1639
+ "isMoving": false,
1640
+ "axisAlignedBoundingBox": {
1641
+ "cornerPoints": [
1642
+ [
1643
+ -2.9909815788269043,
1644
+ 0.8978071212768555,
1645
+ 0.7951347231864929
1646
+ ],
1647
+ [
1648
+ -2.9909815788269043,
1649
+ 0.8978071212768555,
1650
+ 0.3770233988761902
1651
+ ],
1652
+ [
1653
+ -2.9909815788269043,
1654
+ 0.6147116422653198,
1655
+ 0.7951347231864929
1656
+ ],
1657
+ [
1658
+ -2.9909815788269043,
1659
+ 0.6147116422653198,
1660
+ 0.3770233988761902
1661
+ ],
1662
+ [
1663
+ -3.436422824859619,
1664
+ 0.8978071212768555,
1665
+ 0.7951347231864929
1666
+ ],
1667
+ [
1668
+ -3.436422824859619,
1669
+ 0.8978071212768555,
1670
+ 0.3770233988761902
1671
+ ],
1672
+ [
1673
+ -3.436422824859619,
1674
+ 0.6147116422653198,
1675
+ 0.7951347231864929
1676
+ ],
1677
+ [
1678
+ -3.436422824859619,
1679
+ 0.6147116422653198,
1680
+ 0.3770233988761902
1681
+ ]
1682
+ ],
1683
+ "center": {
1684
+ "x": -3.2137022018432617,
1685
+ "y": 0.7562593817710876,
1686
+ "z": 0.5860790610313416
1687
+ },
1688
+ "size": {
1689
+ "x": 0.44544124603271484,
1690
+ "y": 0.28309547901153564,
1691
+ "z": 0.41811132431030273
1692
+ }
1693
+ },
1694
+ "objectOrientedBoundingBox": {
1695
+ "cornerPoints": [
1696
+ [
1697
+ -2.9909849166870117,
1698
+ 0.6147116422653198,
1699
+ 0.6187126636505127
1700
+ ],
1701
+ [
1702
+ -3.2971856594085693,
1703
+ 0.6147809028625488,
1704
+ 0.7951347231864929
1705
+ ],
1706
+ [
1707
+ -3.4364240169525146,
1708
+ 0.6147835850715637,
1709
+ 0.5534706711769104
1710
+ ],
1711
+ [
1712
+ -3.130223274230957,
1713
+ 0.6147143244743347,
1714
+ 0.3770485818386078
1715
+ ],
1716
+ [
1717
+ -2.9909355640411377,
1718
+ 0.8977351188659668,
1719
+ 0.6186873316764832
1720
+ ],
1721
+ [
1722
+ -3.2971363067626953,
1723
+ 0.8978043794631958,
1724
+ 0.7951093912124634
1725
+ ],
1726
+ [
1727
+ -3.4363746643066406,
1728
+ 0.8978070616722107,
1729
+ 0.5534453392028809
1730
+ ],
1731
+ [
1732
+ -3.130173683166504,
1733
+ 0.8977378010749817,
1734
+ 0.37702327966690063
1735
+ ]
1736
+ ]
1737
+ }
1738
+ }
1739
+ }
1740
+ ],
1741
+ "Agent": {
1742
+ "agent_position": {
1743
+ "x": -0.800000011920929,
1744
+ "y": 0.9010459184646606,
1745
+ "z": 3.0
1746
+ },
1747
+ "agent_rotation": {
1748
+ "x": -0.0,
1749
+ "y": 195.0,
1750
+ "z": 0.0
1751
+ },
1752
+ "agent_cameraHorizon": 0.0,
1753
+ "agent_isStanding": true,
1754
+ "agent_inHighFrictionArea": false
1755
+ },
1756
+ "camera_info": {
1757
+ "cameraPosition": {
1758
+ "x": -0.800000011920929,
1759
+ "y": 1.5760459899902344,
1760
+ "z": 3.0
1761
+ },
1762
+ "cameraOrthSize": -1.0,
1763
+ "fov": 90.0
1764
+ },
1765
+ "common_object": [
1766
+ "HousePlant|-02.01|+00.45|+02.36",
1767
+ "SideTable|+00.63|+00.01|+00.34",
1768
+ "Shelf|+00.62|+00.24|+00.34",
1769
+ "CoffeeTable|-01.73|+00.01|+02.36"
1770
+ ],
1771
+ "different_object": [
1772
+ "Laptop|-03.22|+00.61|+00.58",
1773
+ "Curtains|-03.97|+02.26|+01.45",
1774
+ "Statue|+00.86|+00.71|+00.33",
1775
+ "Pillow|-00.50|+00.69|+00.51",
1776
+ "ArmChair|-03.06|+00.00|+00.52",
1777
+ "Painting|-01.10|+01.77|-00.02",
1778
+ "Sofa|-01.14|00.00|+00.52",
1779
+ "Box|+00.33|+00.90|+00.49"
1780
+ ]
1781
+ }
train/FloorPlan202/15/0_depth_npy.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d1b3c01af2ddd5b61464c7505fb146b8b07a63f56393b464b9fb59a006638741
3
+ size 3145856
train/FloorPlan202/15/0_semantic_sensor_npy.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8fe6c5c7321c8e9e4ea2cb4d5fa7f0712a4b8e01f15826d037fbcd3c571f71e8
3
+ size 2359424
train/FloorPlan202/15/1.json ADDED
@@ -0,0 +1,1782 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "object": [
3
+ {
4
+ "objectId": "SideTable|+00.63|+00.01|+00.34",
5
+ "object_info": {
6
+ "name": "SideTable_f52edd16",
7
+ "position": {
8
+ "x": 0.6269959807395935,
9
+ "y": 0.0067979395389556885,
10
+ "z": 0.34000352025032043
11
+ },
12
+ "rotation": {
13
+ "x": -1.8670654753805138e-05,
14
+ "y": 0.0005228848312981427,
15
+ "z": 2.621133944558096e-06
16
+ },
17
+ "visible": false,
18
+ "isInteractable": false,
19
+ "receptacle": true,
20
+ "toggleable": false,
21
+ "isToggled": false,
22
+ "breakable": false,
23
+ "isBroken": false,
24
+ "canFillWithLiquid": false,
25
+ "isFilledWithLiquid": false,
26
+ "fillLiquid": null,
27
+ "dirtyable": false,
28
+ "isDirty": false,
29
+ "canBeUsedUp": false,
30
+ "isUsedUp": false,
31
+ "cookable": false,
32
+ "isCooked": false,
33
+ "temperature": "RoomTemp",
34
+ "isHeatSource": false,
35
+ "isColdSource": false,
36
+ "sliceable": false,
37
+ "isSliced": false,
38
+ "openable": false,
39
+ "isOpen": false,
40
+ "openness": 0.0,
41
+ "pickupable": false,
42
+ "isPickedUp": false,
43
+ "moveable": true,
44
+ "mass": 11.0,
45
+ "salientMaterials": [
46
+ "Wood"
47
+ ],
48
+ "receptacleObjectIds": [
49
+ "Statue|+00.86|+00.71|+00.33",
50
+ "Box|+00.33|+00.90|+00.49"
51
+ ],
52
+ "distance": 1.9797450304031372,
53
+ "objectType": "SideTable",
54
+ "objectId": "SideTable|+00.63|+00.01|+00.34",
55
+ "assetId": "Side_Table_202_1",
56
+ "parentReceptacles": [
57
+ "Floor|+00.00|+00.00|+00.00"
58
+ ],
59
+ "controlledObjects": null,
60
+ "isMoving": false,
61
+ "axisAlignedBoundingBox": {
62
+ "cornerPoints": [
63
+ [
64
+ 1.139021396636963,
65
+ 0.7156378030776978,
66
+ 0.6653361916542053
67
+ ],
68
+ [
69
+ 1.139021396636963,
70
+ 0.7156378030776978,
71
+ 0.015287637710571289
72
+ ],
73
+ [
74
+ 1.139021396636963,
75
+ 4.100799560546875e-05,
76
+ 0.6653361916542053
77
+ ],
78
+ [
79
+ 1.139021396636963,
80
+ 4.100799560546875e-05,
81
+ 0.015287637710571289
82
+ ],
83
+ [
84
+ 0.1209859848022461,
85
+ 0.7156378030776978,
86
+ 0.6653361916542053
87
+ ],
88
+ [
