diff --git a/.gitattributes b/.gitattributes index 609f186911a612f5af2c2c885e643926a95cf7d0..ae6ec867da5279ba55658c2732b3850a8276dc20 100644 --- a/.gitattributes +++ b/.gitattributes @@ -19699,3 +19699,256 @@ train/train2023/4/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text train/train2023/4/rgb_1.png filter=lfs diff=lfs merge=lfs -text train/train2023/4/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text train/train2023/4/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train2023/4/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train2023/4/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train2023/0/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train2023/0/rgb_0_mask_BaseballBat|surface|6|25.png filter=lfs diff=lfs merge=lfs -text +train/train2023/0/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train2023/0/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train2023/0/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train2023/0/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train2023/0/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train2023/1/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train2023/1/rgb_1_mask_Chair|6|2.png filter=lfs diff=lfs merge=lfs -text +train/train2023/1/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train2023/1/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train2023/1/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train2023/1/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train2023/1/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train2023/2/rgb_1_mask_Dresser|6|1___2.png filter=lfs diff=lfs merge=lfs -text +train/train2023/2/rgb_1_mask_Dresser|6|1___0.png filter=lfs diff=lfs merge=lfs -text +train/train2023/2/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train2023/2/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train2023/2/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train2023/2/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train2023/2/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train2023/2/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train315/top_down_image.png filter=lfs diff=lfs merge=lfs -text +train/train315/3/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train315/3/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train315/3/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train315/3/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train315/3/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train315/3/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train315/4/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train315/4/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train315/4/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train315/4/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train315/4/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train315/4/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train315/0/rgb_1_mask_Fridge|2|1.png filter=lfs diff=lfs merge=lfs -text +train/train315/0/rgb_0_mask_Chair|4|1|1.png filter=lfs diff=lfs merge=lfs -text +train/train315/0/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train315/0/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train315/0/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train315/0/rgb_1_mask_DiningTable|4|1|0.png filter=lfs diff=lfs merge=lfs -text +train/train315/0/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train315/0/rgb_1_mask_Chair|4|1|1.png filter=lfs diff=lfs merge=lfs -text +train/train315/0/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train315/0/rgb_0_mask_Fridge|2|1.png filter=lfs diff=lfs merge=lfs -text +train/train315/0/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train1668/3/rgb_1_mask_Dresser|6|1___0.png filter=lfs diff=lfs merge=lfs -text +train/train1668/3/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1668/3/rgb_0_mask_DogBed|6|3.png filter=lfs diff=lfs merge=lfs -text +train/train1668/3/rgb_1_mask_Bed|6|0|0.png filter=lfs diff=lfs merge=lfs -text +train/train1668/3/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train1668/3/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1668/3/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1668/3/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1668/3/rgb_0_mask_GarbageCan|6|5.png filter=lfs diff=lfs merge=lfs -text +train/train1668/3/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train1668/3/rgb_1_mask_GarbageCan|6|5.png filter=lfs diff=lfs merge=lfs -text +train/train1668/3/rgb_1_mask_DogBed|6|3.png filter=lfs diff=lfs merge=lfs -text +train/train1668/4/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1668/4/rgb_1_mask_Dresser|6|1___1.png filter=lfs diff=lfs merge=lfs -text +train/train1668/4/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train1668/4/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1668/4/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1668/4/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1668/4/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train1668/0/rgb_0_mask_Pillow|6|0|1.png filter=lfs diff=lfs merge=lfs -text +train/train1668/0/rgb_1_mask_DeskLamp|surface|6|48.png filter=lfs diff=lfs merge=lfs -text +train/train1668/0/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1668/0/rgb_1_mask_DeskLamp|surface|6|47.png filter=lfs diff=lfs merge=lfs -text +train/train1668/0/rgb_0_mask_DeskLamp|surface|6|48.png filter=lfs diff=lfs merge=lfs -text +train/train1668/0/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train1668/0/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1668/0/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1668/0/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1668/0/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train1668/0/rgb_1_mask_Pillow|6|0|1.png filter=lfs diff=lfs merge=lfs -text +train/train1668/1/rgb_1_mask_Dresser|6|1___2.png filter=lfs diff=lfs merge=lfs -text +train/train1668/1/rgb_1_mask_Dresser|6|1___0.png filter=lfs diff=lfs merge=lfs -text +train/train1668/1/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1668/1/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train1668/1/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1668/1/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1668/1/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1668/1/rgb_0_mask_GarbageCan|6|5.png filter=lfs diff=lfs merge=lfs -text +train/train1668/1/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train1668/1/rgb_1_mask_GarbageCan|6|5.png filter=lfs diff=lfs merge=lfs -text +train/train1668/1/rgb_0_mask_Dresser|6|1___0.png filter=lfs diff=lfs merge=lfs -text +train/train1668/2/rgb_1_mask_Dresser|6|1___2.png filter=lfs diff=lfs merge=lfs -text +train/train1668/2/rgb_1_mask_Dresser|6|1___0.png filter=lfs diff=lfs merge=lfs -text +train/train1668/2/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1668/2/rgb_1_mask_Dresser|6|1___1.png filter=lfs diff=lfs merge=lfs -text +train/train1668/2/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train1668/2/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1668/2/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1668/2/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1668/2/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train1668/2/rgb_1_mask_AlarmClock|surface|6|40.png filter=lfs diff=lfs merge=lfs -text +train/train1572/3/rgb_0_mask_door|1|7.png filter=lfs diff=lfs merge=lfs -text +train/train1572/3/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1572/3/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train1572/3/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1572/3/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1572/3/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1572/3/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train1572/4/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1572/4/rgb_1_mask_Fridge|6|1.png filter=lfs diff=lfs merge=lfs -text +train/train1572/4/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train1572/4/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1572/4/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1572/4/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1572/4/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train1572/4/rgb_0_mask_Fridge|6|1.png filter=lfs diff=lfs merge=lfs -text +train/train1572/0/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1572/0/rgb_1_mask_Fridge|6|1.png filter=lfs diff=lfs merge=lfs -text +train/train1572/0/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train1572/0/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1572/0/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1572/0/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1572/0/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train1572/0/rgb_0_mask_Fridge|6|1.png filter=lfs diff=lfs merge=lfs -text +train/train1572/1/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1572/1/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train1572/1/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1572/1/rgb_0_mask_Book|surface|7|22.png filter=lfs diff=lfs merge=lfs -text +train/train1572/1/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1572/1/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1572/1/rgb_0_mask_Pillow|surface|7|23.png filter=lfs diff=lfs merge=lfs -text +train/train1572/1/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train1572/2/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1572/2/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train1572/2/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1572/2/rgb_1_mask_door|1|7.png filter=lfs diff=lfs merge=lfs -text +train/train1572/2/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1572/2/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1572/2/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train1316/3/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1316/3/rgb_1_mask_Dresser|4|1___1.png filter=lfs diff=lfs merge=lfs -text +train/train1316/3/rgb_1_mask_BaseballBat|4|3.png filter=lfs diff=lfs merge=lfs -text +train/train1316/3/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train1316/3/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1316/3/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1316/3/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1316/3/rgb_0_mask_Dresser|4|1___0.png filter=lfs diff=lfs merge=lfs -text +train/train1316/3/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train1316/4/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1316/4/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train1316/4/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1316/4/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1316/4/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1316/4/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train1316/0/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1316/0/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train1316/0/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1316/0/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1316/0/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1316/0/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train1316/1/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1316/1/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train1316/1/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1316/1/rgb_0_mask_Dresser|4|1___3.png filter=lfs diff=lfs merge=lfs -text +train/train1316/1/rgb_0_mask_Dresser|4|1___2.png filter=lfs diff=lfs merge=lfs -text +train/train1316/1/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1316/1/rgb_1_mask_Bed|4|0.png filter=lfs diff=lfs merge=lfs -text +train/train1316/1/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1316/1/rgb_0_mask_HousePlant|4|2|0.png filter=lfs diff=lfs merge=lfs -text +train/train1316/1/rgb_0_mask_Dresser|4|1___0.png filter=lfs diff=lfs merge=lfs -text +train/train1316/1/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train1316/1/rgb_1_mask_HousePlant|4|2|0.png filter=lfs diff=lfs merge=lfs -text +train/train1316/2/rgb_1_mask_Painting|4|5.png filter=lfs diff=lfs merge=lfs -text +train/train1316/2/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1316/2/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train1316/2/rgb_0_mask_window|4|1.png filter=lfs diff=lfs merge=lfs -text +train/train1316/2/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1316/2/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1316/2/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1316/2/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train1316/2/rgb_0_mask_Painting|4|5.png filter=lfs diff=lfs merge=lfs -text +train/train1316/2/rgb_1_mask_window|4|1.png filter=lfs diff=lfs merge=lfs -text +train/train1316/2/rgb_1_mask_Painting|8|6.png filter=lfs diff=lfs merge=lfs -text +train/train1316/2/rgb_0_mask_Painting|8|6.png filter=lfs diff=lfs merge=lfs -text +train/train498/top_down_image.png filter=lfs diff=lfs merge=lfs -text +train/train498/3/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train498/3/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train498/3/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train498/3/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train498/3/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train498/3/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train498/4/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train498/4/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train498/4/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train498/4/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train498/4/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train498/4/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train498/0/rgb_1_mask_Fridge|2|1.png filter=lfs diff=lfs merge=lfs -text +train/train498/0/rgb_0_mask_Chair|4|1|1.png filter=lfs diff=lfs merge=lfs -text +train/train498/0/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train498/0/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train498/0/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train498/0/rgb_1_mask_DiningTable|4|1|0.png filter=lfs diff=lfs merge=lfs -text +train/train498/0/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train498/0/rgb_1_mask_Chair|4|1|1.png filter=lfs diff=lfs merge=lfs -text +train/train498/0/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train498/0/rgb_0_mask_Fridge|2|1.png filter=lfs diff=lfs merge=lfs -text +train/train498/0/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train436/top_down_image.png filter=lfs diff=lfs merge=lfs -text +train/train436/3/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train436/3/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train436/3/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train436/3/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train436/3/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train436/3/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train436/4/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train436/4/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train436/4/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train436/4/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train436/4/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train436/4/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train436/0/rgb_1_mask_Fridge|2|1.png filter=lfs diff=lfs merge=lfs -text +train/train436/0/rgb_0_mask_Chair|4|1|1.png filter=lfs diff=lfs merge=lfs -text +train/train436/0/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train436/0/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train436/0/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train436/0/rgb_1_mask_DiningTable|4|1|0.png filter=lfs diff=lfs merge=lfs -text +train/train436/0/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train436/0/rgb_1_mask_Chair|4|1|1.png filter=lfs diff=lfs merge=lfs -text +train/train436/0/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train436/0/rgb_0_mask_Fridge|2|1.png filter=lfs diff=lfs merge=lfs -text +train/train436/0/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan_Train2_1/13/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan_Train2_1/13/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan_Train2_1/13/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan_Train2_1/13/rgb_1_mask_Painting|+09.03|+01.44|-01.01.