89
+ 0.1209859848022461,
90
+ 0.7156378030776978,
91
+ 0.015287637710571289
92
+ ],
93
+ [
94
+ 0.1209859848022461,
95
+ 4.100799560546875e-05,
96
+ 0.6653361916542053
97
+ ],
98
+ [
99
+ 0.1209859848022461,
100
+ 4.100799560546875e-05,
101
+ 0.015287637710571289
102
+ ]
103
+ ],
104
+ "center": {
105
+ "x": 0.6300036907196045,
106
+ "y": 0.3578394055366516,
107
+ "z": 0.3403119146823883
108
+ },
109
+ "size": {
110
+ "x": 1.0180354118347168,
111
+ "y": 0.7155967950820923,
112
+ "z": 0.650048553943634
113
+ }
114
+ },
115
+ "objectOrientedBoundingBox": {
116
+ "cornerPoints": [
117
+ [
118
+ 1.139021635055542,
119
+ 4.119798541069031e-05,
120
+ 0.665334939956665
121
+ ],
122
+ [
123
+ 0.12098664045333862,
124
+ 4.0972139686346054e-05,
125
+ 0.6653361320495605
126
+ ],
127
+ [
128
+ 0.12098580598831177,
129
+ 4.111742600798607e-05,
130
+ 0.015288949012756348
131
+ ],
132
+ [
133
+ 1.1390206813812256,
134
+ 4.134327173233032e-05,
135
+ 0.015287727117538452
136
+ ],
137
+ [
138
+ 1.139021396636963,
139
+ 0.7156376838684082,
140
+ 0.6653350591659546
141
+ ],
142
+ [
143
+ 0.1209864616394043,
144
+ 0.7156374454498291,
145
+ 0.6653362512588501
146
+ ],
147
+ [
148
+ 0.12098568677902222,
149
+ 0.7156375646591187,
150
+ 0.015289098024368286
151
+ ],
152
+ [
153
+ 1.1390206813812256,
154
+ 0.7156378030776978,
155
+ 0.01528787612915039
156
+ ]
157
+ ]
158
+ }
159
+ }
160
+ },
161
+ {
162
+ "objectId": "LightSwitch|-00.13|+01.41|+04.35",
163
+ "object_info": {
164
+ "name": "LightSwitch_3b0958cf",
165
+ "position": {
166
+ "x": -0.12999999523162842,
167
+ "y": 1.4079999923706055,
168
+ "z": 4.348999977111816
169
+ },
170
+ "rotation": {
171
+ "x": -0.0,
172
+ "y": 180.00006103515625,
173
+ "z": 0.0
174
+ },
175
+ "visible": false,
176
+ "isInteractable": false,
177
+ "receptacle": false,
178
+ "toggleable": true,
179
+ "isToggled": true,
180
+ "breakable": false,
181
+ "isBroken": false,
182
+ "canFillWithLiquid": false,
183
+ "isFilledWithLiquid": false,
184
+ "fillLiquid": null,
185
+ "dirtyable": false,
186
+ "isDirty": false,
187
+ "canBeUsedUp": false,
188
+ "isUsedUp": false,
189
+ "cookable": false,
190
+ "isCooked": false,
191
+ "temperature": "RoomTemp",
192
+ "isHeatSource": false,
193
+ "isColdSource": false,
194
+ "sliceable": false,
195
+ "isSliced": false,
196
+ "openable": false,
197
+ "isOpen": false,
198
+ "openness": 0.0,
199
+ "pickupable": false,
200
+ "isPickedUp": false,
201
+ "moveable": false,
202
+ "mass": 0.0,
203
+ "salientMaterials": null,
204
+ "receptacleObjectIds": null,
205
+ "distance": 2.722334146499634,
206
+ "objectType": "LightSwitch",
207
+ "objectId": "LightSwitch|-00.13|+01.41|+04.35",
208
+ "assetId": "Light_Switch_2",
209
+ "parentReceptacles": null,
210
+ "controlledObjects": [],
211
+ "isMoving": false,
212
+ "axisAlignedBoundingBox": {
213
+ "cornerPoints": [
214
+ [
215
+ -0.07112306356430054,
216
+ 1.4686191082000732,
217
+ 4.348999977111816
218
+ ],
219
+ [
220
+ -0.07112306356430054,
221
+ 1.4686191082000732,
222
+ 4.318241119384766
223
+ ],
224
+ [
225
+ -0.07112306356430054,
226
+ 1.3473808765411377,
227
+ 4.348999977111816
228
+ ],
229
+ [
230
+ -0.07112306356430054,
231
+ 1.3473808765411377,
232
+ 4.318241119384766
233
+ ],
234
+ [
235
+ -0.1888769567012787,
236
+ 1.4686191082000732,
237
+ 4.348999977111816
238
+ ],
239
+ [
240
+ -0.1888769567012787,
241
+ 1.4686191082000732,
242
+ 4.318241119384766
243
+ ],
244
+ [
245
+ -0.1888769567012787,
246
+ 1.3473808765411377,
247
+ 4.348999977111816
248
+ ],
249
+ [
250
+ -0.1888769567012787,
251
+ 1.3473808765411377,
252
+ 4.318241119384766
253
+ ]
254
+ ],
255
+ "center": {
256
+ "x": -0.1300000101327896,
257
+ "y": 1.4079999923706055,
258
+ "z": 4.333620548248291
259
+ },
260
+ "size": {
261
+ "x": 0.11775389313697815,
262
+ "y": 0.12123823165893555,
263
+ "z": 0.03075885772705078
264
+ }
265
+ },
266
+ "objectOrientedBoundingBox": null
267
+ }
268
+ },
269
+ {
270
+ "objectId": "TVStand|-01.57|+00.00|+03.87",
271
+ "object_info": {
272
+ "name": "TVStand_db473108",
273
+ "position": {
274
+ "x": -1.5669846534729004,
275
+ "y": 0.004306167364120483,
276
+ "z": 3.8690543174743652
277
+ },
278
+ "rotation": {
279
+ "x": 0.004767519421875477,
280
+ "y": -0.00041609088657423854,
281
+ "z": 359.98919677734375
282
+ },
283
+ "visible": false,
284
+ "isInteractable": false,
285
+ "receptacle": true,
286
+ "toggleable": false,
287
+ "isToggled": false,
288
+ "breakable": false,
289
+ "isBroken": false,
290
+ "canFillWithLiquid": false,
291
+ "isFilledWithLiquid": false,
292
+ "fillLiquid": null,
293
+ "dirtyable": false,
294
+ "isDirty": false,
295
+ "canBeUsedUp": false,
296
+ "isUsedUp": false,
297
+ "cookable": false,
298
+ "isCooked": false,
299
+ "temperature": "RoomTemp",
300
+ "isHeatSource": false,
301
+ "isColdSource": false,
302
+ "sliceable": false,
303
+ "isSliced": false,
304
+ "openable": false,
305
+ "isOpen": false,
306
+ "openness": 0.0,
307
+ "pickupable": false,
308
+ "isPickedUp": false,
309
+ "moveable": true,
310
+ "mass": 11.0,
311
+ "salientMaterials": [
312
+ "Wood"
313
+ ],
314
+ "receptacleObjectIds": [
315
+ "KeyChain|-01.01|+00.70|+03.53",
316
+ "Watch|-01.22|+00.70|+03.47",
317
+ "Television|-01.51|+01.19|+04.13",
318
+ "Book|-01.94|+00.70|+03.61"
319
+ ],
320
+ "distance": 2.578254222869873,
321
+ "objectType": "TVStand",
322
+ "objectId": "TVStand|-01.57|+00.00|+03.87",
323
+ "assetId": "TV_Stand_202_1",
324
+ "parentReceptacles": [
325
+ "Floor|+00.00|+00.00|+00.00"
326
+ ],
327
+ "controlledObjects": null,
328
+ "isMoving": false,
329
+ "axisAlignedBoundingBox": {
330
+ "cornerPoints": [
331
+ [
332
+ -0.9635045528411865,
333
+ 0.703944206237793,
334
+ 4.3159098625183105
335
+ ],
336
+ [
337
+ -0.9635045528411865,
338
+ 0.703944206237793,
339
+ 3.4221649169921875
340
+ ],
341
+ [
342
+ -0.9635045528411865,
343
+ 4.291534423828125e-06,
344
+ 4.3159098625183105
345
+ ],
346
+ [
347
+ -0.9635045528411865,
348
+ 4.291534423828125e-06,
349
+ 3.4221649169921875
350
+ ],
351
+ [
352
+ -2.165553331375122,
353
+ 0.703944206237793,
354
+ 4.3159098625183105
355
+ ],
356
+ [
357
+ -2.165553331375122,
358
+ 0.703944206237793,
359
+ 3.4221649169921875
360
+ ],
361
+ [
362
+ -2.165553331375122,
363
+ 4.291534423828125e-06,
364
+ 4.3159098625183105
365
+ ],
366
+ [
367
+ -2.165553331375122,
368
+ 4.291534423828125e-06,
369
+ 3.4221649169921875
370
+ ]
371
+ ],
372
+ "center": {
373
+ "x": -1.5645289421081543,
374
+ "y": 0.3519742488861084,
375
+ "z": 3.869037389755249
376
+ },
377
+ "size": {
378
+ "x": 1.2020487785339355,
379
+ "y": 0.7039399147033691,
380
+ "z": 0.893744945526123
381
+ }
382
+ },
383
+ "objectOrientedBoundingBox": {
384
+ "cornerPoints": [
385
+ [
386
+ -0.9635430574417114,
387
+ 4.3013133108615875e-06,
388
+ 4.3158955574035645
389
+ ],
390
+ [
391
+ -2.165553092956543,
392
+ 6.169313564896584e-05,
393
+ 4.31588888168335
394
+ ],
395
+ [
396
+ -2.165548324584961,
397
+ 7.986510172486305e-05,
398
+ 3.4221651554107666
399
+ ],
400
+ [
401
+ -0.9635381102561951,
402
+ 2.2473279386758804e-05,
403
+ 3.4221718311309814
404
+ ],
405
+ [
406
+ -0.9635094404220581,
407
+ 0.7038686871528625,
408
+ 4.3159098625183105
409
+ ],
410
+ [
411
+ -2.1655197143554688,
412
+ 0.7039260268211365,
413
+ 4.315903186798096
414
+ ],
415
+ [
416
+ -2.1655147075653076,
417
+ 0.7039441466331482,
418
+ 3.4221794605255127
419
+ ],
420
+ [
421
+ -0.9635044932365417,
422
+ 0.7038868069648743,
423
+ 3.4221861362457275
424
+ ]
425
+ ]
426
+ }
427
+ }
428
+ },
429
+ {
430
+ "objectId": "Television|-01.51|+01.19|+04.13",
431
+ "object_info": {
432
+ "name": "Television_3896d693",
433
+ "position": {
434
+ "x": -1.504708170890808,
435
+ "y": 1.1895017623901367,
436
+ "z": 4.126801013946533
437
+ },
438
+ "rotation": {
439
+ "x": -0.005337376147508621,
440
+ "y": 179.9965057373047,
441
+ "z": 0.06278510391712189
442
+ },
443
+ "visible": false,
444
+ "isInteractable": false,
445
+ "receptacle": false,
446
+ "toggleable": true,
447
+ "isToggled": false,
448
+ "breakable": true,
449
+ "isBroken": false,
450
+ "canFillWithLiquid": false,
451
+ "isFilledWithLiquid": false,
452
+ "fillLiquid": null,
453
+ "dirtyable": false,
454
+ "isDirty": false,
455
+ "canBeUsedUp": false,
456
+ "isUsedUp": false,
457
+ "cookable": false,
458
+ "isCooked": false,
459
+ "temperature": "RoomTemp",
460
+ "isHeatSource": false,
461
+ "isColdSource": false,
462
+ "sliceable": false,
463
+ "isSliced": false,
464
+ "openable": false,
465
+ "isOpen": false,
466
+ "openness": 0.0,
467
+ "pickupable": false,
468
+ "isPickedUp": false,
469
+ "moveable": true,
470
+ "mass": 9.829999923706055,
471
+ "salientMaterials": [
472
+ "Plastic",
473
+ "Metal"
474
+ ],
475
+ "receptacleObjectIds": null,
476
+ "distance": 2.6423490047454834,
477
+ "objectType": "Television",
478
+ "objectId": "Television|-01.51|+01.19|+04.13",
479
+ "assetId": "Television_2",
480
+ "parentReceptacles": [
481
+ "TVStand|-01.57|+00.00|+03.87"
482
+ ],
483
+ "controlledObjects": [],
484
+ "isMoving": false,
485
+ "axisAlignedBoundingBox": {
486
+ "cornerPoints": [
487
+ [
488
+ -0.8950223922729492,
489
+ 1.565382480621338,
490
+ 4.231383800506592
491
+ ],
492
+ [
493
+ -0.8950223922729492,
494
+ 1.565382480621338,
495
+ 3.999825954437256
496
+ ],
497
+ [
498
+ -0.8950223922729492,
499
+ 0.7031521797180176,
500
+ 4.231383800506592
501
+ ],
502
+ [
503
+ -0.8950223922729492,
504
+ 0.7031521797180176,
505
+ 3.999825954437256
506
+ ],
507
+ [
508
+ -2.1144661903381348,
509
+ 1.565382480621338,
510
+ 4.231383800506592
511
+ ],
512
+ [
513
+ -2.1144661903381348,
514
+ 1.565382480621338,
515
+ 3.999825954437256
516
+ ],
517
+ [
518
+ -2.1144661903381348,
519
+ 0.7031521797180176,
520
+ 4.231383800506592
521
+ ],
522
+ [
523
+ -2.1144661903381348,
524
+ 0.7031521797180176,
525
+ 3.999825954437256
526
+ ]
527
+ ],
528
+ "center": {
529
+ "x": -1.504744291305542,
530
+ "y": 1.1342673301696777,
531
+ "z": 4.115604877471924
532
+ },
533
+ "size": {
534
+ "x": 1.2194437980651855,
535
+ "y": 0.8622303009033203,
536
+ "z": 0.23155784606933594
537
+ }
538
+ },
539
+ "objectOrientedBoundingBox": {
540
+ "cornerPoints": [
541
+ [
542
+ -2.114504814147949,
543
+ 0.7042287588119507,
544
+ 3.999809980392456
545
+ ],
546
+ [
547
+ -0.8959611654281616,
548
+ 0.7028934955596924,
549
+ 3.9998841285705566
550
+ ],
551
+ [
552
+ -0.8959752917289734,
553
+ 0.7028719186782837,
554
+ 4.231398582458496
555
+ ],
556
+ [
557
+ -2.114518880844116,
558
+ 0.704207181930542,
559
+ 4.231324672698975
560
+ ],
561
+ [
562
+ -2.1135611534118652,
563
+ 1.5653878450393677,
564
+ 3.9998903274536133
565
+ ],
566
+ [
567
+ -0.8950175046920776,
568
+ 1.5640525817871094,
569
+ 3.999964475631714
570
+ ],
571
+ [
572
+ -0.8950316309928894,
573
+ 1.5640310049057007,
574
+ 4.231479167938232
575
+ ],
576
+ [
577
+ -2.1135752201080322,
578
+ 1.565366268157959,
579
+ 4.231404781341553
580
+ ]
581
+ ]
582
+ }
583
+ }
584
+ },
585
+ {
586
+ "objectId": "Painting|-03.05|+01.69|+04.34",
587
+ "object_info": {
588
+ "name": "Painting_665d0b7a",
589
+ "position": {
590
+ "x": -3.049999952316284,
591
+ "y": 1.6900659799575806,
592
+ "z": 4.341033935546875
593
+ },
594
+ "rotation": {
595
+ "x": -0.0,
596
+ "y": 0.0,
597
+ "z": 0.0
598
+ },
599
+ "visible": false,
600
+ "isInteractable": false,