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan_Train2_1/13/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan_Train2_1/13/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan_Train2_1/13/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan_Train2_1/13/rgb_0_mask_Painting|+09.03|+01.44|-01.01.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan_Train2_1/9/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan_Train2_1/9/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan_Train2_1/9/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan_Train2_1/9/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan_Train2_1/9/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan_Train2_1/9/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan_Train2_1/16/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan_Train2_1/16/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan_Train2_1/16/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan_Train2_1/16/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan_Train2_1/16/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan_Train2_1/16/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan_Train2_1/14/rgb_1_mask_Drawer|+03.52|+00.27|-02.89.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan_Train2_1/14/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan_Train2_1/14/rgb_1.png filter=lfs diff=lfs merge=lfs -text diff --git a/train/FloorPlan_Train2_1/13/0.json b/train/FloorPlan_Train2_1/13/0.json new file mode 100644 index 0000000000000000000000000000000000000000..9e4b1a613a768daf777452a5e2463904cc5e3ce4 --- /dev/null +++ b/train/FloorPlan_Train2_1/13/0.json @@ -0,0 +1,1087 @@ +{ + "object": [ + { + "objectId": "Painting|+09.03|+01.44|-01.01", + "object_info": { + "name": "Painting_fb61d48c", + "position": { + "x": 9.024999618530273, + "y": 1.440999984741211, + "z": -1.0119999647140503 + }, + "rotation": { + "x": -0.0, + "y": 180.00006103515625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.089103698730469, + "objectType": "Painting", + "objectId": "Painting|+09.03|+01.44|-01.01", + "assetId": "Wall_Decor_Photo_1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.358823776245117, + 1.6935982704162598, + -1.012003779411316 + ], + [ + 9.358823776245117, + 1.6935982704162598, + -1.0437456369400024 + ], + [ + 9.358823776245117, + 1.188401699066162, + -1.012003779411316 + ], + [ + 9.358823776245117, + 1.188401699066162, + -1.0437456369400024 + ], + [ + 8.69117546081543, + 1.6935982704162598, + -1.012003779411316 + ], + [ + 8.69117546081543, + 1.6935982704162598, + -1.0437456369400024 + ], + [ + 8.69117546081543, + 1.188401699066162, + -1.012003779411316 + ], + [ + 8.69117546081543, + 1.188401699066162, + -1.0437456369400024 + ] + ], + "center": { + "x": 9.024999618530273, + "y": 1.440999984741211, + "z": -1.0278747081756592 + }, + "size": { + "x": 0.6676483154296875, + "y": 0.5051965713500977, + "z": 0.03174185752868652 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Mug|+07.90|+00.71|-01.27", + "object_info": { + "name": "Mug_5e63f49e", + "position": { + "x": 7.899996280670166, + "y": 0.707372784614563, + "z": -1.2699229717254639 + }, + "rotation": { + "x": 0.013060176745057106, + "y": -0.0015424499288201332, + "z": 0.018277963623404503 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 3.3233816623687744, + "objectType": "Mug", + "objectId": "Mug|+07.90|+00.71|-01.27", + "assetId": "Mug_3", + "parentReceptacles": [ + "DiningTable|+07.83|+00.00|-01.39" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.940496444702148, + 0.8110250234603882, + -1.2245588302612305 + ], + [ + 7.940496444702148, + 0.8110250234603882, + -1.315563678741455 + ], + [ + 7.940496444702148, + 0.707351565361023, + -1.2245588302612305 + ], + [ + 7.940496444702148, + 0.707351565361023, + -1.315563678741455 + ], + [ + 7.830965042114258, + 0.8110250234603882, + -1.2245588302612305 + ], + [ + 7.830965042114258, + 0.8110250234603882, + -1.315563678741455 + ], + [ + 7.830965042114258, + 0.707351565361023, + -1.2245588302612305 + ], + [ + 7.830965042114258, + 0.707351565361023, + -1.315563678741455 + ] + ], + "center": { + "x": 7.885730743408203, + "y": 0.7591882944107056, + "z": -1.2700612545013428 + }, + "size": { + "x": 0.10953140258789062, + "y": 0.10367345809936523, + "z": 0.09100484848022461 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.940495014190674, + 0.7073752880096436, + -1.2245814800262451 + ], + [ + 7.830995082855225, + 0.7073403596878052, + -1.2245844602584839 + ], + [ + 7.830997467041016, + 0.707361102104187, + -1.3155649900436401 + ], + [ + 7.940497398376465, + 0.7073960304260254, + -1.315562129020691 + ], + [ + 7.9404616355896, + 0.8110105395317078, + -1.224557876586914 + ], + [ + 7.83096170425415, + 0.8109756112098694, + -1.2245607376098633 + ], + [ + 7.830964088439941, + 0.8109963536262512, + -1.315541386604309 + ], + [ + 7.940464019775391, + 0.8110312819480896, + -1.3155384063720703 + ] + ] + } + } + }, + { + "objectId": "Pencil|+07.39|+00.71|-01.21", + "object_info": { + "name": "Pencil_701f139a", + "position": { + "x": 7.389687538146973, + "y": 0.7120870351791382, + "z": -1.208244800567627 + }, + "rotation": { + "x": 359.9762268066406, + "y": 315.32928466796875, + "z": 348.6253967285156 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": null, + "distance": 3.2512645721435547, + "objectType": "Pencil", + "objectId": "Pencil|+07.39|+00.71|-01.21", + "assetId": "Pencil_5", + "parentReceptacles": [ + "DiningTable|+07.83|+00.00|-01.39" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.438035488128662, + 0.7168430685997009, + -1.1548523902893066 + ], + [ + 7.438035488128662, + 0.7168430685997009, + -1.2570972442626953 + ], + [ + 7.438035488128662, + 0.7073333859443665, + -1.1548523902893066 + ], + [ + 7.438035488128662, + 0.7073333859443665, + -1.2570972442626953 + ], + [ + 7.336851596832275, + 0.7168430685997009, + -1.1548523902893066 + ], + [ + 7.336851596832275, + 0.7168430685997009, + -1.2570972442626953 + ], + [ + 7.336851596832275, + 0.7073333859443665, + -1.1548523902893066 + ], + [ + 7.336851596832275, + 0.7073333859443665, + -1.2570972442626953 + ] + ], + "center": { + "x": 7.387443542480469, + "y": 0.7120882272720337, + "z": -1.205974817276001 + }, + "size": { + "x": 0.10118389129638672, + "y": 0.009509682655334473, + "z": 0.10224485397338867 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.34088659286499, + 0.706550121307373, + -1.153613567352295 + ], + [ + 7.334295272827148, + 0.7084148526191711, + -1.1601308584213257 + ], + [ + 7.432671546936035, + 0.7083568572998047, + -1.2596445083618164 + ], + [ + 7.439262866973877, + 0.7064920663833618, + -1.2531272172927856 + ], + [ + 7.342215538024902, + 0.7158198952674866, + -1.152305245399475 + ], + [ + 7.3356242179870605, + 0.7176846861839294, + -1.1588225364685059 + ], + [ + 7.434000492095947, + 0.7176266312599182, + -1.2583361864089966 + ], + [ + 7.440591812133789, + 0.7157618403434753, + -1.2518188953399658 + ] + ] + } + } + }, + { + "objectId": "HousePlant|+07.58|+00.71|-01.44", + "object_info": { + "name": "HousePlant_bfb7e560", + "position": { + "x": 7.5790252685546875, + "y": 0.7096959352493286, + "z": -1.4379713535308838 + }, + "rotation": { + "x": 0.03819238394498825, + "y": 0.015012485906481743, + "z": 359.8695983886719 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.0, + "salientMaterials": [ + "Ceramic", + "Organic" + ], + "receptacleObjectIds": null, + "distance": 3.068727970123291, + "objectType": "HousePlant", + "objectId": "HousePlant|+07.58|+00.71|-01.44", + "assetId": "Houseplant_6", + "parentReceptacles": [ + "DiningTable|+07.83|+00.00|-01.39" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.909245491027832, + 1.6920905113220215, + -1.0653295516967773 + ], + [ + 7.909245491027832, + 1.6920905113220215, + -1.6396684646606445 + ], + [ + 7.909245491027832, + 0.7073407173156738, + -1.0653295516967773 + ], + [ + 7.909245491027832, + 0.7073407173156738, + -1.6396684646606445 + ], + [ + 7.314090728759766, + 1.6920905113220215, + -1.0653295516967773 + ], + [ + 7.314090728759766, + 1.6920905113220215, + -1.6396684646606445 + ], + [ + 7.314090728759766, + 0.7073407173156738, + -1.0653295516967773 + ], + [ + 7.314090728759766, + 0.7073407173156738, + -1.6396684646606445 + ] + ], + "center": { + "x": 7.611668109893799, + "y": 1.1997156143188477, + "z": -1.352499008178711 + }, + "size": { + "x": 0.5951547622680664, + "y": 0.9847497940063477, + "z": 0.5743389129638672 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.907116889953613, + 0.7065669298171997, + -1.0660592317581177 + ], + [ + 7.3121185302734375, + 0.707921028137207, + -1.0659024715423584 + ], + [ + 7.3119683265686035, + 0.7083036303520203, + -1.6399024724960327 + ], + [ + 7.906966686248779, + 0.7069495320320129, + -1.6400593519210815 + ], + [ + 7.909359455108643, + 1.6916987895965576, + -1.0654032230377197 + ], + [ + 7.314360618591309, + 1.693052887916565, + -1.065246343612671 + ], + [ + 7.314210414886475, + 1.693435549736023, + -1.6392464637756348 + ], + [ + 7.90920877456665, + 1.6920814514160156, + -1.639403223991394 + ] + ] + } + } + }, + { + "objectId": "Candle|+07.43|+00.71|-01.60", + "object_info": { + "name": "Candle_8af0ad5f", + "position": { + "x": 7.432028770446777, + "y": 0.7078344821929932, + "z": -1.6019963026046753 + }, + "rotation": { + "x": 0.08512066304683685, + "y": 359.92169189453125, + "z": 0.25131356716156006 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.20000000298023224, + "salientMaterials": [ + "Wax" + ], + "receptacleObjectIds": null, + "distance": 2.874995231628418, + "objectType": "Candle", + "objectId": "Candle|+07.43|+00.71|-01.60", + "assetId": "Candle_6", + "parentReceptacles": [ + "DiningTable|+07.83|+00.00|-01.39" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.45319938659668, + 0.8752651214599609, + -1.5808188915252686 + ], + [ + 7.45319938659668, + 0.8752651214599609, + -1.623166561126709 + ], + [ + 7.45319938659668, + 0.7073695659637451, + -1.5808188915252686 + ], + [ + 7.45319938659668, + 0.7073695659637451, + -1.623166561126709 + ], + [ + 7.410835266113281, + 0.8752651214599609, + -1.5808188915252686 + ], + [ + 7.410835266113281, + 0.8752651214599609, + -1.623166561126709 + ], + [ + 7.410835266113281, + 0.7073695659637451, + -1.5808188915252686 + ], + [ + 7.410835266113281, + 0.7073695659637451, + -1.623166561126709 + ] + ], + "center": { + "x": 7.4320173263549805, + "y": 0.791317343711853, + "z": -1.6019927263259888 + }, + "size": { + "x": 0.04236412048339844, + "y": 0.16789555549621582, + "z": 0.04234766960144043 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.453159332275391, + 0.707535982131958, + -1.5808095932006836 + ], + [ + 7.410843372344971, + 0.7073503732681274, + -1.5808676481246948 + ], + [ + 7.410901069641113, + 0.7074132561683655, + -1.623184084892273 + ], + [ + 7.453217506408691, + 0.707598865032196, + -1.6231260299682617 + ], + [ + 7.452423095703125, + 0.8753263354301453, + -1.5805612802505493 + ], + [ + 7.410107135772705, + 0.8751407265663147, + -1.5806193351745605 + ], + [ + 7.410164833068848, + 0.8752036094665527, + -1.6229358911514282 + ], + [ + 7.452480792999268, + 0.8753892183303833, + -1.6228777170181274 + ] + ] + } + } + }, + { + "objectId": "DiningTable|+07.83|+00.00|-01.39", + "object_info": { + "name": "DiningTable_dc49cc20", + "position": { + "x": 7.825000286102295, + "y": 0.0010403990745544434, + "z": -1.3949894905090332 + }, + "rotation": { + "x": 0.0002652406401466578, + "y": -0.0027117880526930094, + "z": -0.0033904900774359703 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Bowl|+08.12|+00.71|-01.45", + "Mug|+07.90|+00.71|-01.27", + "HousePlant|+07.58|+00.71|-01.44", + "Pencil|+07.39|+00.71|-01.21", + "Candle|+07.43|+00.71|-01.60" + ], + "distance": 3.3000969886779785, + "objectType": "DiningTable", + "objectId": "DiningTable|+07.83|+00.00|-01.39", + "assetId": "RoboTHOR_dining_table_mella", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.39240550994873, + 0.7075797915458679, + -1.0263848304748535 + ], + [ + 8.39240550994873, + 0.7075797915458679, + -1.7605247497558594 + ], + [ + 8.39240550994873, + -0.00016772747039794922, + -1.0263848304748535 + ], + [ + 8.39240550994873, + -0.00016772747039794922, + -1.7605247497558594 + ], + [ + 7.252649307250977, + 0.7075797915458679, + -1.0263848304748535 + ], + [ + 7.252649307250977, + 0.7075797915458679, + -1.7605247497558594 + ], + [ + 7.252649307250977, + -0.00016772747039794922, + -1.0263848304748535 + ], + [ + 7.252649307250977, + -0.00016772747039794922, + -1.7605247497558594 + ] + ], + "center": { + "x": 7.8225274085998535, + "y": 0.353706032037735, + "z": -1.3934547901153564 + }, + "size": { + "x": 1.139756202697754, + "y": 0.7077475190162659, + "z": 0.7341399192810059 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 8.392498970031738, + 5.7183788157999516e-05, + -1.026352047920227 + ], + [ + 7.252767562866211, + -0.00013725482858717442, + -1.0263869762420654 + ], + [ + 7.252790451049805, + -0.00017180363647639751, + -1.760493278503418 + ], + [ + 8.392520904541016, + 2.2634980268776417e-05, + -1.76045823097229 + ], + [ + 8.392377853393555, + 0.7075800895690918, + -1.0263853073120117 + ], + [ + 7.2526469230651855, + 0.7073856592178345, + -1.0264203548431396 + ], + [ + 7.252669334411621, + 0.7073510885238647, + -1.7605266571044922 + ], + [ + 8.392400741577148, + 0.7075455188751221, + -1.7604916095733643 + ] + ] + } + } + }, + { + "objectId": "GarbageCan|+01.19|00.00|-01.25", + "object_info": { + "name": "GarbageCan_a62df03b", + "position": { + "x": 1.189998984336853, + "y": -0.000766456127166748, + "z": -1.2479984760284424 + }, + "rotation": { + "x": 8.559668458474334e-06, + "y": 270.0, + "z": 3.656758781289682e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.699999988079071, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": [], + "distance": 6.49772310256958, + "objectType": "GarbageCan", + "objectId": "GarbageCan|+01.19|00.00|-01.25", + "assetId": "bin_6", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.34698486328125, + 0.5461796522140503, + -1.0297644138336182 + ], + [ + 1.34698486328125, + 0.5461796522140503, + -1.4639627933502197 + ], + [ + 1.34698486328125, + 1.7881393432617188e-06, + -1.0297644138336182 + ], + [ + 1.34698486328125, + 1.7881393432617188e-06, + -1.4639627933502197 + ], + [ + 1.0308432579040527, + 0.5461796522140503, + -1.0297644138336182 + ], + [ + 1.0308432579040527, + 0.5461796522140503, + -1.4639627933502197 + ], + [ + 1.0308432579040527, + 1.7881393432617188e-06, + -1.0297644138336182 + ], + [ + 1.0308432579040527, + 1.7881393432617188e-06, + -1.4639627933502197 + ] + ], + "center": { + "x": 1.1889140605926514, + "y": 0.2730907201766968, + "z": -1.246863603591919 + }, + "size": { + "x": 0.31614160537719727, + "y": 0.546177864074707, + "z": 0.43419837951660156 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.0308423042297363, + 1.4272518455982208e-07, + -1.02976393699646 + ], + [ + 1.0308443307876587, + -3.763125278055668e-07, + -1.4639636278152466 + ], + [ + 1.3469858169555664, + -5.559995770454407e-07, + -1.4639620780944824 + ], + [ + 1.346983790397644, + -3.6961864680051804e-08, + -1.0297625064849854 + ], + [ + 1.030842661857605, + 0.5461806058883667, + -1.0297646522521973 + ], + [ + 1.0308446884155273, + 0.5461801290512085, + -1.4639642238616943 + ], + [ + 1.3469860553741455, + 0.546180009841919, + -1.4639627933502197 + ], + [ + 1.3469841480255127, + 0.5461804866790771, + -1.0297632217407227 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 8.800000190734863, + "y": 0.9009992480278015, + "z": -1.7000000476837158 + }, + "agent_rotation": { + "x": -0.0, + "y": 318.0, + "z": 0.0 + }, + "agent_cameraHorizon": 0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 8.800000190734863, + "y": 1.5759992599487305, + "z": -1.7000000476837158 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Painting|+09.03|+01.44|-01.01", + "DiningTable|+07.83|+00.00|-01.39", + "HousePlant|+07.58|+00.71|-01.44" + ], + "different_object": [ + "GarbageCan|+01.19|00.00|-01.25", + "Candle|+07.43|+00.71|-01.60", + "Pencil|+07.39|+00.71|-01.21", + "Mug|+07.90|+00.71|-01.27" + ] +} \ No newline at end of file diff --git a/train/FloorPlan_Train2_1/13/0_depth_npy.npy b/train/FloorPlan_Train2_1/13/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..0b1b183d3e1fd55f128fe806debf49321e016b27 --- /dev/null +++ b/train/FloorPlan_Train2_1/13/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:65a852c9e6ceb9b27167919c56f3410d1ea45ef49da5a5f0f085eb91d7924689 +size 