601
+ "receptacle": false,
602
+ "toggleable": false,
603
+ "isToggled": false,
604
+ "breakable": false,
605
+ "isBroken": false,
606
+ "canFillWithLiquid": false,
607
+ "isFilledWithLiquid": false,
608
+ "fillLiquid": null,
609
+ "dirtyable": false,
610
+ "isDirty": false,
611
+ "canBeUsedUp": false,
612
+ "isUsedUp": false,
613
+ "cookable": false,
614
+ "isCooked": false,
615
+ "temperature": "RoomTemp",
616
+ "isHeatSource": false,
617
+ "isColdSource": false,
618
+ "sliceable": false,
619
+ "isSliced": false,
620
+ "openable": false,
621
+ "isOpen": false,
622
+ "openness": 0.0,
623
+ "pickupable": false,
624
+ "isPickedUp": false,
625
+ "moveable": false,
626
+ "mass": 0.0,
627
+ "salientMaterials": null,
628
+ "receptacleObjectIds": null,
629
+ "distance": 3.755011558532715,
630
+ "objectType": "Painting",
631
+ "objectId": "Painting|-03.05|+01.69|+04.34",
632
+ "assetId": "",
633
+ "parentReceptacles": null,
634
+ "controlledObjects": null,
635
+ "isMoving": false,
636
+ "axisAlignedBoundingBox": {
637
+ "cornerPoints": [
638
+ [
639
+ -2.1866981983184814,
640
+ 2.3122336864471436,
641
+ 4.369747638702393
642
+ ],
643
+ [
644
+ -2.1866981983184814,
645
+ 2.3122336864471436,
646
+ 4.312320232391357
647
+ ],
648
+ [
649
+ -2.1866981983184814,
650
+ 1.0678982734680176,
651
+ 4.369747638702393
652
+ ],
653
+ [
654
+ -2.1866981983184814,
655
+ 1.0678982734680176,
656
+ 4.312320232391357
657
+ ],
658
+ [
659
+ -3.913301706314087,
660
+ 2.3122336864471436,
661
+ 4.369747638702393
662
+ ],
663
+ [
664
+ -3.913301706314087,
665
+ 2.3122336864471436,
666
+ 4.312320232391357
667
+ ],
668
+ [
669
+ -3.913301706314087,
670
+ 1.0678982734680176,
671
+ 4.369747638702393
672
+ ],
673
+ [
674
+ -3.913301706314087,
675
+ 1.0678982734680176,
676
+ 4.312320232391357
677
+ ]
678
+ ],
679
+ "center": {
680
+ "x": -3.049999952316284,
681
+ "y": 1.6900659799575806,
682
+ "z": 4.341033935546875
683
+ },
684
+ "size": {
685
+ "x": 1.7266035079956055,
686
+ "y": 1.244335412979126,
687
+ "z": 0.057427406311035156
688
+ }
689
+ },
690
+ "objectOrientedBoundingBox": null
691
+ }
692
+ },
693
+ {
694
+ "objectId": "GarbageCan|-00.38|+00.00|+04.10",
695
+ "object_info": {
696
+ "name": "GarbageCan_e26a73da",
697
+ "position": {
698
+ "x": -0.3769993484020233,
699
+ "y": 0.0033733099699020386,
700
+ "z": 4.103979110717773
701
+ },
702
+ "rotation": {
703
+ "x": 0.9101189970970154,
704
+ "y": 180.0021209716797,
705
+ "z": 3.615652531152591e-06
706
+ },
707
+ "visible": false,
708
+ "isInteractable": false,
709
+ "receptacle": true,
710
+ "toggleable": false,
711
+ "isToggled": false,
712
+ "breakable": false,
713
+ "isBroken": false,
714
+ "canFillWithLiquid": false,
715
+ "isFilledWithLiquid": false,
716
+ "fillLiquid": null,
717
+ "dirtyable": false,
718
+ "isDirty": false,
719
+ "canBeUsedUp": false,
720
+ "isUsedUp": false,
721
+ "cookable": false,
722
+ "isCooked": false,
723
+ "temperature": "RoomTemp",
724
+ "isHeatSource": false,
725
+ "isColdSource": false,
726
+ "sliceable": false,
727
+ "isSliced": false,
728
+ "openable": false,
729
+ "isOpen": false,
730
+ "openness": 0.0,
731
+ "pickupable": false,
732
+ "isPickedUp": false,
733
+ "moveable": true,
734
+ "mass": 0.699999988079071,
735
+ "salientMaterials": [
736
+ "Plastic"
737
+ ],
738
+ "receptacleObjectIds": [],
739
+ "distance": 2.569058418273926,
740
+ "objectType": "GarbageCan",
741
+ "objectId": "GarbageCan|-00.38|+00.00|+04.10",
742
+ "assetId": "bin_2",
743
+ "parentReceptacles": [
744
+ "Floor|+00.00|+00.00|+00.00"
745
+ ],
746
+ "controlledObjects": null,
747
+ "isMoving": false,
748
+ "axisAlignedBoundingBox": {
749
+ "cornerPoints": [
750
+ [
751
+ -0.03218013048171997,
752
+ 0.510252058506012,
753
+ 4.323951721191406
754
+ ],
755
+ [
756
+ -0.03218013048171997,
757
+ 0.510252058506012,
758
+ 3.852076530456543
759
+ ],
760
+ [
761
+ -0.03218013048171997,
762
+ 4.5359134674072266e-05,
763
+ 4.323951721191406
764
+ ],
765
+ [
766
+ -0.03218013048171997,
767
+ 4.5359134674072266e-05,
768
+ 3.852076530456543
769
+ ],
770
+ [
771
+ -0.710737943649292,
772
+ 0.510252058506012,
773
+ 4.323951721191406
774
+ ],
775
+ [
776
+ -0.710737943649292,
777
+ 0.510252058506012,
778
+ 3.852076530456543
779
+ ],
780
+ [
781
+ -0.710737943649292,
782
+ 4.5359134674072266e-05,
783
+ 4.323951721191406
784
+ ],
785
+ [
786
+ -0.710737943649292,
787
+ 4.5359134674072266e-05,
788
+ 3.852076530456543
789
+ ]
790
+ ],
791
+ "center": {
792
+ "x": -0.371459037065506,
793
+ "y": 0.255148708820343,
794
+ "z": 4.088014125823975
795
+ },
796
+ "size": {
797
+ "x": 0.678557813167572,
798
+ "y": 0.5102066993713379,
799
+ "z": 0.4718751907348633
800
+ }
801
+ },
802
+ "objectOrientedBoundingBox": {
803
+ "cornerPoints": [
804
+ [
805
+ -0.7107443809509277,
806
+ -0.0057098763063549995,
807
+ 3.8598792552948
808
+ ],
809
+ [
810
+ -0.03218132257461548,
811
+ -0.005709880962967873,
812
+ 3.8598546981811523
813
+ ],
814
+ [
815
+ -0.03216421604156494,
816
+ 0.0017862222157418728,
817
+ 4.331751823425293
818
+ ],
819
+ [
820
+ -0.7107272744178772,
821
+ 0.0017862268723547459,
822
+ 4.3317766189575195
823
+ ],
824
+ [
825
+ -0.7107446789741516,
826
+ 0.5034229755401611,
827
+ 3.8517916202545166
828
+ ],
829
+ [
830
+ -0.032181620597839355,
831
+ 0.5034229755401611,
832
+ 3.851767063140869
833
+ ],
834
+ [
835
+ -0.03216451406478882,
836
+ 0.5109190344810486,
837
+ 4.32366418838501
838
+ ],
839
+ [
840
+ -0.7107275724411011,
841
+ 0.5109190344810486,
842
+ 4.323688983917236
843
+ ]
844
+ ]
845
+ }
846
+ }
847
+ },
848
+ {
849
+ "objectId": "RemoteControl|-01.27|+00.44|+02.15",
850
+ "object_info": {
851
+ "name": "RemoteControl_6aec8052",
852
+ "position": {
853
+ "x": -1.273537278175354,
854
+ "y": 0.44417518377304077,
855
+ "z": 2.1527976989746094
856
+ },
857
+ "rotation": {
858
+ "x": 0.011795872822403908,
859
+ "y": 359.96044921875,
860
+ "z": 359.80902099609375
861
+ },
862
+ "visible": false,
863
+ "isInteractable": false,
864
+ "receptacle": false,
865
+ "toggleable": false,
866
+ "isToggled": false,
867
+ "breakable": false,
868
+ "isBroken": false,
869
+ "canFillWithLiquid": false,
870
+ "isFilledWithLiquid": false,
871
+ "fillLiquid": null,
872
+ "dirtyable": false,
873
+ "isDirty": false,
874
+ "canBeUsedUp": false,
875
+ "isUsedUp": false,
876
+ "cookable": false,
877
+ "isCooked": false,
878
+ "temperature": "RoomTemp",
879
+ "isHeatSource": false,
880
+ "isColdSource": false,
881
+ "sliceable": false,
882
+ "isSliced": false,
883
+ "openable": false,
884
+ "isOpen": false,
885
+ "openness": 0.0,
886
+ "pickupable": true,
887
+ "isPickedUp": false,
888
+ "moveable": false,
889
+ "mass": 0.15000000596046448,
890
+ "salientMaterials": [
891
+ "Metal",
892
+ "Plastic"
893
+ ],
894
+ "receptacleObjectIds": null,
895
+ "distance": 1.0060399770736694,
896
+ "objectType": "RemoteControl",
897
+ "objectId": "RemoteControl|-01.27|+00.44|+02.15",
898
+ "assetId": "Remote_2",
899
+ "parentReceptacles": [
900
+ "CoffeeTable|-01.73|+00.01|+02.36"
901
+ ],
902
+ "controlledObjects": null,
903
+ "isMoving": false,
904
+ "axisAlignedBoundingBox": {
905
+ "cornerPoints": [
906
+ [
907
+ -1.2442559003829956,
908
+ 0.46738266944885254,
909
+ 2.258861780166626
910
+ ],
911
+ [
912
+ -1.2442559003829956,
913
+ 0.46738266944885254,
914
+ 2.0467159748077393
915
+ ],
916
+ [
917
+ -1.2442559003829956,
918
+ 0.4434448480606079,
919
+ 2.258861780166626
920
+ ],
921
+ [
922
+ -1.2442559003829956,
923
+ 0.4434448480606079,
924
+ 2.0467159748077393
925
+ ],
926
+ [
927
+ -1.302942156791687,
928
+ 0.46738266944885254,
929
+ 2.258861780166626
930
+ ],
931
+ [
932
+ -1.302942156791687,
933
+ 0.46738266944885254,
934
+ 2.0467159748077393
935
+ ],
936
+ [
937
+ -1.302942156791687,
938
+ 0.4434448480606079,
939
+ 2.258861780166626
940
+ ],
941
+ [
942
+ -1.302942156791687,
943
+ 0.4434448480606079,
944
+ 2.0467159748077393
945
+ ]
946
+ ],
947
+ "center": {
948
+ "x": -1.2735990285873413,
949
+ "y": 0.4554137587547302,
950
+ "z": 2.1527888774871826
951
+ },
952
+ "size": {
953
+ "x": 0.058686256408691406,
954
+ "y": 0.02393782138824463,
955
+ "z": 0.21214580535888672
956
+ }
957
+ },
958
+ "objectOrientedBoundingBox": {
959
+ "cornerPoints": [
960
+ [
961
+ -1.244377851486206,
962
+ 0.4434448480606079,
963
+ 2.258861780166626
964
+ ],
965
+ [
966
+ -1.3029422760009766,
967
+ 0.4434700906276703,
968
+ 2.258831024169922
969
+ ],
970
+ [
971
+ -1.302830696105957,
972
+ 0.4434703588485718,
973
+ 2.0467159748077393
974
+ ],
975
+ [
976
+ -1.2442662715911865,
977
+ 0.4434451162815094,
978
+ 2.0467467308044434
979
+ ],
980
+ [
981
+ -1.2443674802780151,
982
+ 0.46735715866088867,
983
+ 2.258861780166626
984
+ ],
985
+ [
986
+ -1.3029319047927856,
987
+ 0.46738240122795105,
988
+ 2.258831024169922
989
+ ],
990
+ [
991
+ -1.3028203248977661,
992
+ 0.46738266944885254,
993
+ 2.0467159748077393
994
+ ],
995
+ [
996
+ -1.2442559003829956,
997
+ 0.46735742688179016,
998
+ 2.0467467308044434
999
+ ]
1000
+ ]
1001
+ }
1002
+ }
1003
+ },
1004
+ {
1005
+ "objectId": "CoffeeTable|-01.73|+00.01|+02.36",
1006
+ "object_info": {
1007
+ "name": "CoffeeTable_f6dcd9dd",
1008
+ "position": {
1009
+ "x": -1.7349979877471924,
1010
+ "y": 0.005640685558319092,
1011
+ "z": 2.3609893321990967
1012
+ },
1013
+ "rotation": {
1014
+ "x": 0.0014754097210243344,
1015
+ "y": 0.00011461416579550132,
1016
+ "z": -0.0009494048426859081
1017
+ },
1018
+ "visible": true,
1019
+ "isInteractable": true,
1020
+ "receptacle": true,
1021
+ "toggleable": false,
1022
+ "isToggled": false,
1023
+ "breakable": false,
1024
+ "isBroken": false,
1025
+ "canFillWithLiquid": false,
1026
+ "isFilledWithLiquid": false,
1027
+ "fillLiquid": null,
1028
+ "dirtyable": false,
1029
+ "isDirty": false,
1030
+ "canBeUsedUp": false,
1031
+ "isUsedUp": false,
1032
+ "cookable": false,
1033
+ "isCooked": false,
1034
+ "temperature": "RoomTemp",
1035
+ "isHeatSource": false,
1036
+ "isColdSource": false,
1037
+ "sliceable": false,
1038
+ "isSliced": false,
1039
+ "openable": false,
1040
+ "isOpen": false,
1041
+ "openness": 0.0,
1042
+ "pickupable": false,
1043
+ "isPickedUp": false,
1044
+ "moveable": true,
1045
+ "mass": 11.0,
1046
+ "salientMaterials": [
1047
+ "Wood"
1048
+ ],
1049
+ "receptacleObjectIds": [
1050
+ "RemoteControl|-01.27|+00.44|+02.15",
1051
+ "CreditCard|-02.10|+00.44|+02.58",
1052
+ "HousePlant|-02.01|+00.45|+02.36"
1053
+ ],
1054
+ "distance": 1.6624913215637207,
1055
+ "objectType": "CoffeeTable",
1056
+ "objectId": "CoffeeTable|-01.73|+00.01|+02.36",
1057
+ "assetId": "Coffee_Table_202_1",
1058
+ "parentReceptacles": [
1059
+ "Floor|+00.00|+00.00|+00.00"
1060
+ ],
1061
+ "controlledObjects": null,
1062
+ "isMoving": false,
1063
+ "axisAlignedBoundingBox": {
1064
+ "cornerPoints": [
1065
+ [
1066
+ -1.228797435760498,
1067
+ 0.4434751868247986,
1068
+ 2.6887097358703613
1069
+ ],
1070
+ [
1071
+ -1.228797435760498,
1072
+ 0.4434751868247986,
1073
+ 2.0332765579223633
1074
+ ],
1075
+ [
1076
+ -1.228797435760498,
1077
+ 4.315376281738281e-05,
1078
+ 2.6887097358703613
1079
+ ],
1080
+ [
1081
+ -1.228797435760498,
1082
+ 4.315376281738281e-05,
1083
+ 2.0332765579223633
1084
+ ],
1085
+ [
1086
+ -2.2424564361572266,
1087
+ 0.4434751868247986,
1088
+ 2.6887097358703613
1089
+ ],
1090
+ [
1091