3145856 diff --git a/train/FloorPlan_Train2_1/13/0_semantic_sensor_npy.npy b/train/FloorPlan_Train2_1/13/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..7cea292b99819ae7965c1455cf174695d677b4a4 --- /dev/null +++ b/train/FloorPlan_Train2_1/13/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5616dfc47390a11fe74a165000b9cf362524164068665fe18ef206e1b790f205 +size 2359424 diff --git a/train/FloorPlan_Train2_1/13/1.json b/train/FloorPlan_Train2_1/13/1.json new file mode 100644 index 0000000000000000000000000000000000000000..4ede37973546f16166ff68b512328fc8b7455637 --- /dev/null +++ b/train/FloorPlan_Train2_1/13/1.json @@ -0,0 +1,1090 @@ +{ + "object": [ + { + "objectId": "Chair|+09.41|+00.01|-02.28", + "object_info": { + "name": "Chair_6928d7c0", + "position": { + "x": 9.414993286132812, + "y": 0.009833931922912598, + "z": -2.2808470726013184 + }, + "rotation": { + "x": -0.0029213463421911, + "y": 230.6060333251953, + "z": -0.0021226005628705025 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Metal", + "Wood" + ], + "receptacleObjectIds": [], + "distance": 3.481834888458252, + "objectType": "Chair", + "objectId": "Chair|+09.41|+00.01|-02.28", + "assetId": "RoboTHOR_chair_antnas", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.749994277954102, + 0.8251180052757263, + -1.9498496055603027 + ], + [ + 9.749994277954102, + 0.8251180052757263, + -2.632199764251709 + ], + [ + 9.749994277954102, + -1.2993812561035156e-05, + -1.9498496055603027 + ], + [ + 9.749994277954102, + -1.2993812561035156e-05, + -2.632199764251709 + ], + [ + 9.060113906860352, + 0.8251180052757263, + -1.9498496055603027 + ], + [ + 9.060113906860352, + 0.8251180052757263, + -2.632199764251709 + ], + [ + 9.060113906860352, + -1.2993812561035156e-05, + -1.9498496055603027 + ], + [ + 9.060113906860352, + -1.2993812561035156e-05, + -2.632199764251709 + ] + ], + "center": { + "x": 9.405054092407227, + "y": 0.41255250573158264, + "z": -2.291024684906006 + }, + "size": { + "x": 0.68988037109375, + "y": 0.8251309990882874, + "z": 0.6823501586914062 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.059182167053223, + -1.2360513210296631e-05, + -2.2742412090301514 + ], + [ + 9.35372257232666, + 1.627020537853241e-05, + -2.6328952312469482 + ], + [ + 9.780274391174316, + 1.9049271941184998e-05, + -2.2825944423675537 + ], + [ + 9.485733032226562, + -9.581446647644043e-06, + -1.9239404201507568 + ], + [ + 9.059146881103516, + 0.8250963091850281, + -2.2742044925689697 + ], + [ + 9.353687286376953, + 0.8251249194145203, + -2.6328585147857666 + ], + [ + 9.78023910522461, + 0.8251277208328247, + -2.282557725906372 + ], + [ + 9.485697746276855, + 0.8250991106033325, + -1.9239037036895752 + ] + ] + } + } + }, + { + "objectId": "Painting|+09.03|+01.44|-01.01", + "object_info": { + "name": "Painting_fb61d48c", + "position": { + "x": 9.024999618530273, + "y": 1.440999984741211, + "z": -1.0119999647140503 + }, + "rotation": { + "x": -0.0, + "y": 180.00006103515625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.089103698730469, + "objectType": "Painting", + "objectId": "Painting|+09.03|+01.44|-01.01", + "assetId": "Wall_Decor_Photo_1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.358823776245117, + 1.6935982704162598, + -1.012003779411316 + ], + [ + 9.358823776245117, + 1.6935982704162598, + -1.0437456369400024 + ], + [ + 9.358823776245117, + 1.188401699066162, + -1.012003779411316 + ], + [ + 9.358823776245117, + 1.188401699066162, + -1.0437456369400024 + ], + [ + 8.69117546081543, + 1.6935982704162598, + -1.012003779411316 + ], + [ + 8.69117546081543, + 1.6935982704162598, + -1.0437456369400024 + ], + [ + 8.69117546081543, + 1.188401699066162, + -1.012003779411316 + ], + [ + 8.69117546081543, + 1.188401699066162, + -1.0437456369400024 + ] + ], + "center": { + "x": 9.024999618530273, + "y": 1.440999984741211, + "z": -1.0278747081756592 + }, + "size": { + "x": 0.6676483154296875, + "y": 0.5051965713500977, + "z": 0.03174185752868652 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bowl|+08.12|+00.71|-01.45", + "object_info": { + "name": "Bowl_ce1b4219", + "position": { + "x": 8.12000846862793, + "y": 0.7078886032104492, + "z": -1.4499531984329224 + }, + "rotation": { + "x": 0.04281006380915642, + "y": 0.0072110490873456, + "z": 359.96832275390625 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4699999988079071, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 3.2376675605773926, + "objectType": "Bowl", + "objectId": "Bowl|+08.12|+00.71|-01.45", + "assetId": "Bowl_6", + "parentReceptacles": [ + "DiningTable|+07.83|+00.00|-01.39" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.212287902832031, + 0.7905277013778687, + -1.3576581478118896 + ], + [ + 8.212287902832031, + 0.7905277013778687, + -1.5421273708343506 + ], + [ + 8.212287902832031, + 0.7073397636413574, + -1.3576581478118896 + ], + [ + 8.212287902832031, + 0.7073397636413574, + -1.5421273708343506 + ], + [ + 8.027816772460938, + 0.7905277013778687, + -1.3576581478118896 + ], + [ + 8.027816772460938, + 0.7905277013778687, + -1.5421273708343506 + ], + [ + 8.027816772460938, + 0.7073397636413574, + -1.3576581478118896 + ], + [ + 8.027816772460938, + 0.7073397636413574, + -1.5421273708343506 + ] + ], + "center": { + "x": 8.120052337646484, + "y": 0.748933732509613, + "z": -1.4498927593231201 + }, + "size": { + "x": 0.18447113037109375, + "y": 0.08318793773651123, + "z": 0.18446922302246094 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 8.212250709533691, + 0.7072701454162598, + -1.3577349185943604 + ], + [ + 8.027789115905762, + 0.7073720693588257, + -1.357711672782898 + ], + [ + 8.027765274047852, + 0.7075099349021912, + -1.5421733856201172 + ], + [ + 8.212227821350098, + 0.7074079513549805, + -1.5421967506408691 + ], + [ + 8.212296485900879, + 0.7903256416320801, + -1.3576728105545044 + ], + [ + 8.02783489227295, + 0.7904276251792908, + -1.357649564743042 + ], + [ + 8.027811050415039, + 0.7905654311180115, + -1.5421113967895508 + ], + [ + 8.212273597717285, + 0.7904634475708008, + -1.5421346426010132 + ] + ] + } + } + }, + { + "objectId": "Box|+09.57|+00.20|-02.88", + "object_info": { + "name": "Box_f2fff95d", + "position": { + "x": 9.565567016601562, + "y": 0.20245440304279327, + "z": -2.8767545223236084 + }, + "rotation": { + "x": 0.08545772731304169, + "y": 330.976806640625, + "z": 359.91607666015625 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.14000000059604645, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": [], + "distance": 3.2336668968200684, + "objectType": "Box", + "objectId": "Box|+09.57|+00.20|-02.88", + "assetId": "DecorativeBox4", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00", + "Shelf|+09.48|+00.20|-02.91" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.717937469482422, + 0.4614812135696411, + -2.7288572788238525 + ], + [ + 9.717937469482422, + 0.4614812135696411, + -3.024134397506714 + ], + [ + 9.717937469482422, + 0.2006387710571289, + -2.7288572788238525 + ], + [ + 9.717937469482422, + 0.2006387710571289, + -3.024134397506714 + ], + [ + 9.413337707519531, + 0.4614812135696411, + -2.7288572788238525 + ], + [ + 9.413337707519531, + 0.4614812135696411, + -3.024134397506714 + ], + [ + 9.413337707519531, + 0.2006387710571289, + -2.7288572788238525 + ], + [ + 9.413337707519531, + 0.2006387710571289, + -3.024134397506714 + ] + ], + "center": { + "x": 9.565637588500977, + "y": 0.331059992313385, + "z": -2.876495838165283 + }, + "size": { + "x": 0.3045997619628906, + "y": 0.2608424425125122, + "z": 0.29527711868286133 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.616926193237305, + 0.20063862204551697, + -2.729379892349243 + ], + [ + 9.413338661193848, + 0.20097965002059937, + -2.8423378467559814 + ], + [ + 9.514206886291504, + 0.20128974318504333, + -3.024134635925293 + ], + [ + 9.717794418334961, + 0.20094871520996094, + -2.9111766815185547 + ], + [ + 9.617071151733398, + 0.4608306884765625, + -2.728855848312378 + ], + [ + 9.413483619689941, + 0.4611717462539673, + -2.841813564300537 + ], + [ + 9.514351844787598, + 0.46148180961608887, + -3.0236103534698486 + ], + [ + 9.717939376831055, + 0.4611407518386841, + -2.9106526374816895 + ] + ] + } + } + }, + { + "objectId": "HousePlant|+07.58|+00.71|-01.44", + "object_info": { + "name": "HousePlant_bfb7e560", + "position": { + "x": 7.5790252685546875, + "y": 0.7096959352493286, + "z": -1.4379713535308838 + }, + "rotation": { + "x": 0.03819238394498825, + "y": 0.015012485906481743, + "z": 359.8695983886719 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.0, + "salientMaterials": [ + "Ceramic", + "Organic" + ], + "receptacleObjectIds": null, + "distance": 3.068727970123291, + "objectType": "HousePlant", + "objectId": "HousePlant|+07.58|+00.71|-01.44", + "assetId": "Houseplant_6", + "parentReceptacles": [ + "DiningTable|+07.83|+00.00|-01.39" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.909245491027832, + 1.6920905113220215, + -1.0653295516967773 + ], + [ + 7.909245491027832, + 1.6920905113220215, + -1.6396684646606445 + ], + [ + 7.909245491027832, + 0.7073407173156738, + -1.0653295516967773 + ], + [ + 7.909245491027832, + 0.7073407173156738, + -1.6396684646606445 + ], + [ + 7.314090728759766, + 1.6920905113220215, + -1.0653295516967773 + ], + [ + 7.314090728759766, + 1.6920905113220215, + -1.6396684646606445 + ], + [ + 7.314090728759766, + 0.7073407173156738, + -1.0653295516967773 + ], + [ + 7.314090728759766, + 0.7073407173156738, + -1.6396684646606445 + ] + ], + "center": { + "x": 7.611668109893799, + "y": 1.1997156143188477, + "z": -1.352499008178711 + }, + "size": { + "x": 0.5951547622680664, + "y": 0.9847497940063477, + "z": 0.5743389129638672 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.907116889953613, + 0.7065669298171997, + -1.0660592317581177 + ], + [ + 7.3121185302734375, + 0.707921028137207, + -1.0659024715423584 + ], + [ + 7.3119683265686035, + 0.7083036303520203, + -1.6399024724960327 + ], + [ + 7.906966686248779, + 0.7069495320320129, + -1.6400593519210815 + ], + [ + 7.909359455108643, + 1.6916987895965576, + -1.0654032230377197 + ], + [ + 7.314360618591309, + 1.693052887916565, + -1.065246343612671 + ], + [ + 7.314210414886475, + 1.693435549736023, + -1.6392464637756348 + ], + [ + 7.90920877456665, + 1.6920814514160156, + -1.639403223991394 + ] + ] + } + } + }, + { + "objectId": "SideTable|+09.48|+00.00|-02.91", + "object_info": { + "name": "SideTable_2937c0ab", + "position": { + "x": 9.480070114135742, + "y": 9.247660636901855e-05, + "z": -2.9080114364624023 + }, + "rotation": { + "x": 0.040654513984918594, + "y": 359.97613525390625, + "z": 359.96649169921875 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": [], + "distance": 3.196942090988159, + "objectType": "SideTable", + "objectId": "SideTable|+09.48|+00.00|-02.91", + "assetId": "RoboTHOR_side_table_strind", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.734397888183594, + 0.6243042945861816, + -2.6556057929992676 + ], + [ + 9.734397888183594, + 0.6243042945861816, + -3.1856656074523926 + ], + [ + 9.734397888183594, + -0.00039970874786376953, + -2.6556057929992676 + ], + [ + 9.734397888183594, + -0.00039970874786376953, + -3.1856656074523926 + ], + [ + 9.208000183105469, + 0.6243042945861816, + -2.6556057929992676 + ], + [ + 9.208000183105469, + 0.6243042945861816, + -3.1856656074523926 + ], + [ + 9.208000183105469, + -0.00039970874786376953, + -2.6556057929992676 + ], + [ + 9.208000183105469, + -0.00039970874786376953, + -3.1856656074523926 + ] + ], + "center": { + "x": 9.471199035644531, + "y": 0.31195229291915894, + "z": -2.92063570022583 + }, + "size": { + "x": 0.526397705078125, + "y": 0.6247040033340454, + "z": 0.530059814453125 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.733888626098633, + -0.0005157414707355201, + -2.6559791564941406 + ], + [ + 9.207905769348145, + -0.0002081644197460264, + -2.656198263168335 + ], + [ + 9.208126068115234, + 0.0001676095271250233, + -3.185789108276367 + ], + [ + 9.734109878540039, + -0.00013996752386447042, + -3.185570001602173 + ], + [ + 9.734253883361816, + 0.6238090991973877, + -2.65553617477417 + ], + [ + 9.208270072937012, + 0.6241166591644287, + -2.655755043029785 + ], + [ + 9.208491325378418, + 0.6244924068450928, + -3.1853458881378174 + ], + [ + 9.734474182128906, + 0.6241848468780518, + -3.185126781463623 + ] + ] + } + } + }, + { + "objectId": "DiningTable|+07.83|+00.00|-01.39", + "object_info": { + "name": "DiningTable_dc49cc20", + "position": { + "x": 7.825000286102295, + "y": 0.0010403990745544434, + "z": -1.3949894905090332 + }, + "rotation": { + "x": 0.0002652406401466578, + "y": -0.0027117880526930094, + "z": -0.0033904900774359703 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Bowl|+08.12|+00.71|-01.45", + "Mug|+07.90|+00.71|-01.27", + "HousePlant|+07.58|+00.71|-01.44", + "Pencil|+07.39|+00.71|-01.21", + "Candle|+07.43|+00.71|-01.60" + ], + "distance": 3.3000969886779785, + "objectType": "DiningTable", + "objectId": "DiningTable|+07.83|+00.00|-01.39", + "assetId": "RoboTHOR_dining_table_mella", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.39240550994873, + 0.7075797915458679, + -1.0263848304748535 + ], + [ + 8.39240550994873, + 0.7075797915458679, + -1.7605247497558594 + ], + [ + 8.39240550994873, + -0.00016772747039794922, + -1.0263848304748535 + ], + [ + 8.39240550994873, + -0.00016772747039794922, + -1.7605247497558594 + ], + [ + 7.252649307250977, + 0.7075797915458679, + -1.0263848304748535 + ], + [ + 7.252649307250977, + 0.7075797915458679, + -1.7605247497558594 + ], + [ + 7.252649307250977, + -0.00016772747039794922, + -1.0263848304748535 + ], + [ + 7.252649307250977, + -0.00016772747039794922, + -1.7605247497558594 + ] + ], + "center": { + "x": 7.8225274085998535, + "y": 0.353706032037735, + "z": -1.3934547901153564 + }, + "size": { + "x": 1.139756202697754, + "y": 0.7077475190162659, + "z": 0.7341399192810059 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 8.392498970031738, + 5.7183788157999516e-05, + -1.026352047920227 + ], + [ + 7.252767562866211, + -0.00013725482858717442, + -1.0263869762420654 + ], + [ + 7.252790451049805, + -0.00017180363647639751, + -1.760493278503418 + ], + [ + 8.392520904541016, + 2.2634980268776417e-05, + -1.76045823097229 + ], + [ + 8.392377853393555, + 0.7075800895690918, + -1.0263853073120117 + ], + [ + 7.2526469230651855, + 0.7073856592178345, + -1.0264203548431396 + ], + [ + 7.252669334411621, + 0.7073510885238647, + -1.7605266571044922 + ], + [ + 8.392400741577148, + 0.7075455188751221, + -1.7604916095733643 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 7.800000190734863, + "y": 0.9009992480278015, + "z": -2.700000047683716 + }, + "agent_rotation": { + "x": -0.0, + "y": 60.000003814697266, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 7.800000190734863, + "y": 1.5759992599487305, + "z": -2.700000047683716 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Painting|+09.03|+01.44|-01.01", + "DiningTable|+07.83|+00.00|-01.39", + "HousePlant|+07.58|+00.71|-01.44" + ], + "different_object": [ + "Bowl|+08.12|+00.71|-01.45", + "Chair|+09.41|+00.01|-02.28", + "SideTable|+09.48|+00.00|-02.91", + "Box|+09.57|+00.20|-02.88" + ] +} \ No newline at end of file diff --git a/train/FloorPlan_Train2_1/13/1_depth_npy.npy b/train/FloorPlan_Train2_1/13/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..4c735a91f693c34319e150268145b92d3c2d9d97 --- /dev/null +++ b/train/FloorPlan_Train2_1/13/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:71dfaa4142a669d911b770866b725f2b9a8fd7c994f0615e10283b90c6ebae8e +size 3145856 diff --git a/train/FloorPlan_Train2_1/13/1_semantic_sensor_npy.npy b/train/FloorPlan_Train2_1/13/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..6e36461fd03a800c14a4ea85e004bce162f33584 --- /dev/null +++ b/train/FloorPlan_Train2_1/13/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bf76c1d463a6929491f5977262219e585429fe8e57e16012b3e48d32aae5e276 +size 2359424 diff --git a/train/FloorPlan_Train2_1/13/depth_0.png b/train/FloorPlan_Train2_1/13/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..e27ec6269083f8583d941d4a19d1a2b549294f76 Binary files /dev/null and b/train/FloorPlan_Train2_1/13/depth_0.png differ diff --git a/train/FloorPlan_Train2_1/13/depth_1.png b/train/FloorPlan_Train2_1/13/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..12a703027be314c266786c3598b8c0be8e20fadf Binary files /dev/null and b/train/FloorPlan_Train2_1/13/depth_1.png differ diff --git a/train/FloorPlan_Train2_1/13/mask_questions.jsonl b/train/FloorPlan_Train2_1/13/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..40924d26f9385551a1148abd2d3db039e2044c7f --- /dev/null +++ b/train/FloorPlan_Train2_1/13/mask_questions.jsonl @@ -0,0 +1,2 @@ +{"id": 3421, "folder_dir": "FloorPlan_Train2_1/13", "pair_name": "0-1:Painting|+09.03|+01.44|-01.01", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. GarbageCan\nB. Painting\nC. Pencil\nD. DiningTable", "answer": "B", "object_name": "Painting", "image_1": "FloorPlan_Train2_1/13/rgb_0.png", "image_2": "FloorPlan_Train2_1/13/rgb_1.png", "mask_image": "FloorPlan_Train2_1/13/rgb_1_mask_Painting|+09.03|+01.44|-01.01.png", "options": ["GarbageCan", "Painting", "Pencil", "DiningTable"]} +{"id": 3422, "folder_dir": "FloorPlan_Train2_1/13", "pair_name": "1-0:Painting|+09.03|+01.44|-01.01", "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. Bowl\nC. DiningTable\nD. Chair", "answer": "A", "object_name": "Painting", "image_1": "FloorPlan_Train2_1/13/rgb_1.png", "image_2": "FloorPlan_Train2_1/13/rgb_0.png", "mask_image": "FloorPlan_Train2_1/13/rgb_0_mask_Painting|+09.03|+01.44|-01.01.png", "options": ["Painting", "Bowl", "DiningTable", "Chair"]} diff --git a/train/FloorPlan_Train2_1/13/questions_direction.jsonl b/train/FloorPlan_Train2_1/13/questions_direction.