+ -2.2424564361572266,
1092
+ 0.4434751868247986,
1093
+ 2.0332765579223633
1094
+ ],
1095
+ [
1096
+ -2.2424564361572266,
1097
+ 4.315376281738281e-05,
1098
+ 2.6887097358703613
1099
+ ],
1100
+ [
1101
+ -2.2424564361572266,
1102
+ 4.315376281738281e-05,
1103
+ 2.0332765579223633
1104
+ ]
1105
+ ],
1106
+ "center": {
1107
+ "x": -1.7356269359588623,
1108
+ "y": 0.22175917029380798,
1109
+ "z": 2.3609931468963623
1110
+ },
1111
+ "size": {
1112
+ "x": 1.0136590003967285,
1113
+ "y": 0.4434320330619812,
1114
+ "z": 0.655433177947998
1115
+ }
1116
+ },
1117
+ "objectOrientedBoundingBox": {
1118
+ "cornerPoints": [
1119
+ [
1120
+ -1.22880220413208,
1121
+ 4.938757047057152e-05,
1122
+ 2.6887128353118896
1123
+ ],
1124
+ [
1125
+ -2.2424585819244385,
1126
+ 5.36525622010231e-05,
1127
+ 2.6887078285217285
1128
+ ],
1129
+ [
1130
+ -2.242455244064331,
1131
+ 4.747509956359863e-05,
1132
+ 2.03328013420105
1133
+ ],
1134
+ [
1135
+ -1.2287988662719727,
1136
+ 4.321010783314705e-05,
1137
+ 2.03328537940979
1138
+ ],
1139
+ [
1140
+ -1.2288004159927368,
1141
+ 0.4434714615345001,
1142
+ 2.688708782196045
1143
+ ],
1144
+ [
1145
+ -2.2424566745758057,
1146
+ 0.44347572326660156,
1147
+ 2.6887035369873047
1148
+ ],
1149
+ [
1150
+ -2.2424533367156982,
1151
+ 0.4434695243835449,
1152
+ 2.033276081085205
1153
+ ],
1154
+ [
1155
+ -1.2287970781326294,
1156
+ 0.4434652626514435,
1157
+ 2.033281087875366
1158
+ ]
1159
+ ]
1160
+ }
1161
+ }
1162
+ },
1163
+ {
1164
+ "objectId": "HousePlant|-02.01|+00.45|+02.36",
1165
+ "object_info": {
1166
+ "name": "HousePlant_c0410d81",
1167
+ "position": {
1168
+ "x": -2.0149343013763428,
1169
+ "y": 0.44758614897727966,
1170
+ "z": 2.3577699661254883
1171
+ },
1172
+ "rotation": {
1173
+ "x": 0.13371217250823975,
1174
+ "y": 0.43230530619621277,
1175
+ "z": 359.86834716796875
1176
+ },
1177
+ "visible": true,
1178
+ "isInteractable": true,
1179
+ "receptacle": false,
1180
+ "toggleable": false,
1181
+ "isToggled": false,
1182
+ "breakable": false,
1183
+ "isBroken": false,
1184
+ "canFillWithLiquid": true,
1185
+ "isFilledWithLiquid": false,
1186
+ "fillLiquid": null,
1187
+ "dirtyable": false,
1188
+ "isDirty": false,
1189
+ "canBeUsedUp": false,
1190
+ "isUsedUp": false,
1191
+ "cookable": false,
1192
+ "isCooked": false,
1193
+ "temperature": "RoomTemp",
1194
+ "isHeatSource": false,
1195
+ "isColdSource": false,
1196
+ "sliceable": false,
1197
+ "isSliced": false,
1198
+ "openable": false,
1199
+ "isOpen": false,
1200
+ "openness": 0.0,
1201
+ "pickupable": false,
1202
+ "isPickedUp": false,
1203
+ "moveable": true,
1204
+ "mass": 3.0,
1205
+ "salientMaterials": [
1206
+ "Ceramic",
1207
+ "Organic"
1208
+ ],
1209
+ "receptacleObjectIds": null,
1210
+ "distance": 1.7126917839050293,
1211
+ "objectType": "HousePlant",
1212
+ "objectId": "HousePlant|-02.01|+00.45|+02.36",
1213
+ "assetId": "Houseplant_2",
1214
+ "parentReceptacles": [
1215
+ "CoffeeTable|-01.73|+00.01|+02.36"
1216
+ ],
1217
+ "controlledObjects": null,
1218
+ "isMoving": false,
1219
+ "axisAlignedBoundingBox": {
1220
+ "cornerPoints": [
1221
+ [
1222
+ -1.9226515293121338,
1223
+ 1.1414202451705933,
1224
+ 2.4988555908203125
1225
+ ],
1226
+ [
1227
+ -1.9226515293121338,
1228
+ 1.1414202451705933,
1229
+ 2.2222766876220703
1230
+ ],
1231
+ [
1232
+ -1.9226515293121338,
1233
+ 0.4434148073196411,
1234
+ 2.4988555908203125
1235
+ ],
1236
+ [
1237
+ -1.9226515293121338,
1238
+ 0.4434148073196411,
1239
+ 2.2222766876220703
1240
+ ],
1241
+ [
1242
+ -2.1600968837738037,
1243
+ 1.1414202451705933,
1244
+ 2.4988555908203125
1245
+ ],
1246
+ [
1247
+ -2.1600968837738037,
1248
+ 1.1414202451705933,
1249
+ 2.2222766876220703
1250
+ ],
1251
+ [
1252
+ -2.1600968837738037,
1253
+ 0.4434148073196411,
1254
+ 2.4988555908203125
1255
+ ],
1256
+ [
1257
+ -2.1600968837738037,
1258
+ 0.4434148073196411,
1259
+ 2.2222766876220703
1260
+ ]
1261
+ ],
1262
+ "center": {
1263
+ "x": -2.0413742065429688,
1264
+ "y": 0.7924175262451172,
1265
+ "z": 2.3605661392211914
1266
+ },
1267
+ "size": {
1268
+ "x": 0.23744535446166992,
1269
+ "y": 0.6980054378509521,
1270
+ "z": 0.2765789031982422
1271
+ }
1272
+ },
1273
+ "objectOrientedBoundingBox": {
1274
+ "cornerPoints": [
1275
+ [
1276
+ -1.923201322555542,
1277
+ 0.4431056082248688,
1278
+ 2.4955716133117676
1279
+ ],
1280
+ [
1281
+ -2.1597938537597656,
1282
+ 0.4436492919921875,
1283
+ 2.4973580837249756
1284
+ ],
1285
+ [
1286
+ -2.161877155303955,
1287
+ 0.4442936182022095,
1288
+ 2.221266746520996
1289
+ ],
1290
+ [
1291
+ -1.925284504890442,
1292
+ 0.44374993443489075,
1293
+ 2.219480276107788
1294
+ ],
1295
+ [
1296
+ -1.921585202217102,
1297
+ 1.1410508155822754,
1298
+ 2.4971883296966553
1299
+ ],
1300
+ [
1301
+ -2.1581778526306152,
1302
+ 1.1415945291519165,
1303
+ 2.4989748001098633
1304
+ ],
1305
+ [
1306
+ -2.1602609157562256,
1307
+ 1.1422388553619385,
1308
+ 2.222883462905884
1309
+ ],
1310
+ [
1311
+ -1.923668384552002,
1312
+ 1.1416951417922974,
1313
+ 2.221096992492676
1314
+ ]
1315
+ ]
1316
+ }
1317
+ }
1318
+ },
1319
+ {
1320
+ "objectId": "Book|-01.94|+00.70|+03.61",
1321
+ "object_info": {
1322
+ "name": "Book_7cd647c4",
1323
+ "position": {
1324
+ "x": -1.9425638914108276,
1325
+ "y": 0.7040523886680603,
1326
+ "z": 3.612591505050659
1327
+ },
1328
+ "rotation": {
1329
+ "x": 0.05665908008813858,
1330
+ "y": 0.005206873174756765,
1331
+ "z": 0.006656213663518429
1332
+ },
1333
+ "visible": false,
1334
+ "isInteractable": false,
1335
+ "receptacle": false,
1336
+ "toggleable": false,
1337
+ "isToggled": false,
1338
+ "breakable": false,
1339
+ "isBroken": false,
1340
+ "canFillWithLiquid": false,
1341
+ "isFilledWithLiquid": false,
1342
+ "fillLiquid": null,
1343
+ "dirtyable": false,
1344
+ "isDirty": false,
1345
+ "canBeUsedUp": false,
1346
+ "isUsedUp": false,
1347
+ "cookable": false,
1348
+ "isCooked": false,
1349
+ "temperature": "RoomTemp",
1350
+ "isHeatSource": false,
1351
+ "isColdSource": false,
1352
+ "sliceable": false,
1353
+ "isSliced": false,
1354
+ "openable": true,
1355
+ "isOpen": false,
1356
+ "openness": 0.0,
1357
+ "pickupable": true,
1358
+ "isPickedUp": false,
1359
+ "moveable": false,
1360
+ "mass": 0.5,
1361
+ "salientMaterials": [
1362
+ "Paper"
1363
+ ],
1364
+ "receptacleObjectIds": null,
1365
+ "distance": 2.4037060737609863,
1366
+ "objectType": "Book",
1367
+ "objectId": "Book|-01.94|+00.70|+03.61",
1368
+ "assetId": "Book_2",
1369
+ "parentReceptacles": [
1370
+ "TVStand|-01.57|+00.00|+03.87"
1371
+ ],
1372
+ "controlledObjects": null,
1373
+ "isMoving": false,
1374
+ "axisAlignedBoundingBox": {
1375
+ "cornerPoints": [
1376
+ [
1377
+ -1.8328921794891357,
1378
+ 0.7354772090911865,
1379
+ 3.746750831604004
1380
+ ],
1381
+ [
1382
+ -1.8328921794891357,
1383
+ 0.7354772090911865,
1384
+ 3.478463649749756
1385
+ ],
1386
+ [
1387
+ -1.8328921794891357,
1388
+ 0.7038717269897461,
1389
+ 3.746750831604004
1390
+ ],
1391
+ [
1392
+ -1.8328921794891357,
1393
+ 0.7038717269897461,
1394
+ 3.478463649749756
1395
+ ],
1396
+ [
1397
+ -2.051438570022583,
1398
+ 0.7354772090911865,
1399
+ 3.746750831604004
1400
+ ],
1401
+ [
1402
+ -2.051438570022583,
1403
+ 0.7354772090911865,
1404
+ 3.478463649749756
1405
+ ],
1406
+ [
1407
+ -2.051438570022583,
1408
+ 0.7038717269897461,
1409
+ 3.746750831604004
1410
+ ],
1411
+ [
1412
+ -2.051438570022583,
1413
+ 0.7038717269897461,
1414
+ 3.478463649749756
1415
+ ]
1416
+ ],
1417
+ "center": {
1418
+ "x": -1.9421653747558594,
1419
+ "y": 0.7196744680404663,
1420
+ "z": 3.61260724067688
1421
+ },
1422
+ "size": {
1423
+ "x": 0.21854639053344727,
1424
+ "y": 0.03160548210144043,
1425
+ "z": 0.26828718185424805
1426
+ }
1427
+ },
1428
+ "objectOrientedBoundingBox": {
1429
+ "cornerPoints": [
1430
+ [
1431
+ -1.832889437675476,
1432
+ 0.7038764357566833,
1433
+ 3.7467010021209717
1434
+ ],
1435
+ [
1436
+ -2.051410675048828,
1437
+ 0.703851044178009,
1438
+ 3.746720790863037
1439
+ ],
1440
+ [
1441
+ -2.0514349937438965,
1442
+ 0.7041162848472595,
1443
+ 3.478482246398926
1444
+ ],
1445
+ [
1446
+ -1.8329137563705444,
1447
+ 0.7041416764259338,
1448
+ 3.4784624576568604
1449
+ ],
1450
+ [
1451
+ -1.8328930139541626,
1452
+ 0.735216498374939,
1453
+ 3.746731996536255
1454
+ ],
1455
+ [
1456
+ -2.0514142513275146,
1457
+ 0.7351911067962646,
1458
+ 3.7467517852783203
1459
+ ],
1460
+ [
1461
+ -2.051438570022583,
1462
+ 0.7354563474655151,
1463
+ 3.478513240814209
1464
+ ],
1465
+ [
1466
+ -1.8329174518585205,
1467
+ 0.7354817390441895,
1468
+ 3.4784934520721436
1469
+ ]
1470
+ ]
1471
+ }
1472
+ }
1473
+ },
1474
+ {
1475
+ "objectId": "Shelf|+00.62|+00.24|+00.34",
1476
+ "object_info": {
1477
+ "name": "Shelf_2ef847cf",
1478
+ "position": {
1479
+ "x": 0.6229959726333618,
1480
+ "y": 0.23879793286323547,
1481
+ "z": 0.34000349044799805
1482
+ },
1483
+ "rotation": {
1484
+ "x": -1.8670654753805138e-05,
1485
+ "y": 0.0005228848312981427,
1486
+ "z": 2.6211334898107452e-06
1487
+ },
1488
+ "visible": false,
1489
+ "isInteractable": false,
1490
+ "receptacle": true,
1491
+ "toggleable": false,
1492
+ "isToggled": false,
1493
+ "breakable": false,
1494
+ "isBroken": false,
1495
+ "canFillWithLiquid": false,
1496
+ "isFilledWithLiquid": false,
1497
+ "fillLiquid": null,
1498
+ "dirtyable": false,
1499
+ "isDirty": false,
1500
+ "canBeUsedUp": false,
1501
+ "isUsedUp": false,
1502
+ "cookable": false,
1503
+ "isCooked": false,
1504
+ "temperature": "RoomTemp",
1505
+ "isHeatSource": false,
1506
+ "isColdSource": false,
1507
+ "sliceable": false,
1508
+ "isSliced": false,
1509
+ "openable": false,
1510
+ "isOpen": false,
1511
+ "openness": 0.0,
1512
+ "pickupable": false,
1513
+ "isPickedUp": false,
1514
+ "moveable": false,
1515
+ "mass": 0.0,
1516
+ "salientMaterials": null,
1517
+ "receptacleObjectIds": [],
1518
+ "distance": 1.8839540481567383,
1519
+ "objectType": "Shelf",
1520
+ "objectId": "Shelf|+00.62|+00.24|+00.34",
1521
+ "assetId": "",
1522
+ "parentReceptacles": [
1523
+ "Floor|+00.00|+00.00|+00.00"
1524
+ ],
1525
+ "controlledObjects": null,
1526
+ "isMoving": false,
1527
+ "axisAlignedBoundingBox": {
1528
+ "cornerPoints": [
1529
+ [
1530
+ 1.1153661012649536,
1531
+ 0.8257793188095093,
1532
+ 0.6623780727386475
1533
+ ],
1534
+ [
1535
+ 1.1153661012649536,
1536
+ 0.8257793188095093,
1537
+ 0.01762211322784424
1538
+ ],
1539
+ [
1540
+ 1.1153661012649536,
1541
+ 0.090691477060318,
1542
+ 0.6623780727386475
1543
+ ],
1544
+ [
1545
+ 1.1153661012649536,
1546
+ 0.090691477060318,
1547
+ 0.01762211322784424
1548
+ ],
1549
+ [
1550
+ 0.13083338737487793,
1551
+ 0.8257793188095093,
1552
+ 0.6623780727386475
1553
+ ],
1554
+ [
1555
+ 0.13083338737487793,
1556
+ 0.8257793188095093,
1557
+ 0.01762211322784424
1558
+ ],
1559
+ [
1560
+ 0.13083338737487793,
1561
+ 0.090691477060318,
1562
+ 0.6623780727386475
1563
+ ],
1564
+ [
1565
+ 0.13083338737487793,
1566
+ 0.090691477060318,
1567
+ 0.01762211322784424
1568
+ ]
1569
+ ],
1570
+ "center": {
1571
+ "x": 0.6230997443199158,
1572
+ "y": 0.45823541283607483,
1573
+ "z": 0.34000009298324585
1574
+ },
1575
+ "size": {
1576
+ "x": 0.9845327138900757,
1577
+ "y": 0.7350878715515137,
1578
+ "z": 0.6447559595108032
1579
+ }
1580
+ },
1581
+ "objectOrientedBoundingBox": null
1582
+ }
1583
+ },
1584
+ {
1585
+ "objectId": "Watch|-01.22|+00.70|+03.47",