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..63b0f6949c40520f428ba09e2a474664d46d4838 --- /dev/null +++ b/train/FloorPlan_Train2_1/13/questions_direction.jsonl @@ -0,0 +1,22 @@ +{"id": 862, "folder_dir": "FloorPlan_Train2_1/13", "pair_name": "Mug-Chair", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Mug. Where is the centroid position of Chair in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Mug", "tgt_object": "Chair", "src_com": {"x": 7.885730743408203, "y": 0.7591882944107056, "z": -1.2700612545013428}, "tgt_com": {"x": 9.405054092407227, "y": 0.41255250573158264, "z": -2.291024684906006}, "agent_pos": {"x": 8.800000190734863, "y": 1.5759992599487305, "z": -1.7000000476837158}, "image_1": "FloorPlan_Train2_1/13/rgb_0.png", "image_2": "FloorPlan_Train2_1/13/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 863, "folder_dir": "FloorPlan_Train2_1/13", "pair_name": "Mug-Box", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Mug. Where is the centroid position of Box in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Mug", "tgt_object": "Box", "src_com": {"x": 7.885730743408203, "y": 0.7591882944107056, "z": -1.2700612545013428}, "tgt_com": {"x": 9.565637588500977, "y": 0.331059992313385, "z": -2.876495838165283}, "agent_pos": {"x": 8.800000190734863, "y": 1.5759992599487305, "z": -1.7000000476837158}, "image_1": "FloorPlan_Train2_1/13/rgb_0.png", "image_2": "FloorPlan_Train2_1/13/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 864, "folder_dir": "FloorPlan_Train2_1/13", "pair_name": "Mug-SideTable", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Mug. Where is the centroid position of SideTable in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Mug", "tgt_object": "SideTable", "src_com": {"x": 7.885730743408203, "y": 0.7591882944107056, "z": -1.2700612545013428}, "tgt_com": {"x": 9.471199035644531, "y": 0.31195229291915894, "z": -2.92063570022583}, "agent_pos": {"x": 8.800000190734863, "y": 1.5759992599487305, "z": -1.7000000476837158}, "image_1": "FloorPlan_Train2_1/13/rgb_0.png", "image_2": "FloorPlan_Train2_1/13/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 865, "folder_dir": "FloorPlan_Train2_1/13", "pair_name": "Pencil-Chair", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Pencil. Where is the centroid position of Chair in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Pencil", "tgt_object": "Chair", "src_com": {"x": 7.387443542480469, "y": 0.7120882272720337, "z": -1.205974817276001}, "tgt_com": {"x": 9.405054092407227, "y": 0.41255250573158264, "z": -2.291024684906006}, "agent_pos": {"x": 8.800000190734863, "y": 1.5759992599487305, "z": -1.7000000476837158}, "image_1": "FloorPlan_Train2_1/13/rgb_0.png", "image_2": "FloorPlan_Train2_1/13/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 866, "folder_dir": "FloorPlan_Train2_1/13", "pair_name": "Pencil-Box", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Pencil. Where is the centroid position of Box in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Pencil", "tgt_object": "Box", "src_com": {"x": 7.387443542480469, "y": 0.7120882272720337, "z": -1.205974817276001}, "tgt_com": {"x": 9.565637588500977, "y": 0.331059992313385, "z": -2.876495838165283}, "agent_pos": {"x": 8.800000190734863, "y": 1.5759992599487305, "z": -1.7000000476837158}, "image_1": "FloorPlan_Train2_1/13/rgb_0.png", "image_2": "FloorPlan_Train2_1/13/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 867, "folder_dir": "FloorPlan_Train2_1/13", "pair_name": "Pencil-SideTable", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Pencil. Where is the centroid position of SideTable in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Pencil", "tgt_object": "SideTable", "src_com": {"x": 7.387443542480469, "y": 0.7120882272720337, "z": -1.205974817276001}, "tgt_com": {"x": 9.471199035644531, "y": 0.31195229291915894, "z": -2.92063570022583}, "agent_pos": {"x": 8.800000190734863, "y": 1.5759992599487305, "z": -1.7000000476837158}, "image_1": "FloorPlan_Train2_1/13/rgb_0.png", "image_2": "FloorPlan_Train2_1/13/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 868, "folder_dir": "FloorPlan_Train2_1/13", "pair_name": "Candle-Chair", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Candle. Where is the centroid position of Chair in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Candle", "tgt_object": "Chair", "src_com": {"x": 7.4320173263549805, "y": 0.791317343711853, "z": -1.6019927263259888}, "tgt_com": {"x": 9.405054092407227, "y": 0.41255250573158264, "z": -2.291024684906006}, "agent_pos": {"x": 8.800000190734863, "y": 1.5759992599487305, "z": -1.7000000476837158}, "image_1": "FloorPlan_Train2_1/13/rgb_0.png", "image_2": "FloorPlan_Train2_1/13/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 869, "folder_dir": "FloorPlan_Train2_1/13", "pair_name": "Candle-Bowl", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Candle. Where is the centroid position of Bowl in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "C", "src_object": "Candle", "tgt_object": "Bowl", "src_com": {"x": 7.4320173263549805, "y": 0.791317343711853, "z": -1.6019927263259888}, "tgt_com": {"x": 8.120052337646484, "y": 0.748933732509613, "z": -1.4498927593231201}, "agent_pos": {"x": 8.800000190734863, "y": 1.5759992599487305, "z": -1.7000000476837158}, "image_1": "FloorPlan_Train2_1/13/rgb_0.png", "image_2": "FloorPlan_Train2_1/13/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 870, "folder_dir": "FloorPlan_Train2_1/13", "pair_name": "Candle-Box", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Candle. Where is the centroid position of Box in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Candle", "tgt_object": "Box", "src_com": {"x": 7.4320173263549805, "y": 0.791317343711853, "z": -1.6019927263259888}, "tgt_com": {"x": 9.565637588500977, "y": 0.331059992313385, "z": -2.876495838165283}, "agent_pos": {"x": 8.800000190734863, "y": 1.5759992599487305, "z": -1.7000000476837158}, "image_1": "FloorPlan_Train2_1/13/rgb_0.png", "image_2": "FloorPlan_Train2_1/13/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 871, "folder_dir": "FloorPlan_Train2_1/13", "pair_name": "Candle-SideTable", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Candle. Where is the centroid position of SideTable in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Candle", "tgt_object": "SideTable", "src_com": {"x": 7.4320173263549805, "y": 0.791317343711853, "z": -1.6019927263259888}, "tgt_com": {"x": 9.471199035644531, "y": 0.31195229291915894, "z": -2.92063570022583}, "agent_pos": {"x": 8.800000190734863, "y": 1.5759992599487305, "z": -1.7000000476837158}, "image_1": "FloorPlan_Train2_1/13/rgb_0.png", "image_2": "FloorPlan_Train2_1/13/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 872, "folder_dir": "FloorPlan_Train2_1/13", "pair_name": "GarbageCan-Chair", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of GarbageCan. Where is the centroid position of Chair in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "GarbageCan", "tgt_object": "Chair", "src_com": {"x": 1.1889140605926514, "y": 0.2730907201766968, "z": -1.246863603591919}, "tgt_com": {"x": 9.405054092407227, "y": 0.41255250573158264, "z": -2.291024684906006}, "agent_pos": {"x": 8.800000190734863, "y": 1.5759992599487305, "z": -1.7000000476837158}, "image_1": "FloorPlan_Train2_1/13/rgb_0.png", "image_2": "FloorPlan_Train2_1/13/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 873, "folder_dir": "FloorPlan_Train2_1/13", "pair_name": "GarbageCan-Bowl", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of GarbageCan. Where is the centroid position of Bowl in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "C", "src_object": "GarbageCan", "tgt_object": "Bowl", "src_com": {"x": 1.1889140605926514, "y": 0.2730907201766968, "z": -1.246863603591919}, "tgt_com": {"x": 8.120052337646484, "y": 0.748933732509613, "z": -1.4498927593231201}, "agent_pos": {"x": 8.800000190734863, "y": 1.5759992599487305, "z": -1.7000000476837158}, "image_1": "FloorPlan_Train2_1/13/rgb_0.png", "image_2": "FloorPlan_Train2_1/13/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 874, "folder_dir": "FloorPlan_Train2_1/13", "pair_name": "GarbageCan-Box", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of GarbageCan. Where is the centroid position of Box in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "GarbageCan", "tgt_object": "Box", "src_com": {"x": 1.1889140605926514, "y": 0.2730907201766968, "z": -1.246863603591919}, "tgt_com": {"x": 9.565637588500977, "y": 0.331059992313385, "z": -2.876495838165283}, "agent_pos": {"x": 8.800000190734863, "y": 1.5759992599487305, "z": -1.7000000476837158}, "image_1": "FloorPlan_Train2_1/13/rgb_0.png", "image_2": "FloorPlan_Train2_1/13/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 875, "folder_dir": "FloorPlan_Train2_1/13", "pair_name": "GarbageCan-SideTable", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of GarbageCan. Where is the centroid position of SideTable in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "GarbageCan", "tgt_object": "SideTable", "src_com": {"x": 1.1889140605926514, "y": 0.2730907201766968, "z": -1.246863603591919}, "tgt_com": {"x": 9.471199035644531, "y": 0.31195229291915894, "z": -2.92063570022583}, "agent_pos": {"x": 8.800000190734863, "y": 1.5759992599487305, "z": -1.7000000476837158}, "image_1": "FloorPlan_Train2_1/13/rgb_0.png", "image_2": "FloorPlan_Train2_1/13/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 876, "folder_dir": "FloorPlan_Train2_1/13", "pair_name": "Chair-Mug", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Chair. Where is the centroid position of Mug in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "A", "src_object": "Chair", "tgt_object": "Mug", "src_com": {"x": 9.405054092407227, "y": 0.41255250573158264, "z": -2.291024684906006}, "tgt_com": {"x": 7.885730743408203, "y": 0.7591882944107056, "z": -1.2700612545013428}, "agent_pos": {"x": 7.800000190734863, "y": 1.5759992599487305, "z": -2.700000047683716}, "image_1": "FloorPlan_Train2_1/13/rgb_1.png", "image_2": "FloorPlan_Train2_1/13/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 877, "folder_dir": "FloorPlan_Train2_1/13", "pair_name": "Chair-GarbageCan", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Chair. Where is the centroid position of GarbageCan in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Chair", "tgt_object": "GarbageCan", "src_com": {"x": 9.405054092407227, "y": 0.41255250573158264, "z": -2.291024684906006}, "tgt_com": {"x": 1.1889140605926514, "y": 0.2730907201766968, "z": -1.246863603591919}, "agent_pos": {"x": 7.800000190734863, "y": 1.5759992599487305, "z": -2.700000047683716}, "image_1": "FloorPlan_Train2_1/13/rgb_1.png", "image_2": "FloorPlan_Train2_1/13/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 878, "folder_dir": "FloorPlan_Train2_1/13", "pair_name": "Bowl-Pencil", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Bowl. Where is the centroid position of Pencil in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "A", "src_object": "Bowl", "tgt_object": "Pencil", "src_com": {"x": 8.120052337646484, "y": 0.748933732509613, "z": -1.4498927593231201}, "tgt_com": {"x": 7.387443542480469, "y": 0.7120882272720337, "z": -1.205974817276001}, "agent_pos": {"x": 7.800000190734863, "y": 1.5759992599487305, "z": -2.700000047683716}, "image_1": "FloorPlan_Train2_1/13/rgb_1.png", "image_2": "FloorPlan_Train2_1/13/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 879, "folder_dir": "FloorPlan_Train2_1/13", "pair_name": "Bowl-Candle", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Bowl. Where is the centroid position of Candle in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "A", "src_object": "Bowl", "tgt_object": "Candle", "src_com": {"x": 8.120052337646484, "y": 0.748933732509613, "z": -1.4498927593231201}, "tgt_com": {"x": 7.4320173263549805, "y": 0.791317343711853, "z": -1.6019927263259888}, "agent_pos": {"x": 7.800000190734863, "y": 1.5759992599487305, "z": -2.700000047683716}, "image_1": "FloorPlan_Train2_1/13/rgb_1.png", "image_2": "FloorPlan_Train2_1/13/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 880, "folder_dir": "FloorPlan_Train2_1/13", "pair_name": "Box-Pencil", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Box. Where is the centroid position of Pencil in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Box", "tgt_object": "Pencil", "src_com": {"x": 9.565637588500977, "y": 0.331059992313385, "z": -2.876495838165283}, "tgt_com": {"x": 7.387443542480469, "y": 0.7120882272720337, "z": -1.205974817276001}, "agent_pos": {"x": 7.800000190734863, "y": 1.5759992599487305, "z": -2.700000047683716}, "image_1": "FloorPlan_Train2_1/13/rgb_1.png", "image_2": "FloorPlan_Train2_1/13/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 881, "folder_dir": "FloorPlan_Train2_1/13", "pair_name": "Box-Candle", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Box. Where is the centroid position of Candle in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Box", "tgt_object": "Candle", "src_com": {"x": 9.565637588500977, "y": 0.331059992313385, "z": -2.876495838165283}, "tgt_com": {"x": 7.4320173263549805, "y": 0.791317343711853, "z": -1.6019927263259888}, "agent_pos": {"x": 7.800000190734863, "y": 1.5759992599487305, "z": -2.700000047683716}, "image_1": "FloorPlan_Train2_1/13/rgb_1.png", "image_2": "FloorPlan_Train2_1/13/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 882, "folder_dir": "FloorPlan_Train2_1/13", "pair_name": "SideTable-Pencil", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of SideTable. Where is the centroid position of Pencil in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "SideTable", "tgt_object": "Pencil", "src_com": {"x": 9.471199035644531, "y": 0.31195229291915894, "z": -2.92063570022583}, "tgt_com": {"x": 7.387443542480469, "y": 0.7120882272720337, "z": -1.205974817276001}, "agent_pos": {"x": 7.800000190734863, "y": 1.5759992599487305, "z": -2.700000047683716}, "image_1": "FloorPlan_Train2_1/13/rgb_1.png", "image_2": "FloorPlan_Train2_1/13/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 883, "folder_dir": "FloorPlan_Train2_1/13", "pair_name": "SideTable-Candle", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of SideTable. Where is the centroid position of Candle in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "SideTable", "tgt_object": "Candle", "src_com": {"x": 9.471199035644531, "y": 0.31195229291915894, "z": -2.92063570022583}, "tgt_com": {"x": 7.4320173263549805, "y": 0.791317343711853, "z": -1.6019927263259888}, "agent_pos": {"x": 7.800000190734863, "y": 1.5759992599487305, "z": -2.700000047683716}, "image_1": "FloorPlan_Train2_1/13/rgb_1.png", "image_2": "FloorPlan_Train2_1/13/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} diff --git a/train/FloorPlan_Train2_1/13/questions_distance.jsonl b/train/FloorPlan_Train2_1/13/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ad904017dee7b9a3a53dc78bb6e3607606ddb1f9 --- /dev/null +++ b/train/FloorPlan_Train2_1/13/questions_distance.jsonl @@ -0,0 +1,2 @@ +{"id": 1298, "folder_dir": "FloorPlan_Train2_1/13", "query": "Which of the following objects is closest to Painting