1586
+ "object_info": {
1587
+ "name": "Watch_d584f93f",
1588
+ "position": {
1589
+ "x": -1.2187484502792358,
1590
+ "y": 0.7040448188781738,
1591
+ "z": 3.4710538387298584
1592
+ },
1593
+ "rotation": {
1594
+ "x": 1.9364213943481445,
1595
+ "y": 41.81153106689453,
1596
+ "z": 1.407218098640442
1597
+ },
1598
+ "visible": false,
1599
+ "isInteractable": false,
1600
+ "receptacle": false,
1601
+ "toggleable": false,
1602
+ "isToggled": false,
1603
+ "breakable": false,
1604
+ "isBroken": false,
1605
+ "canFillWithLiquid": false,
1606
+ "isFilledWithLiquid": false,
1607
+ "fillLiquid": null,
1608
+ "dirtyable": false,
1609
+ "isDirty": false,
1610
+ "canBeUsedUp": false,
1611
+ "isUsedUp": false,
1612
+ "cookable": false,
1613
+ "isCooked": false,
1614
+ "temperature": "RoomTemp",
1615
+ "isHeatSource": false,
1616
+ "isColdSource": false,
1617
+ "sliceable": false,
1618
+ "isSliced": false,
1619
+ "openable": false,
1620
+ "isOpen": false,
1621
+ "openness": 0.0,
1622
+ "pickupable": true,
1623
+ "isPickedUp": false,
1624
+ "moveable": false,
1625
+ "mass": 0.07000000029802322,
1626
+ "salientMaterials": [
1627
+ "Metal",
1628
+ "Glass",
1629
+ "Plastic"
1630
+ ],
1631
+ "receptacleObjectIds": null,
1632
+ "distance": 1.9214682579040527,
1633
+ "objectType": "Watch",
1634
+ "objectId": "Watch|-01.22|+00.70|+03.47",
1635
+ "assetId": "Watch_1",
1636
+ "parentReceptacles": [
1637
+ "TVStand|-01.57|+00.00|+03.87"
1638
+ ],
1639
+ "controlledObjects": null,
1640
+ "isMoving": false,
1641
+ "axisAlignedBoundingBox": {
1642
+ "cornerPoints": [
1643
+ [
1644
+ -1.184122085571289,
1645
+ 0.7392040491104126,
1646
+ 3.5033154487609863
1647
+ ],
1648
+ [
1649
+ -1.184122085571289,
1650
+ 0.7392040491104126,
1651
+ 3.438443660736084
1652
+ ],
1653
+ [
1654
+ -1.184122085571289,
1655
+ 0.7037450075149536,
1656
+ 3.5033154487609863
1657
+ ],
1658
+ [
1659
+ -1.184122085571289,
1660
+ 0.7037450075149536,
1661
+ 3.438443660736084
1662
+ ],
1663
+ [
1664
+ -1.2530629634857178,
1665
+ 0.7392040491104126,
1666
+ 3.5033154487609863
1667
+ ],
1668
+ [
1669
+ -1.2530629634857178,
1670
+ 0.7392040491104126,
1671
+ 3.438443660736084
1672
+ ],
1673
+ [
1674
+ -1.2530629634857178,
1675
+ 0.7037450075149536,
1676
+ 3.5033154487609863
1677
+ ],
1678
+ [
1679
+ -1.2530629634857178,
1680
+ 0.7037450075149536,
1681
+ 3.438443660736084
1682
+ ]
1683
+ ],
1684
+ "center": {
1685
+ "x": -1.2185925245285034,
1686
+ "y": 0.7214745283126831,
1687
+ "z": 3.470879554748535
1688
+ },
1689
+ "size": {
1690
+ "x": 0.06894087791442871,
1691
+ "y": 0.035459041595458984,
1692
+ "z": 0.06487178802490234
1693
+ }
1694
+ },
1695
+ "objectOrientedBoundingBox": {
1696
+ "cornerPoints": [
1697
+ [
1698
+ -1.1741936206817627,
1699
+ 0.7030531764030457,
1700
+ 3.4612743854522705
1701
+ ],
1702
+ [
1703
+ -1.2327717542648315,
1704
+ 0.7011250257492065,
1705
+ 3.513582944869995
1706
+ ],
1707
+ [
1708
+ -1.265273928642273,
1709
+ 0.7027733325958252,
1710
+ 3.477245807647705
1711
+ ],
1712
+ [
1713
+ -1.206695795059204,
1714
+ 0.7047014832496643,
1715
+ 3.4249372482299805
1716
+ ],
1717
+ [
1718
+ -1.1740387678146362,
1719
+ 0.7397330403327942,
1720
+ 3.4627997875213623
1721
+ ],
1722
+ [
1723
+ -1.232616901397705,
1724
+ 0.7378048896789551,
1725
+ 3.515108346939087
1726
+ ],
1727
+ [
1728
+ -1.265119194984436,
1729
+ 0.7394531965255737,
1730
+ 3.478771209716797
1731
+ ],
1732
+ [
1733
+ -1.2065410614013672,
1734
+ 0.7413813471794128,
1735
+ 3.4264626502990723
1736
+ ]
1737
+ ]
1738
+ }
1739
+ }
1740
+ }
1741
+ ],
1742
+ "Agent": {
1743
+ "agent_position": {
1744
+ "x": -3.5,
1745
+ "y": 0.9010459184646606,
1746
+ "z": 2.5
1747
+ },
1748
+ "agent_rotation": {
1749
+ "x": -0.0,
1750
+ "y": 60.000003814697266,
1751
+ "z": 0.0
1752
+ },
1753
+ "agent_cameraHorizon": -0.0,
1754
+ "agent_isStanding": true,
1755
+ "agent_inHighFrictionArea": false
1756
+ },
1757
+ "camera_info": {
1758
+ "cameraPosition": {
1759
+ "x": -3.5,
1760
+ "y": 1.5760459899902344,
1761
+ "z": 2.5
1762
+ },
1763
+ "cameraOrthSize": -1.0,
1764
+ "fov": 90.0
1765
+ },
1766
+ "common_object": [
1767
+ "HousePlant|-02.01|+00.45|+02.36",
1768
+ "SideTable|+00.63|+00.01|+00.34",
1769
+ "Shelf|+00.62|+00.24|+00.34",
1770
+ "CoffeeTable|-01.73|+00.01|+02.36"
1771
+ ],
1772
+ "different_object": [
1773
+ "Watch|-01.22|+00.70|+03.47",
1774
+ "RemoteControl|-01.27|+00.44|+02.15",
1775
+ "Painting|-03.05|+01.69|+04.34",
1776
+ "Television|-01.51|+01.19|+04.13",
1777
+ "GarbageCan|-00.38|+00.00|+04.10",
1778
+ "Book|-01.94|+00.70|+03.61",
1779
+ "LightSwitch|-00.13|+01.41|+04.35",
1780
+ "TVStand|-01.57|+00.00|+03.87"
1781
+ ]
1782
+ }
train/FloorPlan202/15/1_depth_npy.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d9c91f99de4ff639f35135f147c75d8888b6016c301e59723323f2e198532605
3
+ size 3145856
train/FloorPlan202/15/1_semantic_sensor_npy.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:59160c89be75558245cde66ae4976a925010c1e1d2e8caf8744a7c08d10c2be0
3
+ size 2359424
train/FloorPlan202/15/depth_0.png ADDED
train/FloorPlan202/15/depth_1.png ADDED
train/FloorPlan202/15/mask_questions.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"id": 3185, "folder_dir": "FloorPlan202/15", "pair_name": "1-0:CoffeeTable|-01.73|+00.01|+02.36", "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. HousePlant\nC. CoffeeTable\nD. Painting", "answer": "C", "object_name": "CoffeeTable", "image_1": "FloorPlan202/15/rgb_1.png", "image_2": "FloorPlan202/15/rgb_0.png", "mask_image": "FloorPlan202/15/rgb_0_mask_CoffeeTable|-01.73|+00.01|+02.36.png", "options": ["RemoteControl", "HousePlant", "CoffeeTable", "Painting"]}