in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Mug\nB. HousePlant\nC. Bowl\nD. Other\n", "answer": "C", "src_object": "Painting", "target_object": "Bowl", "question": "Which of the following objects is closest to Painting in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Mug", "semantic_id": "Mug|+07.90|+00.71|-01.27", "distance": 1.3496129349240882, "com": {"x": 7.885730743408203, "y": 0.7591882944107056, "z": -1.2700612545013428}}, {"text": "HousePlant", "semantic_id": "HousePlant|+07.58|+00.71|-01.44", "distance": 1.4700697387767836, "com": {"x": 7.611668109893799, "y": 1.1997156143188477, "z": -1.352499008178711}}, {"text": "Bowl", "semantic_id": "Bowl|+08.12|+00.71|-01.45", "distance": 1.214901030599264, "com": {"x": 8.120052337646484, "y": 0.748933732509613, "z": -1.4498927593231201}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan_Train2_1/13/rgb_0.png", "image_2": "FloorPlan_Train2_1/13/rgb_1.png"} +{"id": 1299, "folder_dir": "FloorPlan_Train2_1/13", "query": "Which of the following objects is closest to DiningTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Bowl\nB. Pencil\nC. Mug\nD. Other\n", "answer": "C", "src_object": "DiningTable", "target_object": "Mug", "question": "Which of the following objects is closest to DiningTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Bowl", "semantic_id": "Bowl|+08.12|+00.71|-01.45", "distance": 0.4979068818491945, "com": {"x": 8.120052337646484, "y": 0.748933732509613, "z": -1.4498927593231201}}, {"text": "Pencil", "semantic_id": "Pencil|+07.39|+00.71|-01.21", "distance": 0.5940408307803355, "com": {"x": 7.387443542480469, "y": 0.7120882272720337, "z": -1.205974817276001}}, {"text": "Mug", "semantic_id": "Mug|+07.90|+00.71|-01.27", "distance": 0.42852828525235737, "com": {"x": 7.885730743408203, "y": 0.7591882944107056, "z": -1.2700612545013428}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan_Train2_1/13/rgb_0.png", "image_2": "FloorPlan_Train2_1/13/rgb_1.png"} diff --git a/train/FloorPlan_Train2_1/13/rgb_0.png b/train/FloorPlan_Train2_1/13/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..62c2d029ef1e1961da994b158d28238202727e02 --- /dev/null +++ b/train/FloorPlan_Train2_1/13/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:33c3c1b97bcbb451be4c493e2ae0ac1198f1a992fb11bd11445082b0b363b2e7 +size 1179902 diff --git a/train/FloorPlan_Train2_1/13/rgb_0_mask_Painting|+09.03|+01.44|-01.01.png b/train/FloorPlan_Train2_1/13/rgb_0_mask_Painting|+09.03|+01.44|-01.01.png new file mode 100644 index 0000000000000000000000000000000000000000..f65ca215957dd60efe4c34e6333daa8c87e52d78 --- /dev/null +++ b/train/FloorPlan_Train2_1/13/rgb_0_mask_Painting|+09.03|+01.44|-01.01.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:163e30ad370a97dd35ea22dc67f14b903353e431ff231b9674500af106420812 +size 894033 diff --git a/train/FloorPlan_Train2_1/13/rgb_1.png b/train/FloorPlan_Train2_1/13/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..665a82df756b923d5e2c3691149caa989385d6ac --- /dev/null +++ b/train/FloorPlan_Train2_1/13/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a605650220ad9c957331738984ea59faacfeb1d60ebb69c63868233bf55de5ac +size 995045 diff --git a/train/FloorPlan_Train2_1/13/rgb_1_mask_Painting|+09.03|+01.44|-01.01.png b/train/FloorPlan_Train2_1/13/rgb_1_mask_Painting|+09.03|+01.44|-01.01.png new file mode 100644 index 0000000000000000000000000000000000000000..2263a7e45faa3d672653951be00943b55edf90be --- /dev/null +++ b/train/FloorPlan_Train2_1/13/rgb_1_mask_Painting|+09.03|+01.44|-01.01.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:015210783e8537078ca502e4b55e0660532b5d1b8331c331167970f7ba490a5a +size 862463 diff --git a/train/FloorPlan_Train2_1/13/semantic_0.png b/train/FloorPlan_Train2_1/13/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..e35ffdadd5c59eb55d7e33d13ef444e7773c78c3 Binary files /dev/null and b/train/FloorPlan_Train2_1/13/semantic_0.png differ diff --git a/train/FloorPlan_Train2_1/13/semantic_1.png b/train/FloorPlan_Train2_1/13/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..0e9e821f516456baf41a000c78cfd4553f0cb24d Binary files /dev/null and b/train/FloorPlan_Train2_1/13/semantic_1.png differ diff --git a/train/FloorPlan_Train2_1/14/0.json b/train/FloorPlan_Train2_1/14/0.json new file mode 100644 index 0000000000000000000000000000000000000000..34d881877f5391ba10e81a2b9d8286546caaa8f3 --- /dev/null +++ b/train/FloorPlan_Train2_1/14/0.json @@ -0,0 +1,2170 @@ +{ + "object": [ + { + "objectId": "Painting|+02.45|+01.51|-04.90", + "object_info": { + "name": "Painting_09596355", + "position": { + "x": 2.4509999752044678, + "y": 1.5110000371932983, + "z": -4.900000095367432 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.419943809509277, + "objectType": "Painting", + "objectId": "Painting|+02.45|+01.51|-04.90", + "assetId": "Wall_Decor_Painting_9", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.68054461479187, + 1.8154038190841675, + -4.881979942321777 + ], + [ + 2.68054461479187, + 1.8154038190841675, + -4.901129722595215 + ], + [ + 2.68054461479187, + 1.207502007484436, + -4.881979942321777 + ], + [ + 2.68054461479187, + 1.207502007484436, + -4.901129722595215 + ], + [ + 2.2227418422698975, + 1.8154038190841675, + -4.881979942321777 + ], + [ + 2.2227418422698975, + 1.8154038190841675, + -4.901129722595215 + ], + [ + 2.2227418422698975, + 1.207502007484436, + -4.881979942321777 + ], + [ + 2.2227418422698975, + 1.207502007484436, + -4.901129722595215 + ] + ], + "center": { + "x": 2.451643228530884, + "y": 1.5114529132843018, + "z": -4.891554832458496 + }, + "size": { + "x": 0.45780277252197266, + "y": 0.6079018115997314, + "z": 0.0191497802734375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Drawer|+01.60|+00.97|-03.41", + "object_info": { + "name": "Drawer_0ff2c96d", + "position": { + "x": 1.5954556465148926, + "y": 0.9665080308914185, + "z": -3.414116621017456 + }, + "rotation": { + "x": 0.00015370563778560609, + "y": 89.9996109008789, + "z": 1.0044567488876055e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.297503471374512, + "objectType": "Drawer", + "objectId": "Drawer|+01.60|+00.97|-03.41", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.5970840454101562, + 1.0751755237579346, + -3.256058692932129 + ], + [ + 1.5970840454101562, + 1.0751755237579346, + -3.5714316368103027 + ], + [ + 1.5970840454101562, + 0.8572347164154053, + -3.256058692932129 + ], + [ + 1.5970840454101562, + 0.8572347164154053, + -3.5714316368103027 + ], + [ + 1.198845386505127, + 1.0751755237579346, + -3.256058692932129 + ], + [ + 1.198845386505127, + 1.0751755237579346, + -3.5714316368103027 + ], + [ + 1.198845386505127, + 0.8572347164154053, + -3.256058692932129 + ], + [ + 1.198845386505127, + 0.8572347164154053, + -3.5714316368103027 + ] + ], + "center": { + "x": 1.3979647159576416, + "y": 0.9662051200866699, + "z": -3.413745164871216 + }, + "size": { + "x": 0.3982386589050293, + "y": 0.2179408073425293, + "z": 0.31537294387817383 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Drawer|+03.52|+00.27|-02.89", + "object_info": { + "name": "Drawer_a1c73eee", + "position": { + "x": 3.520913600921631, + "y": 0.2703983783721924, + "z": -2.890455722808838 + }, + "rotation": { + "x": -2.0317756934673525e-05, + "y": 89.99891662597656, + "z": -3.827755790553056e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.6645314693450928, + "objectType": "Drawer", + "objectId": "Drawer|+03.52|+00.27|-02.89", + "assetId": "", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.8382515907287598, + 0.4673539996147156, + -2.0472660064697266 + ], + [ + 3.8382515907287598, + 0.4673539996147156, + -2.8938260078430176 + ], + [ + 3.8382515907287598, + 0.07405591011047363, + -2.0472660064697266 + ], + [ + 3.8382515907287598, + 0.07405591011047363, + -2.8938260078430176 + ], + [ + 3.2035470008850098, + 0.4673539996147156, + -2.0472660064697266 + ], + [ + 3.2035470008850098, + 0.4673539996147156, + -2.8938260078430176 + ], + [ + 3.2035470008850098, + 0.07405591011047363, + -2.0472660064697266 + ], + [ + 3.2035470008850098, + 0.07405591011047363, + -2.8938260078430176 + ] + ], + "center": { + "x": 3.5208992958068848, + "y": 0.2707049548625946, + "z": -2.470546007156372 + }, + "size": { + "x": 0.63470458984375, + "y": 0.39329808950424194, + "z": 0.846560001373291 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Drawer|+01.60|+00.97|-03.74", + "object_info": { + "name": "Drawer_06abd06a", + "position": { + "x": 1.5954577922821045, + "y": 0.9665080308914185, + "z": -3.7429351806640625 + }, + "rotation": { + "x": 0.00015370563778560609, + "y": 89.9996109008789, + "z": 1.0044567488876055e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.2462639808654785, + "objectType": "Drawer", + "objectId": "Drawer|+01.60|+00.97|-03.74", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.5970818996429443, + 1.0751761198043823, + -3.5848772525787354 + ], + [ + 1.5970818996429443, + 1.0751761198043823, + -3.900250196456909 + ], + [ + 1.5970818996429443, + 0.857235312461853, + -3.5848772525787354 + ], + [ + 1.5970818996429443, + 0.857235312461853, + -3.900250196456909 + ], + [ + 1.198843240737915, + 1.0751761198043823, + -3.5848772525787354 + ], + [ + 1.198843240737915, + 1.0751761198043823, + -3.900250196456909 + ], + [ + 1.198843240737915, + 0.857235312461853, + -3.5848772525787354 + ], + [ + 1.198843240737915, + 0.857235312461853, + -3.900250196456909 + ] + ], + "center": { + "x": 1.3979625701904297, + "y": 0.9662057161331177, + "z": -3.7425637245178223 + }, + "size": { + "x": 0.3982386589050293, + "y": 0.2179408073425293, + "z": 0.31537294387817383 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bed|+04.20|+00.00|-02.48", + "object_info": { + "name": "Bed_25b79cf7", + "position": { + "x": 4.198010444641113, + "y": 1.7851591110229492e-05, + "z": -2.475999355316162 + }, + "rotation": { + "x": -2.0317773305578157e-05, + "y": 89.9989013671875, + "z": -3.827755426755175e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Fabric", + "Wood" + ], + "receptacleObjectIds": [ + "Laptop|+04.80|+00.61|-02.45", + "RemoteControl|+04.48|+00.61|-02.54", + "Pillow|+03.51|+00.67|-02.33", + "Book|+03.55|+00.61|-02.73" + ], + "distance": 3.3591511249542236, + "objectType": "Bed", + "objectId": "Bed|+04.20|+00.00|-02.48", + "assetId": "RoboTHOR_hemnes_day_bed", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.251813888549805, + 0.8731186389923096, + -2.030113697052002 + ], + [ + 5.251813888549805, + 0.8731186389923096, + -2.894226551055908 + ], + [ + 5.251813888549805, + 8.106231689453125e-06, + -2.030113697052002 + ], + [ + 5.251813888549805, + 8.106231689453125e-06, + -2.894226551055908 + ], + [ + 3.1434707641601562, + 0.8731186389923096, + -2.030113697052002 + ], + [ + 3.1434707641601562, + 0.8731186389923096, + -2.894226551055908 + ], + [ + 3.1434707641601562, + 8.106231689453125e-06, + -2.030113697052002 + ], + [ + 3.1434707641601562, + 8.106231689453125e-06, + -2.894226551055908 + ] + ], + "center": { + "x": 4.1976423263549805, + "y": 0.4365633726119995, + "z": -2.462170124053955 + }, + "size": { + "x": 2.1083431243896484, + "y": 0.8731105327606201, + "z": 0.8641128540039062 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.251824378967285, + 1.5431556676048785e-05, + -2.894209861755371 + ], + [ + 5.251810550689697, + 1.4201650628820062e-05, + -2.0301241874694824 + ], + [ + 3.143462657928467, + 1.4450725757342298e-05, + -2.0301570892333984 + ], + [ + 3.1434762477874756, + 1.568063089507632e-05, + -2.894242763519287 + ], + [ + 5.251824378967285, + 0.8731319308280945, + -2.8942086696624756 + ], + [ + 5.2518110275268555, + 0.8731306791305542, + -2.030122756958008 + ], + [ + 3.143462896347046, + 0.8731309175491333, + -2.030155658721924 + ], + [ + 3.1434762477874756, + 0.8731321692466736, + -2.8942413330078125 + ] + ] + } + } + }, + { + "objectId": "BaseballBat|+03.04|+00.04|-02.30", + "object_info": { + "name": "BaseballBat_8b275cf0", + "position": { + "x": 3.0350000858306885, + "y": 0.04473800212144852, + "z": -2.2979986667633057 + }, + "rotation": { + "x": 90.0, + "y": 179.99996948242188, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.8999999761581421, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": null, + "distance": 4.396227836608887, + "objectType": "BaseballBat", + "objectId": "BaseballBat|+03.04|+00.04|-02.30", + "assetId": "BaseballBat_2", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.0760252475738525, + 0.08947579562664032, + -2.024610996246338 + ], + [ + 3.0760252475738525, + 0.08947579562664032, + -2.983386993408203 + ], + [ + 3.0760252475738525, + 5.960464477539063e-08, + -2.024610996246338 + ], + [ + 3.0760252475738525, + 5.960464477539063e-08, + -2.983386993408203 + ], + [ + 2.9952385425567627, + 0.08947579562664032, + -2.024610996246338 + ], + [ + 2.9952385425567627, + 0.08947579562664032, + -2.983386993408203 + ], + [ + 2.9952385425567627, + 5.960464477539063e-08, + -2.024610996246338 + ], + [ + 2.9952385425567627, + 5.960464477539063e-08, + -2.983386993408203 + ] + ], + "center": { + "x": 3.0356318950653076, + "y": 0.04473792761564255, + "z": -2.5039989948272705 + }, + "size": { + "x": 0.08078670501708984, + "y": 0.08947573602199554, + "z": 0.9587759971618652 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.9952385425567627, + 1.4528632164001465e-07, + -2.024611234664917 + ], + [ + 3.0760254859924316, + 1.4528632164001465e-07, + -2.024611234664917 + ], + [ + 3.0760254859924316, + 0.0894758403301239, + -2.024611234664917 + ], + [ + 2.9952383041381836, + 0.0894758403301239, + -2.024611234664917 + ], + [ + 2.9952385425567627, + 2.60770320892334e-08, + -2.983386993408203 + ], + [ + 3.0760254859924316, + 2.60770320892334e-08, + -2.983386754989624 + ], + [ + 3.0760254859924316, + 0.08947578072547913, + -2.983386754989624 + ], + [ + 2.9952385425567627, + 0.08947578072547913, + -2.983386754989624 + ] + ] + } + } + }, + { + "objectId": "Box|+01.39|+00.11|-04.49", + "object_info": { + "name": "Box_587ff275", + "position": { + "x": 1.3940037488937378, + "y": 0.1121293157339096, + "z": -4.4939751625061035 + }, + "rotation": { + "x": 0.015100929886102676, + "y": 345.2352294921875, + "z": -0.001479225349612534 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.30000001192092896, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": [], + "distance": 5.464059352874756, + "objectType": "Box", + "objectId": "Box|+01.39|+00.11|-04.49", + "assetId": "Box_8", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.7270004749298096, + 0.1818174123764038, + -4.29286003112793 + ], + [ + 1.7270004749298096, + 0.1818174123764038, + -4.8827104568481445 + ], + [ + 1.7270004749298096, + -1.0073184967041016e-05, + -4.29286003112793 + ], + [ + 1.7270004749298096, + -1.0073184967041016e-05, + -4.8827104568481445 + ], + [ + 1.1087775230407715, + 0.1818174123764038, + -4.29286003112793 + ], + [ + 1.1087775230407715, + 0.1818174123764038, + -4.8827104568481445 + ], + [ + 1.1087775230407715, + -1.0073184967041016e-05, + -4.29286003112793 + ], + [ + 1.1087775230407715, + -1.0073184967041016e-05, + -4.8827104568481445 + ] + ], + "center": { + "x": 1.4178889989852905, + "y": 0.09090366959571838, + "z": -4.587785243988037 + }, + "size": { + "x": 0.6182229518890381, + "y": 0.18182748556137085, + "z": 0.5898504257202148 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.6281177997589111, + -9.620934724807739e-05, + -4.2637553215026855 + ], + [ + 1.0744246244430542, + -8.997321128845215e-05, + -4.4096832275390625 + ], + [ + 1.2067124843597412, + 2.3767352104187012e-05, + -4.911621570587158 + ], + [ + 1.7604056596755981, + 1.7531216144561768e-05, + -4.765693664550781 + ], + [ + 1.6281095743179321, + 0.18169957399368286, + -4.263716220855713 + ], + [ + 1.0744163990020752, + 0.1817058026790619, + -4.40964412689209 + ], + [ + 1.2067042589187622, + 0.18181952834129333, + -4.9115824699401855 + ], + [ + 1.7603974342346191, + 0.1818132996559143, + -4.765654563903809 + ] + ] + } + } + }, + { + "objectId": "Drawer|+01.60|+00.97|-04.07", + "object_info": { + "name": "Drawer_743dc7e8", + "position": { + "x": 1.595460057258606, + "y": 0.9665080308914185, + "z": -4.07175350189209 + }, + "rotation": { + "x": 0.00015370563778560609, + "y": 89.9996109008789, + "z": 1.0044567488876055e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.215292453765869, + "objectType": "Drawer", + "objectId": "Drawer|+01.60|+00.97|-04.07", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.5970799922943115, + 1.07517671585083, + -3.9136953353881836 + ], + [ + 1.5970799922943115, + 1.07517671585083, + -4.229067802429199 + ], + [ + 1.5970799922943115, + 0.8572359085083008, + -3.9136953353881836 + ], + [ + 1.5970799922943115, + 0.8572359085083008, + -4.229067802429199 + ], + [ + 1.1988410949707031, + 1.07517671585083, + -3.9136953353881836 + ], + [ + 1.1988410949707031, + 1.07517671585083, + -4.229067802429199 + ], + [ + 1.1988410949707031, + 0.8572359085083008, + -3.9136953353881836 + ], + [ + 1.1988410949707031, + 0.8572359085083008, + -4.229067802429199 + ] + ], + "center": { + "x": 1.3979605436325073, + "y": 0.9662063121795654, + "z": -4.071381568908691 + }, + "size": { + "x": 0.3982388973236084, + "y": 0.2179408073425293, + "z": 0.3153724670410156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Television|+01.36|+01.61|-03.67", + "object_info": { + "name": "Television_e98e7823", + "position": { + "x": 1.36180579662323, + "y": 1.6147260665893555, + "z": -3.6654469966888428 + }, + "rotation": { + "x": 0.005138331558555365, + "y": 87.79519653320312, + "z": 0.0006818430847488344 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic", + "Metal" + ], + "receptacleObjectIds": null, + "distance": 5.533799171447754, + "objectType": "Television", + "objectId": "Television|+01.36|+01.61|-03.67", + "assetId": "Television_6", + "parentReceptacles": [ + "Dresser|+01.33|+00.00|-03.74" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.5190784931182861, + 1.9497909545898438, + -3.0482068061828613 + ], + [ + 1.5190784931182861, + 1.9497909545898438, + -4.280738830566406 + ], + [ + 1.5190784931182861, + 1.1279172897338867, + -3.0482068061828613 + ], + [ + 1.5190784931182861, + 1.1279172897338867, + -4.280738830566406 + ], + [ + 1.1312963962554932, + 1.9497909545898438, + -3.0482068061828613 + ], + [ + 1.1312963962554932, + 1.9497909545898438, + -4.280738830566406 + ], + [ + 1.1312963962554932, + 1.1279172897338867, + -3.0482068061828613 + ], + [ + 1.1312963962554932, + 1.1279172897338867, + -4.280738830566406 + ] + ], + "center": { + "x": 1.3251874446868896, + "y": 1.5388541221618652, + "z": -3.664472818374634 + }, + "size": { + "x": 0.38778209686279297, + "y": 0.821873664855957, + "z": 1.232532024383545 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.5338451862335205, + 1.1279247999191284, + -4.2750701904296875 + ], + [ + 1.4864692687988281, + 1.1279103755950928, + -3.044405937194824 + ], + [ + 1.1165274381637573, + 1.1279361248016357, + -3.0586471557617188 + ], + [ + 1.1639033555984497, + 1.1279505491256714, + -4.289311408996582 + ], + [ + 1.5339019298553467, + 1.9497830867767334, + -4.275058746337891 + ], + [ + 1.4865260124206543, + 1.9497686624526978, + -3.044394016265869 + ], + [ + 1.1165841817855835, + 1.9497944116592407, + -3.0586354732513428 + ], + [ + 1.1639600992202759, + 1.9498088359832764, + -4.289299964904785 + ] + ] + } + } + }, + { + "objectId": "Dresser|+01.33|+00.00|-03.74", + "object_info": { + "name": "Dresser_9dbf0c2f", + "position": { + "x": 1.3288849592208862, + "y": 0.0008219480514526367, + "z": -3.7429370880126953 + }, + "rotation": { + "x": 0.00015370562323369086, + "y": 89.99959564208984, + "z": 1.0043980864793411e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Television|+01.36|+01.61|-03.67" + ], + "distance": 5.583471298217773, + "objectType": "Dresser", + "objectId": "Dresser|+01.33|+00.00|-03.74", + "assetId": "RoboTHOR_dresser_birkeland", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.596555233001709, + 1.1279104948043823, + -3.230173110961914 + ], + [ + 1.596555233001709, + 1.1279104948043823, + -4.255706787109375 + ], + [ + 1.596555233001709, + 1.0728836059570312e-05, + -3.230173110961914 + ], + [ + 1.596555233001709, + 1.0728836059570312e-05, + -4.255706787109375 + ], + [ + 1.0399279594421387, + 1.1279104948043823, + -3.230173110961914 + ], + [ + 1.0399279594421387, + 1.1279104948043823, + -4.255706787109375 + ], + [ + 1.0399279594421387, + 1.0728836059570312e-05, + -3.230173110961914 + ], + [ + 1.0399279594421387, + 1.0728836059570312e-05, + -4.255706787109375 + ] + ], + "center": { + "x": 1.3182415962219238, + "y": 0.563960611820221, + "z": -3.7429399490356445 + }, + "size": { + "x": 0.5566272735595703, + "y": 1.1278997659683228, + "z": 1.025533676147461 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.5965543985366821, + 1.042091753333807e-06, + -4.25571870803833 + ], + [ + 1.596561074256897, + -7.619964890182018e-07, + -3.2301669120788574 + ], + [ + 1.0399295091629028, + -4.334724508225918e-07, + -3.230163335800171 + ], + [ + 1.039922833442688, + 1.370615791529417e-06, + -4.2557148933410645 + ], + [ + 1.5965551137924194, + 1.1279224157333374, + -4.255716323852539 + ], + [ + 1.5965617895126343, + 1.1279205083847046, + -3.2301650047302246 + ], + [ + 1.0399302244186401, + 1.1279207468032837, + -3.230161190032959 + ], + [ + 1.0399235486984253, + 1.1279226541519165, + -4.255712985992432 + ] + ] + } + } + }, + { + "objectId": "Drawer|+01.60|+00.46|-03.74", + "object_info": { + "name": "Drawer_3ca1ac73", + "position": { + "x": 1.5954564809799194, + "y": 0.4579943120479584, + "z": -3.7429351806640625 + }, + "rotation": { + "x": 0.00015370563778560609, + "y": 89.9996109008789, + "z": 1.0044567488876055e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.264528751373291, + "objectType": "Drawer", + "objectId": "Drawer|+01.60|+00.46|-03.74", + "assetId": "", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.5970840454101562, + 0.5838569402694702, + -3.2549428939819336 + ], + [ + 1.5970840454101562, + 0.5838569402694702, + -4.228466987609863 + ], + [ + 1.5970840454101562, + 0.33066749572753906, + -3.2549428939819336 + ], + [ + 1.5970840454101562, + 0.33066749572753906, + -4.228466987609863 + ], + [ + 1.1988410949707031, + 0.5838569402694702, + -3.2549428939819336 + ], + [ + 1.1988410949707031, + 0.5838569402694702, + -4.228466987609863 + ], + [ + 1.1988410949707031, + 0.33066749572753906, + -3.2549428939819336 + ], + [ + 1.1988410949707031, + 0.33066749572753906, + -4.228466987609863 + ] + ], + "center": { + "x": 1.3979625701904297, + "y": 0.45726221799850464, + "z": -3.7417049407958984 + }, + "size": { + "x": 0.3982429504394531, + "y": 0.25318944454193115, + "z": 0.9735240936279297 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Book|+03.55|+00.61|-02.73", + "object_info": { + "name": "Book_6870be45", + "position": { + "x": 3.5484557151794434, + "y": 0.6059596538543701, + "z": -2.7263917922973633 + }, + "rotation": { + "x": 0.015068678185343742, + "y": 198.4351806640625, + "z": 0.5429370999336243 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 3.668862819671631, + "objectType": "Book", + "objectId": "Book|+03.55|+00.61|-02.73", + "assetId": "Book_29", + "parentReceptacles": [ + "Bed|+04.20|+00.00|-02.48" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.6582932472229004, + 0.6229625940322876, + -2.597898483276367 + ], + [ + 3.6582932472229004, + 0.6229625940322876, + -2.854900360107422 + ], + [ + 3.6582932472229004, + 0.6051326990127563, + -2.597898483276367 + ], + [ + 3.6582932472229004, + 0.6051326990127563, + -2.854900360107422 + ], + [ + 3.4386534690856934, + 0.6229625940322876, + -2.597898483276367 + ], + [ + 3.4386534690856934, + 0.6229625940322876, + -2.854900360107422 + ], + [ + 3.4386534690856934, + 0.6051326990127563, + -2.597898483276367 + ], + [ + 3.4386534690856934, + 0.6051326990127563, + -2.854900360107422 + ] + ], + "center": { + "x": 3.548473358154297, + "y": 0.614047646522522, + "z": -2.7263994216918945 + }, + "size": { + "x": 0.21963977813720703, + "y": 0.01782989501953125, + "z": 0.2570018768310547 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.438640594482422, + 0.6054220795631409, + -2.8046531677246094 + ], + [ + 3.5892224311828613, + 0.6038720011711121, + -2.854846715927124 + ], + [ + 3.658142328262329, + 0.603916585445404, + -2.6480870246887207 + ], + [ + 3.5075607299804688, + 0.6054666638374329, + -2.597893476486206 + ], + [ + 3.4388041496276855, + 0.623199999332428, + -2.8047115802764893 + ], + [ + 3.589385986328125, + 0.6216499209403992, + -2.854905128479004 + ], + [ + 3.6583058834075928, + 0.6216945052146912, + -2.6481454372406006 + ], + [ + 3.5077242851257324, + 0.62324458360672, + -2.597951650619507 + ] + ] + } + } + }, + { + "objectId": "GarbageCan|+01.19|00.00|-01.25", + "object_info": { + "name": "GarbageCan_a62df03b", + "position": { + "x": 1.189998984336853, + "y": -0.000766456127166748, + "z": -1.2479984760284424 + }, + "rotation": { + "x": 8.559668458474334e-06, + "y": 270.0, + "z": 3.656758781289682e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.699999988079071, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": [], + "distance": 6.49772310256958, + "objectType": "GarbageCan", + "objectId": "GarbageCan|+01.19|00.00|-01.25", + "assetId": "bin_6", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.34698486328125, + 0.5461796522140503, + -1.0297644138336182 + ], + [ + 1.34698486328125, + 0.5461796522140503, + -1.4639627933502197 + ], + [ + 1.34698486328125, + 1.7881393432617188e-06, + -1.0297644138336182 + ], + [ + 1.34698486328125, + 1.7881393432617188e-06, + -1.4639627933502197 + ], + [ + 1.0308432579040527, + 0.5461796522140503, + -1.0297644138336182 + ], + [ + 1.0308432579040527, + 0.5461796522140503, + -1.4639627933502197 + ], + [ + 1.0308432579040527, + 1.7881393432617188e-06, + -1.0297644138336182 + ], + [ + 1.0308432579040527, + 1.7881393432617188e-06, + -1.4639627933502197 + ] + ], + "center": { + "x": 1.1889140605926514, + "y": 0.2730907201766968, + "z": -1.246863603591919 + }, + "size": { + "x": 0.31614160537719727, + "y": 0.546177864074707, + "z": 0.43419837951660156 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.0308423042297363, + 1.4272518455982208e-07, + -1.02976393699646 + ], + [ + 1.0308443307876587, + -3.763125278055668e-07, + -1.4639636278152466 + ], + [ + 1.3469858169555664, + -5.559995770454407e-07, + -1.4639620780944824 + ], + [ + 1.346983790397644, + -3.6961864680051804e-08, + -1.0297625064849854 + ], + [ + 1.030842661857605, + 0.5461806058883667, + -1.0297646522521973 + ], + [ + 1.0308446884155273, + 0.5461801290512085, + -1.4639642238616943 + ], + [ + 1.3469860553741455, + 0.546180009841919, + -1.4639627933502197 + ], + [ + 1.3469841480255127, + 0.5461804866790771, + -1.0297632217407227 + ] + ] + } + } + }, + { + "objectId": "Drawer|+01.60|+00.72|-03.74", + "object_info": { + "name": "Drawer_5fba8e44", + "position": { + "x": 1.5954573154449463, + "y": 0.7242533564567566, + "z": -3.7429351806640625 + }, + "rotation": { + "x": 0.00015370563778560609, + "y": 89.9996109008789, + "z": 1.0044567488876055e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.248832702636719, + "objectType": "Drawer", + "objectId": "Drawer|+01.60|+00.72|-03.74", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.5970840454101562, + 0.8501160144805908, + -3.2549424171447754 + ], + [ + 1.5970840454101562, + 0.8501160144805908, + -4.228466510772705 + ], + [ + 1.5970840454101562, + 0.5969264507293701, + -3.2549424171447754 + ], + [ + 1.5970840454101562, + 0.5969264507293701, + -4.228466510772705 + ], + [ + 1.1988410949707031, + 0.8501160144805908, + -3.2549424171447754 + ], + [ + 1.1988410949707031, + 0.8501160144805908, + -4.228466510772705 + ], + [ + 1.1988410949707031, + 0.5969264507293701, + -3.2549424171447754 + ], + [ + 1.1988410949707031, + 0.5969264507293701, + -4.228466510772705 + ] + ], + "center": { + "x": 1.3979625701904297, + "y": 0.7235212326049805, + "z": -3.7417044639587402 + }, + "size": { + "x": 0.3982429504394531, + "y": 0.2531895637512207, + "z": 0.9735240936279297 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "BasketBall|+01.13|+00.12|-03.11", + "object_info": { + "name": "BasketBall_d8465c55", + "position": { + "x": 1.132291316986084, + "y": 0.12000007182359695, + "z": -3.1080000400543213 + }, + "rotation": { + "x": -1.1485131778954383e-07, + "y": 1.5992126733976875e-08, + "z": 358.54498291015625 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6000000238418579, + "salientMaterials": [ + "Rubber" + ], + "receptacleObjectIds": null, + "distance": 5.865334510803223, + "objectType": "BasketBall", + "objectId": "BasketBall|+01.13|+00.12|-03.11", + "assetId": "Basketball_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.2522913217544556, + 0.24000009894371033, + -2.98799991607666 + ], + [ + 1.2522913217544556, + 0.24000009894371033, + -3.2280001640319824 + ], + [ + 1.2522913217544556, + 7.450580596923828e-08, + -2.98799991607666 + ], + [ + 1.2522913217544556, + 7.450580596923828e-08, + -3.2280001640319824 + ], + [ + 1.0122913122177124, + 0.24000009894371033, + -2.98799991607666 + ], + [ + 1.0122913122177124, + 0.24000009894371033, + -3.2280001640319824 + ], + [ + 1.0122913122177124, + 7.450580596923828e-08, + -2.98799991607666 + ], + [ + 1.0122913122177124, + 7.450580596923828e-08, + -3.2280001640319824 + ] + ], + "center": { + "x": 1.132291316986084, + "y": 0.12000008672475815, + "z": -3.1080000400543213 + }, + "size": { + "x": 0.24000000953674316, + "y": 0.24000002443790436, + "z": 0.24000024795532227 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.2492055892944336, + -0.003008246421813965, + -2.9880001544952393 + ], + [ + 1.0092829465866089, + 0.003085806965827942, + -2.9880001544952393 + ], + [ + 1.0092829465866089, + 0.003085806965827942, + -3.2279999256134033 + ], + [ + 1.2492055892944336, + -0.003008246421813965, + -3.2279999256134033 + ], + [ + 1.255299687385559, + 0.23691436648368835, + -2.9880001544952393 + ], + [ + 1.0153770446777344, + 0.24300841987133026, + -2.9880001544952393 + ], + [ + 1.0153770446777344, + 0.24300841987133026, + -3.2279999256134033 + ], + [ + 1.255299687385559, + 0.23691436648368835, + -3.2279999256134033 + ] + ] + } + } + }, + { + "objectId": "Drawer|+01.60|+00.20|-03.74", + "object_info": { + "name": "Drawer_71a70519", + "position": { + "x": 1.5954558849334717, + "y": 0.19802071154117584, + "z": -3.7429351806640625 + }, + "rotation": { + "x": 0.00015370563778560609, + "y": 89.9996109008789, + "z": 1.0044567488876055e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.292748928070068, + "objectType": "Drawer", + "objectId": "Drawer|+01.60|+00.20|-03.74", + "assetId": "", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.5970838069915771, + 0.3238832354545593, + -3.254943370819092 + ], + [ + 1.5970838069915771, + 0.3238832354545593, + -4.2284674644470215 + ], + [ + 1.5970838069915771, + 0.07069379091262817, + -3.254943370819092 + ], + [ + 1.5970838069915771, + 0.07069379091262817, + -4.2284674644470215 + ], + [ + 1.198840856552124, + 0.3238832354545593, + -3.254943370819092 + ], + [ + 1.198840856552124, + 0.3238832354545593, + -4.2284674644470215 + ], + [ + 1.198840856552124, + 0.07069379091262817, + -3.254943370819092 + ], + [ + 1.198840856552124, + 0.07069379091262817, + -4.2284674644470215 + ] + ], + "center": { + "x": 1.3979623317718506, + "y": 0.19728851318359375, + "z": -3.7417054176330566 + }, + "size": { + "x": 0.3982429504394531, + "y": 0.25318944454193115, + "z": 0.9735240936279297 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 5.600000381469727, + "y": 0.9009992480278015, + "z": -4.200000286102295 + }, + "agent_rotation": { + "x": -0.0, + "y": 250.0, + "z": 0.0 + }, + "agent_cameraHorizon": 0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 5.600000381469727, + "y": 1.5759992599487305, + "z": -4.200000286102295 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Book|+03.55|+00.61|-02.73", + "Bed|+04.20|+00.00|-02.48", + "Drawer|+03.52|+00.27|-02.89" + ], + "different_object": [ + "Drawer|+01.60|+00.97|-03.41", + "Box|+01.39|+00.11|-04.49", + "Drawer|+01.60|+00.97|-04.07", + "BaseballBat|+03.04|+00.04|-02.30", + "Painting|+02.45|+01.51|-04.90", + "Drawer|+01.60|+00.97|-03.74", + "GarbageCan|+01.19|00.00|-01.25", + "Drawer|+01.60|+00.20|-03.74", + "BasketBall|+01.13|+00.12|-03.11", + "Drawer|+01.60|+00.72|-03.74", + "Television|+01.36|+01.61|-03.67", + "Drawer|+01.60|+00.46|-03.74", + "Dresser|+01.33|+00.00|-03.74" + ] +} \ No newline at end of file diff --git a/train/FloorPlan_Train2_1/14/1_semantic_sensor_npy.npy b/train/FloorPlan_Train2_1/14/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..144204367b703cb24f83711fa9f14337175d8597 --- /dev/null +++ b/train/FloorPlan_Train2_1/14/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6d0e86ca2afbcbf728232cdb0218d0228a1518675b5e3744e52bf335ff41b87b +size 2359424 diff --git a/train/FloorPlan_Train2_1/14/depth_1.png b/train/FloorPlan_Train2_1/14/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..a5c9727da3239bf71851977ef147710043dc0036 Binary files /dev/null and b/train/FloorPlan_Train2_1/14/depth_1.png differ diff --git a/train/FloorPlan_Train2_1/14/rgb_1.png b/train/FloorPlan_Train2_1/14/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..a3133cf7a43839681a20da4d8a3814b3faa4329e --- /dev/null +++ b/train/FloorPlan_Train2_1/14/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3bc0c9e4437e1a7e3089649787ebe7f07c2269dfc3683d64aa6f9669bd6c5a8f +size 997923 diff --git a/train/FloorPlan_Train2_1/14/rgb_1_mask_Drawer|+03.52|+00.27|-02.89.png b/train/FloorPlan_Train2_1/14/rgb_1_mask_Drawer|+03.52|+00.27|-02.89.png new file mode 100644 index 0000000000000000000000000000000000000000..d2691ad18ec1e26c6c4fdf8fd420e5c1a7e49bde --- /dev/null +++ b/train/FloorPlan_Train2_1/14/rgb_1_mask_Drawer|+03.52|+00.27|-02.89.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1edfc2e2752c0103a938b88ea2fff98ccd35f5e701bd47619710f802ca0d9a0d +size 870249 diff --git a/train/FloorPlan_Train2_1/14/semantic_1.png b/train/FloorPlan_Train2_1/14/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..b276b6bc14a643a77d0682b414b839be0ac5e386 Binary files /dev/null and b/train/FloorPlan_Train2_1/14/semantic_1.png differ diff --git a/train/FloorPlan_Train2_1/16/0.json b/train/FloorPlan_Train2_1/16/0.json new file mode 100644 index 0000000000000000000000000000000000000000..508967c7634b46e83757969946cec7120f594d8c --- /dev/null +++ b/train/FloorPlan_Train2_1/16/0.json @@ -0,0 +1,1994 @@ +{ + "object": [ + { + "objectId": "Painting|+02.45|+01.51|-04.90", + "object_info": { + "name": "Painting_09596355", + "position": { + "x": 2.4509999752044678, + "y": 1.5110000371932983, + "z": -4.900000095367432 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.419943809509277, + "objectType": "Painting", + "objectId": "Painting|+02.45|+01.51|-04.90", + "assetId": "Wall_Decor_Painting_9", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.68054461479187, + 1.8154038190841675, + -4.881979942321777 + ], + [ + 2.68054461479187, + 1.8154038190841675, + -4.901129722595215 + ], + [ + 2.68054461479187, + 1.207502007484436, + -4.881979942321777 + ], + [ + 2.68054461479187, + 1.207502007484436, + -4.901129722595215 + ], + [ + 2.2227418422698975, + 1.8154038190841675, + -4.881979942321777 + ], + [ + 2.2227418422698975, + 1.8154038190841675, + -4.901129722595215 + ], + [ + 2.2227418422698975, + 1.207502007484436, + -4.881979942321777 + ], + [ + 2.2227418422698975, + 1.207502007484436, + -4.901129722595215 + ] + ], + "center": { + "x": 2.451643228530884, + "y": 1.5114529132843018, + "z": -4.891554832458496 + }, + "size": { + "x": 0.45780277252197266, + "y": 0.6079018115997314, + "z": 0.0191497802734375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "SideTable|+06.47|+00.00|-03.69", + "object_info": { + "name": "SideTable_2df44ab5", + "position": { + "x": 6.466010093688965, + "y": 0.00013768672943115234, + "z": -3.6909873485565186 + }, + "rotation": { + "x": -0.004015342332422733, + "y": -0.003075978485867381, + "z": 0.0016435937723144889 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood", + "Metal" + ], + "receptacleObjectIds": [ + "Vase|+06.77|+00.87|-03.71", + "DeskLamp|+06.39|+00.87|-03.66" + ], + "distance": 1.1940686702728271, + "objectType": "SideTable", + "objectId": "SideTable|+06.47|+00.00|-03.69", + "assetId": "Side_Table_203_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.882079601287842, + 0.8681554794311523, + -3.5028586387634277 + ], + [ + 6.882079601287842, + 0.8681554794311523, + -3.8313851356506348 + ], + [ + 6.882079601287842, + -5.745887756347656e-05, + -3.5028586387634277 + ], + [ + 6.882079601287842, + -5.745887756347656e-05, + -3.8313851356506348 + ], + [ + 6.0500874519348145, + 0.8681554794311523, + -3.5028586387634277 + ], + [ + 6.0500874519348145, + 0.8681554794311523, + -3.8313851356506348 + ], + [ + 6.0500874519348145, + -5.745887756347656e-05, + -3.5028586387634277 + ], + [ + 6.0500874519348145, + -5.745887756347656e-05, + -3.8313851356506348 + ] + ], + "center": { + "x": 6.466083526611328, + "y": 0.43404901027679443, + "z": -3.6671218872070312 + }, + "size": { + "x": 0.8319921493530273, + "y": 0.8682129383087158, + "z": 0.32852649688720703 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.881996154785156, + -6.461862358264625e-05, + -3.502998113632202 + ], + [ + 6.050024509429932, + 1.1488154996186495e-05, + -3.503020763397217 + ], + [ + 6.050033092498779, + 6.446972111007199e-05, + -3.831505298614502 + ], + [ + 6.882005214691162, + -1.1637064744718373e-05, + -3.8314828872680664 + ], + [ + 6.882075786590576, + 0.8680289387702942, + -3.5028581619262695 + ], + [ + 6.050103664398193, + 0.8681049942970276, + -3.502880573272705 + ], + [ + 6.050112724304199, + 0.8681579828262329, + -3.8313653469085693 + ], + [ + 6.882084846496582, + 0.8680819272994995, + -3.8313426971435547 + ] + ] + } + } + }, + { + "objectId": "Painting|+05.31|+01.39|-02.93", + "object_info": { + "name": "Painting_7febd46c", + "position": { + "x": 5.309000015258789, + "y": 1.3880000114440918, + "z": -2.927999973297119 + }, + "rotation": { + "x": -0.0, + "y": 90.00004577636719, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 2.151054620742798, + "objectType": "Painting", + "objectId": "Painting|+05.31|+01.39|-02.93", + "assetId": "Wall_Decor_Photo_9", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.34074592590332, + 1.7214298248291016, + -2.4931507110595703 + ], + [ + 5.34074592590332, + 1.7214298248291016, + -3.362849235534668 + ], + [ + 5.34074592590332, + 1.054570198059082, + -2.4931507110595703 + ], + [ + 5.34074592590332, + 1.054570198059082, + -3.362849235534668 + ], + [ + 5.309003829956055, + 1.7214298248291016, + -2.4931507110595703 + ], + [ + 5.309003829956055, + 1.7214298248291016, + -3.362849235534668 + ], + [ + 5.309003829956055, + 1.054570198059082, + -2.4931507110595703 + ], + [ + 5.309003829956055, + 1.054570198059082, + -3.362849235534668 + ] + ], + "center": { + "x": 5.3248748779296875, + "y": 1.3880000114440918, + "z": -2.927999973297119 + }, + "size": { + "x": 0.031742095947265625, + "y": 0.6668596267700195, + "z": 0.8696985244750977 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Vase|+06.77|+00.87|-03.71", + "object_info": { + "name": "Vase_99dbbb3a", + "position": { + "x": 6.772005081176758, + "y": 0.8679529428482056, + "z": -3.7060115337371826 + }, + "rotation": { + "x": 359.9793395996094, + "y": 359.9937744140625, + "z": 0.025856152176856995 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": null, + "distance": 0.6953387260437012, + "objectType": "Vase", + "objectId": "Vase|+06.77|+00.87|-03.71", + "assetId": "Vase_Medium_1", + "parentReceptacles": [ + "SideTable|+06.47|+00.00|-03.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.863138198852539, + 1.0566655397415161, + -3.6148734092712402 + ], + [ + 6.863138198852539, + 1.0566655397415161, + -3.7972025871276855 + ], + [ + 6.863138198852539, + 0.8681448698043823, + -3.6148734092712402 + ], + [ + 6.863138198852539, + 0.8681448698043823, + -3.7972025871276855 + ], + [ + 6.680805206298828, + 1.0566655397415161, + -3.6148734092712402 + ], + [ + 6.680805206298828, + 1.0566655397415161, + -3.7972025871276855 + ], + [ + 6.680805206298828, + 0.8681448698043823, + -3.6148734092712402 + ], + [ + 6.680805206298828, + 0.8681448698043823, + -3.7972025871276855 + ] + ], + "center": { + "x": 6.771971702575684, + "y": 0.9624052047729492, + "z": -3.706037998199463 + }, + "size": { + "x": 0.18233299255371094, + "y": 0.1885206699371338, + "z": 0.1823291778564453 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.86315393447876, + 0.8682498931884766, + -3.6148459911346436 + ], + [ + 6.680842876434326, + 0.8681676387786865, + -3.614865779876709 + ], + [ + 6.6808624267578125, + 0.868101954460144, + -3.797175168991089 + ], + [ + 6.863173484802246, + 0.8681842088699341, + -3.7971553802490234 + ], + [ + 6.8630690574646, + 1.0567350387573242, + -3.6149139404296875 + ], + [ + 6.680757522583008, + 1.0566527843475342, + -3.614933729171753 + ], + [ + 6.680777549743652, + 1.0565869808197021, + -3.797243118286133 + ], + [ + 6.863088607788086, + 1.0566693544387817, + -3.7972230911254883 + ] + ] + } + } + }, + { + "objectId": "SideTable|+05.04|00.00|-03.57", + "object_info": { + "name": "SideTable_6c9d863d", + "position": { + "x": 5.043000221252441, + "y": -0.0020266175270080566, + "z": -3.5730109214782715 + }, + "rotation": { + "x": -7.843902130844072e-05, + "y": 270.0002136230469, + "z": -7.731795631116256e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "AlarmClock|+05.08|+00.56|-03.47", + "Bottle|+04.96|+00.56|-03.42", + "Apple|+05.02|+00.63|-03.62" + ], + "distance": 2.141591787338257, + "objectType": "SideTable", + "objectId": "SideTable|+05.04|00.00|-03.57", + "assetId": "Side_Table_317_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.2345428466796875, + 0.559944212436676, + -3.3559184074401855 + ], + [ + 5.2345428466796875, + 0.559944212436676, + -3.7874083518981934 + ], + [ + 5.2345428466796875, + 1.430511474609375e-06, + -3.3559184074401855 + ], + [ + 5.2345428466796875, + 1.430511474609375e-06, + -3.7874083518981934 + ], + [ + 4.868200302124023, + 0.559944212436676, + -3.3559184074401855 + ], + [ + 4.868200302124023, + 0.559944212436676, + -3.7874083518981934 + ], + [ + 4.868200302124023, + 1.430511474609375e-06, + -3.3559184074401855 + ], + [ + 4.868200302124023, + 1.430511474609375e-06, + -3.7874083518981934 + ] + ], + "center": { + "x": 5.0513715744018555, + "y": 0.2799728214740753, + "z": -3.5716633796691895 + }, + "size": { + "x": 0.36634254455566406, + "y": 0.5599427819252014, + "z": 0.4314899444580078 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.86820125579834, + 9.404029697179794e-07, + -3.355919122695923 + ], + [ + 4.86820125579834, + 1.3245735317468643e-06, + -3.7874088287353516 + ], + [ + 5.234543800354004, + 1.3844110071659088e-06, + -3.7874090671539307 + ], + [ + 5.234543800354004, + 1.000240445137024e-06, + -3.355919122695923 + ], + [ + 4.86820125579834, + 0.5599435567855835, + -3.3559184074401855 + ], + [ + 4.86820125579834, + 0.5599439144134521, + -3.7874083518981934 + ], + [ + 5.234543800354004, + 0.5599439144134521, + -3.7874083518981934 + ], + [ + 5.234543800354004, + 0.5599435567855835, + -3.3559186458587646 + ] + ] + } + } + }, + { + "objectId": "Bed|+04.20|+00.00|-02.48", + "object_info": { + "name": "Bed_25b79cf7", + "position": { + "x": 4.198010444641113, + "y": 1.7851591110229492e-05, + "z": -2.475999355316162 + }, + "rotation": { + "x": -2.0317773305578157e-05, + "y": 89.9989013671875, + "z": -3.827755426755175e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Fabric", + "Wood" + ], + "receptacleObjectIds": [ + "Laptop|+04.80|+00.61|-02.45", + "RemoteControl|+04.48|+00.61|-02.54", + "Pillow|+03.51|+00.67|-02.33", + "Book|+03.55|+00.61|-02.73" + ], + "distance": 3.3591511249542236, + "objectType": "Bed", + "objectId": "Bed|+04.20|+00.00|-02.48", + "assetId": "RoboTHOR_hemnes_day_bed", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.251813888549805, + 0.8731186389923096, + -2.030113697052002 + ], + [ + 5.251813888549805, + 0.8731186389923096, + -2.894226551055908 + ], + [ + 5.251813888549805, + 8.106231689453125e-06, + -2.030113697052002 + ], + [ + 5.251813888549805, + 8.106231689453125e-06, + -2.894226551055908 + ], + [ + 3.1434707641601562, + 0.8731186389923096, + -2.030113697052002 + ], + [ + 3.1434707641601562, + 0.8731186389923096, + -2.894226551055908 + ], + [ + 3.1434707641601562, + 8.106231689453125e-06, + -2.030113697052002 + ], + [ + 3.1434707641601562, + 8.106231689453125e-06, + -2.894226551055908 + ] + ], + "center": { + "x": 4.1976423263549805, + "y": 0.4365633726119995, + "z": -2.462170124053955 + }, + "size": { + "x": 2.1083431243896484, + "y": 0.8731105327606201, + "z": 0.8641128540039062 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.251824378967285, + 1.5431556676048785e-05, + -2.894209861755371 + ], + [ + 5.251810550689697, + 1.4201650628820062e-05, + -2.0301241874694824 + ], + [ + 3.143462657928467, + 1.4450725757342298e-05, + -2.0301570892333984 + ], + [ + 3.1434762477874756, + 1.568063089507632e-05, + -2.894242763519287 + ], + [ + 5.251824378967285, + 0.8731319308280945, + -2.8942086696624756 + ], + [ + 5.2518110275268555, + 0.8731306791305542, + -2.030122756958008 + ], + [ + 3.143462896347046, + 0.8731309175491333, + -2.030155658721924 + ], + [ + 3.1434762477874756, + 0.8731321692466736, + -2.8942413330078125 + ] + ] + } + } + }, + { + "objectId": "Box|+01.39|+00.11|-04.49", + "object_info": { + "name": "Box_587ff275", + "position": { + "x": 1.3940037488937378, + "y": 0.1121293157339096, + "z": -4.4939751625061035 + }, + "rotation": { + "x": 0.015100929886102676, + "y": 345.2352294921875, + "z": -0.001479225349612534 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.30000001192092896, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": [], + "distance": 5.464059352874756, + "objectType": "Box", + "objectId": "Box|+01.39|+00.11|-04.49", + "assetId": "Box_8", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.7270004749298096, + 0.1818174123764038, + -4.29286003112793 + ], + [ + 1.7270004749298096, + 0.1818174123764038, + -4.8827104568481445 + ], + [ + 1.7270004749298096, + -1.0073184967041016e-05, + -4.29286003112793 + ], + [ + 1.7270004749298096, + -1.0073184967041016e-05, + -4.8827104568481445 + ], + [ + 1.1087775230407715, + 0.1818174123764038, + -4.29286003112793 + ], + [ + 1.1087775230407715, + 0.1818174123764038, + -4.8827104568481445 + ], + [ + 1.1087775230407715, + -1.0073184967041016e-05, + -4.29286003112793 + ], + [ + 1.1087775230407715, + -1.0073184967041016e-05, + -4.8827104568481445 + ] + ], + "center": { + "x": 1.4178889989852905, + "y": 0.09090366959571838, + "z": -4.587785243988037 + }, + "size": { + "x": 0.6182229518890381, + "y": 0.18182748556137085, + "z": 0.5898504257202148 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.6281177997589111, + -9.620934724807739e-05, + -4.2637553215026855 + ], + [ + 1.0744246244430542, + -8.997321128845215e-05, + -4.4096832275390625 + ], + [ + 1.2067124843597412, + 2.3767352104187012e-05, + -4.911621570587158 + ], + [ + 1.7604056596755981, + 1.7531216144561768e-05, + -4.765693664550781 + ], + [ + 1.6281095743179321, + 0.18169957399368286, + -4.263716220855713 + ], + [ + 1.0744163990020752, + 0.1817058026790619, + -4.40964412689209 + ], + [ + 1.2067042589187622, + 0.18181952834129333, + -4.9115824699401855 + ], + [ + 1.7603974342346191, + 0.1818132996559143, + -4.765654563903809 + ] + ] + } + } + }, + { + "objectId": "HousePlant|+07.58|+00.71|-01.44", + "object_info": { + "name": "HousePlant_bfb7e560", + "position": { + "x": 7.5790252685546875, + "y": 0.7096959352493286, + "z": -1.4379713535308838 + }, + "rotation": { + "x": 0.03819238394498825, + "y": 0.015012485906481743, + "z": 359.8695983886719 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.0, + "salientMaterials": [ + "Ceramic", + "Organic" + ], + "receptacleObjectIds": null, + "distance": 3.068727970123291, + "objectType": "HousePlant", + "objectId": "HousePlant|+07.58|+00.71|-01.44", + "assetId": "Houseplant_6", + "parentReceptacles": [ + "DiningTable|+07.83|+00.00|-01.39" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.909245491027832, + 1.6920905113220215, + -1.0653295516967773 + ], + [ + 7.909245491027832, + 1.6920905113220215, + -1.6396684646606445 + ], + [ + 7.909245491027832, + 0.7073407173156738, + -1.0653295516967773 + ], + [ + 7.909245491027832, + 0.7073407173156738, + -1.6396684646606445 + ], + [ + 7.314090728759766, + 1.6920905113220215, + -1.0653295516967773 + ], + [ + 7.314090728759766, + 1.6920905113220215, + -1.6396684646606445 + ], + [ + 7.314090728759766, + 0.7073407173156738, + -1.0653295516967773 + ], + [ + 7.314090728759766, + 0.7073407173156738, + -1.6396684646606445 + ] + ], + "center": { + "x": 7.611668109893799, + "y": 1.1997156143188477, + "z": -1.352499008178711 + }, + "size": { + "x": 0.5951547622680664, + "y": 0.9847497940063477, + "z": 0.5743389129638672 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.907116889953613, + 0.7065669298171997, + -1.0660592317581177 + ], + [ + 7.3121185302734375, + 0.707921028137207, + -1.0659024715423584 + ], + [ + 7.3119683265686035, + 0.7083036303520203, + -1.6399024724960327 + ], + [ + 7.906966686248779, + 0.7069495320320129, + -1.6400593519210815 + ], + [ + 7.909359455108643, + 1.6916987895965576, + -1.0654032230377197 + ], + [ + 7.314360618591309, + 1.693052887916565, + -1.065246343612671 + ], + [ + 7.314210414886475, + 1.693435549736023, + -1.6392464637756348 + ], + [ + 7.90920877456665, + 1.6920814514160156, + -1.639403223991394 + ] + ] + } + } + }, + { + "objectId": "ArmChair|+05.67|+00.00|-03.34", + "object_info": { + "name": "ArmChair_976b4464", + "position": { + "x": 5.674000263214111, + "y": 0.0003311336040496826, + "z": -3.3376054763793945 + }, + "rotation": { + "x": 0.0722069963812828, + "y": 0.007394183427095413, + "z": 359.99407958984375 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Fabric", + "Wood" + ], + "receptacleObjectIds": [], + "distance": 1.7910224199295044, + "objectType": "ArmChair", + "objectId": "ArmChair|+05.67|+00.00|-03.34", + "assetId": "RoboTHOR_armchair_emmabo", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.9838457107543945, + 0.7615068554878235, + -2.80964994430542 + ], + [ + 5.9838457107543945, + 0.7615068554878235, + -3.8527841567993164 + ], + [ + 5.9838457107543945, + -1.0251998901367188e-05, + -2.80964994430542 + ], + [ + 5.9838457107543945, + -1.0251998901367188e-05, + -3.8527841567993164 + ], + [ + 5.3649091720581055, + 0.7615068554878235, + -2.80964994430542 + ], + [ + 5.3649091720581055, + 0.7615068554878235, + -3.8527841567993164 + ], + [ + 5.3649091720581055, + -1.0251998901367188e-05, + -2.80964994430542 + ], + [ + 5.3649091720581055, + -1.0251998901367188e-05, + -3.8527841567993164 + ] + ], + "center": { + "x": 5.67437744140625, + "y": 0.38074830174446106, + "z": -3.331217050552368 + }, + "size": { + "x": 0.6189365386962891, + "y": 0.7615171074867249, + "z": 1.0431342124938965 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.983843803405762, + -0.000647825188934803, + -2.809797763824463 + ], + [ + 5.364981651306152, + -0.0006348271272145212, + -2.8097238540649414 + ], + [ + 5.364856719970703, + 0.0003689778968691826, + -3.8532891273498535 + ], + [ + 5.983719348907471, + 0.0003559798642527312, + -3.853363037109375 + ], + [ + 5.983860015869141, + 0.7606476545333862, + -2.809065580368042 + ], + [ + 5.364997863769531, + 0.7606606483459473, + -2.8089914321899414 + ], + [ + 5.364872932434082, + 0.7616645097732544, + -3.8525569438934326 + ], + [ + 5.98373556137085, + 0.7616515159606934, + -3.852630853652954 + ] + ] + } + } + }, + { + "objectId": "Candle|+07.43|+00.71|-01.60", + "object_info": { + "name": "Candle_8af0ad5f", + "position": { + "x": 7.432028770446777, + "y": 0.7078344821929932, + "z": -1.6019963026046753 + }, + "rotation": { + "x": 0.08512066304683685, + "y": 359.92169189453125, + "z": 0.25131356716156006 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.20000000298023224, + "salientMaterials": [ + "Wax" + ], + "receptacleObjectIds": null, + "distance": 2.874995231628418, + "objectType": "Candle", + "objectId": "Candle|+07.43|+00.71|-01.60", + "assetId": "Candle_6", + "parentReceptacles": [ + "DiningTable|+07.83|+00.00|-01.39" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.45319938659668, + 0.8752651214599609, + -1.5808188915252686 + ], + [ + 7.45319938659668, + 0.8752651214599609, + -1.623166561126709 + ], + [ + 7.45319938659668, + 0.7073695659637451, + -1.5808188915252686 + ], + [ + 7.45319938659668, + 0.7073695659637451, + -1.623166561126709 + ], + [ + 7.410835266113281, + 0.8752651214599609, + -1.5808188915252686 + ], + [ + 7.410835266113281, + 0.8752651214599609, + -1.623166561126709 + ], + [ + 7.410835266113281, + 0.7073695659637451, + -1.5808188915252686 + ], + [ + 7.410835266113281, + 0.7073695659637451, + -1.623166561126709 + ] + ], + "center": { + "x": 7.4320173263549805, + "y": 0.791317343711853, + "z": -1.6019927263259888 + }, + "size": { + "x": 0.04236412048339844, + "y": 0.16789555549621582, + "z": 0.04234766960144043 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.453159332275391, + 0.707535982131958, + -1.5808095932006836 + ], + [ + 7.410843372344971, + 0.7073503732681274, + -1.5808676481246948 + ], + [ + 7.410901069641113, + 0.7074132561683655, + -1.623184084892273 + ], + [ + 7.453217506408691, + 0.707598865032196, + -1.6231260299682617 + ], + [ + 7.452423095703125, + 0.8753263354301453, + -1.5805612802505493 + ], + [ + 7.410107135772705, + 0.8751407265663147, + -1.5806193351745605 + ], + [ + 7.410164833068848, + 0.8752036094665527, + -1.6229358911514282 + ], + [ + 7.452480792999268, + 0.8753892183303833, + -1.6228777170181274 + ] + ] + } + } + }, + { + "objectId": "DiningTable|+07.83|+00.00|-01.39", + "object_info": { + "name": "DiningTable_dc49cc20", + "position": { + "x": 7.825000286102295, + "y": 0.0010403990745544434, + "z": -1.3949894905090332 + }, + "rotation": { + "x": 0.0002652406401466578, + "y": -0.0027117880526930094, + "z": -0.0033904900774359703 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Bowl|+08.12|+00.71|-01.45", + "Mug|+07.90|+00.71|-01.27", + "HousePlant|+07.58|+00.71|-01.44", + "Pencil|+07.39|+00.71|-01.21", + "Candle|+07.43|+00.71|-01.60" + ], + "distance": 3.3000969886779785, + "objectType": "DiningTable", + "objectId": "DiningTable|+07.83|+00.00|-01.39", + "assetId": "RoboTHOR_dining_table_mella", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.39240550994873, + 0.7075797915458679, + -1.0263848304748535 + ], + [ + 8.39240550994873, + 0.7075797915458679, + -1.7605247497558594 + ], + [ + 8.39240550994873, + -0.00016772747039794922, + -1.0263848304748535 + ], + [ + 8.39240550994873, + -0.00016772747039794922, + -1.7605247497558594 + ], + [ + 7.252649307250977, + 0.7075797915458679, + -1.0263848304748535 + ], + [ + 7.252649307250977, + 0.7075797915458679, + -1.7605247497558594 + ], + [ + 7.252649307250977, + -0.00016772747039794922, + -1.0263848304748535 + ], + [ + 7.252649307250977, + -0.00016772747039794922, + -1.7605247497558594 + ] + ], + "center": { + "x": 7.8225274085998535, + "y": 0.353706032037735, + "z": -1.3934547901153564 + }, + "size": { + "x": 1.139756202697754, + "y": 0.7077475190162659, + "z": 0.7341399192810059 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 8.392498970031738, + 5.7183788157999516e-05, + -1.026352047920227 + ], + [ + 7.252767562866211, + -0.00013725482858717442, + -1.0263869762420654 + ], + [ + 7.252790451049805, + -0.00017180363647639751, + -1.760493278503418 + ], + [ + 8.392520904541016, + 2.2634980268776417e-05, + -1.76045823097229 + ], + [ + 8.392377853393555, + 0.7075800895690918, + -1.0263853073120117 + ], + [ + 7.2526469230651855, + 0.7073856592178345, + -1.0264203548431396 + ], + [ + 7.252669334411621, + 0.7073510885238647, + -1.7605266571044922 + ], + [ + 8.392400741577148, + 0.7075455188751221, + -1.7604916095733643 + ] + ] + } + } + }, + { + "objectId": "SprayBottle|+05.14|00.00|-03.84", + "object_info": { + "name": "SprayBottle_a9754c67", + "position": { + "x": 5.1370015144348145, + "y": -0.0005081817507743835, + "z": -3.844012975692749 + }, + "rotation": { + "x": 0.0034503545612096786, + "y": 269.99951171875, + "z": 0.03528226166963577 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.10999999940395355, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 1.9716495275497437, + "objectType": "SprayBottle", + "objectId": "SprayBottle|+05.14|00.00|-03.84", + "assetId": "Spray_Bottle_6", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.189345836639404, + 0.2455020546913147, + -3.8275833129882812 + ], + [ + 5.189345836639404, + 0.2455020546913147, + -3.8604817390441895 + ], + [ + 5.189345836639404, + -1.8402934074401855e-06, + -3.8275833129882812 + ], + [ + 5.189345836639404, + -1.8402934074401855e-06, + -3.8604817390441895 + ], + [ + 5.07687520980835, + 0.2455020546913147, + -3.8275833129882812 + ], + [ + 5.07687520980835, + 0.2455020546913147, + -3.8604817390441895 + ], + [ + 5.07687520980835, + -1.8402934074401855e-06, + -3.8275833129882812 + ], + [ + 5.07687520980835, + -1.8402934074401855e-06, + -3.8604817390441895 + ] + ], + "center": { + "x": 5.133110523223877, + "y": 0.12275011092424393, + "z": -3.8440325260162354 + }, + "size": { + "x": 0.11247062683105469, + "y": 0.24550390243530273, + "z": 0.0328984260559082 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.076879978179932, + 5.427864380180836e-06, + -3.8275833129882812 + ], + [ + 5.076879978179932, + -1.732143573462963e-06, + -3.860438108444214 + ], + [ + 5.1893463134765625, + 2.53249891102314e-06, + -3.860438108444214 + ], + [ + 5.1893463134765625, + 9.692506864666939e-06, + -3.8275833129882812 + ], + [ + 5.076870918273926, + 0.24550381302833557, + -3.827636957168579 + ], + [ + 5.076870918273926, + 0.24549666047096252, + -3.8604915142059326 + ], + [ + 5.189337253570557, + 0.24550092220306396, + -3.8604915142059326 + ], + [ + 5.189337253570557, + 0.245508074760437, + -3.827636957168579 + ] + ] + } + } + }, + { + "objectId": "DeskLamp|+06.39|+00.87|-03.66", + "object_info": { + "name": "DeskLamp_8c749135", + "position": { + "x": 6.387031078338623, + "y": 0.8698490858078003, + "z": -3.6581075191497803 + }, + "rotation": { + "x": 0.0008739690529182553, + "y": -0.0008148688939400017, + "z": 0.005746519658714533 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": true, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 2.059999942779541, + "salientMaterials": [ + "Metal", + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 0.8496578335762024, + "objectType": "DeskLamp", + "objectId": "DeskLamp|+06.39|+00.87|-03.66", + "assetId": "Desk_Lamp_6", + "parentReceptacles": [ + "SideTable|+06.47|+00.00|-03.69" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.631433486938477, + 1.6862597465515137, + -3.4141998291015625 + ], + [ + 6.631433486938477, + 1.6862597465515137, + -3.9021968841552734 + ], + [ + 6.631433486938477, + 0.8681352138519287, + -3.4141998291015625 + ], + [ + 6.631433486938477, + 0.8681352138519287, + -3.9021968841552734 + ], + [ + 6.143403053283691, + 1.6862597465515137, + -3.4141998291015625 + ], + [ + 6.143403053283691, + 1.6862597465515137, + -3.9021968841552734 + ], + [ + 6.143403053283691, + 0.8681352138519287, + -3.4141998291015625 + ], + [ + 6.143403053283691, + 0.8681352138519287, + -3.9021968841552734 + ] + ], + "center": { + "x": 6.387418270111084, + "y": 1.2771974802017212, + "z": -3.658198356628418 + }, + "size": { + "x": 0.48803043365478516, + "y": 0.818124532699585, + "z": 0.48799705505371094 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.631494045257568, + 0.8681418895721436, + -3.414189577102661 + ], + [ + 6.143481731414795, + 0.868092954158783, + -3.414196491241455 + ], + [ + 6.143488883972168, + 0.8681004047393799, + -3.902202606201172 + ], + [ + 6.631500720977783, + 0.8681493401527405, + -3.902195692062378 + ], + [ + 6.631412029266357, + 1.6862690448760986, + -3.414177179336548 + ], + [ + 6.143399715423584, + 1.6862201690673828, + -3.414184093475342 + ], + [ + 6.143406867980957, + 1.686227560043335, + -3.9021899700164795 + ], + [ + 6.631418704986572, + 1.6862764358520508, + -3.9021830558776855 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 9.100000381469727, + "y": 0.9009992480278015, + "z": -3.9000000953674316 + }, + "agent_rotation": { + "x": -0.0, + "y": 281.0, + "z": 0.0 + }, + "agent_cameraHorizon": 0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 9.100000381469727, + "y": 1.5759992599487305, + "z": -3.9000000953674316 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Candle|+07.43|+00.71|-01.60", + "DiningTable|+07.83|+00.00|-01.39", + "HousePlant|+07.58|+00.71|-01.44" + ], + "different_object": [ + "SprayBottle|+05.14|00.00|-03.84", + "Vase|+06.77|+00.87|-03.71", + "SideTable|+06.47|+00.00|-03.69", + "Box|+01.39|+00.11|-04.49", + "Painting|+02.45|+01.51|-04.90", + "ArmChair|+05.67|+00.00|-03.34", + "SideTable|+05.04|00.00|-03.57", + "Painting|+05.31|+01.39|-02.93", + "Bed|+04.20|+00.00|-02.48", + "DeskLamp|+06.39|+00.87|-03.66" + ] +} \ No newline at end of file diff --git a/train/FloorPlan_Train2_1/16/0_depth_npy.npy b/train/FloorPlan_Train2_1/16/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..5fa44eacf4a4fb51e3bb38905f8466c21440c3dd --- /dev/null +++ b/train/FloorPlan_Train2_1/16/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:85e91f1a3950dd48432ae64c59888c21e57914754e8657ad86f490ebceabb67d +size 3145856 diff --git a/train/FloorPlan_Train2_1/16/0_semantic_sensor_npy.npy b/train/FloorPlan_Train2_1/16/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..bec770a181ebedc9a42ee9369723867aeb7c1470 --- /dev/null +++ b/train/FloorPlan_Train2_1/16/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7a916e63e58e7990a5707c99e1c46233686146fa7afd46f0a240aa00a25ebca7 +size 2359424 diff --git a/train/FloorPlan_Train2_1/16/1.json b/train/FloorPlan_Train2_1/16/1.json new file mode 100644 index 0000000000000000000000000000000000000000..738fef78a86ed7a15f09eb904eb3bd7eff82d4f7 --- /dev/null +++ b/train/FloorPlan_Train2_1/16/1.json @@ -0,0 +1,1087 @@ +{ + "object": [ + { + "objectId": "Painting|+09.03|+01.44|-01.01", + "object_info": { + "name": "Painting_fb61d48c", + "position": { + "x": 9.024999618530273, + "y": 1.440999984741211, + "z": -1.0119999647140503 + }, + "rotation": { + "x": -0.0, + "y": 180.00006103515625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.089103698730469, + "objectType": "Painting", + "objectId": "Painting|+09.03|+01.44|-01.01", + "assetId": "Wall_Decor_Photo_1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.358823776245117, + 1.6935982704162598, + -1.012003779411316 + ], + [ + 9.358823776245117, + 1.6935982704162598, + -1.0437456369400024 + ], + [ + 9.358823776245117, + 1.188401699066162, + -1.012003779411316 + ], + [ + 9.358823776245117, + 1.188401699066162, + -1.0437456369400024 + ], + [ + 8.69117546081543, + 1.6935982704162598, + -1.012003779411316 + ], + [ + 8.69117546081543, + 1.6935982704162598, + -1.0437456369400024 + ], + [ + 8.69117546081543, + 1.188401699066162, + -1.012003779411316 + ], + [ + 8.69117546081543, + 1.188401699066162, + -1.0437456369400024 + ] + ], + "center": { + "x": 9.024999618530273, + "y": 1.440999984741211, + "z": -1.0278747081756592 + }, + "size": { + "x": 0.6676483154296875, + "y": 0.5051965713500977, + "z": 0.03174185752868652 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bowl|+08.12|+00.71|-01.45", + "object_info": { + "name": "Bowl_ce1b4219", + "position": { + "x": 8.12000846862793, + "y": 0.7078886032104492, + "z": -1.4499531984329224 + }, + "rotation": { + "x": 0.04281006380915642, + "y": 0.0072110490873456, + "z": 359.96832275390625 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4699999988079071, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 3.2376675605773926, + "objectType": "Bowl", + "objectId": "Bowl|+08.12|+00.71|-01.45", + "assetId": "Bowl_6", + "parentReceptacles": [ + "DiningTable|+07.83|+00.00|-01.39" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.212287902832031, + 0.7905277013778687, + -1.3576581478118896 + ], + [ + 8.212287902832031, + 0.7905277013778687, + -1.5421273708343506 + ], + [ + 8.212287902832031, + 0.7073397636413574, + -1.3576581478118896 + ], + [ + 8.212287902832031, + 0.7073397636413574, + -1.5421273708343506 + ], + [ + 8.027816772460938, + 0.7905277013778687, + -1.3576581478118896 + ], + [ + 8.027816772460938, + 0.7905277013778687, + -1.5421273708343506 + ], + [ + 8.027816772460938, + 0.7073397636413574, + -1.3576581478118896 + ], + [ + 8.027816772460938, + 0.7073397636413574, + -1.5421273708343506 + ] + ], + "center": { + "x": 8.120052337646484, + "y": 0.748933732509613, + "z": -1.4498927593231201 + }, + "size": { + "x": 0.18447113037109375, + "y": 0.08318793773651123, + "z": 0.18446922302246094 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 8.212250709533691, + 0.7072701454162598, + -1.3577349185943604 + ], + [ + 8.027789115905762, + 0.7073720693588257, + -1.357711672782898 + ], + [ + 8.027765274047852, + 0.7075099349021912, + -1.5421733856201172 + ], + [ + 8.212227821350098, + 0.7074079513549805, + -1.5421967506408691 + ], + [ + 8.212296485900879, + 0.7903256416320801, + -1.3576728105545044 + ], + [ + 8.02783489227295, + 0.7904276251792908, + -1.357649564743042 + ], + [ + 8.027811050415039, + 0.7905654311180115, + -1.5421113967895508 + ], + [ + 8.212273597717285, + 0.7904634475708008, + -1.5421346426010132 + ] + ] + } + } + }, + { + "objectId": "Mug|+07.90|+00.71|-01.27", + "object_info": { + "name": "Mug_5e63f49e", + "position": { + "x": 7.899996280670166, + "y": 0.707372784614563, + "z": -1.2699229717254639 + }, + "rotation": { + "x": 0.013060176745057106, + "y": -0.0015424499288201332, + "z": 0.018277963623404503 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 3.3233816623687744, + "objectType": "Mug", + "objectId": "Mug|+07.90|+00.71|-01.27", + "assetId": "Mug_3", + "parentReceptacles": [ + "DiningTable|+07.83|+00.00|-01.39" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.940496444702148, + 0.8110250234603882, + -1.2245588302612305 + ], + [ + 7.940496444702148, + 0.8110250234603882, + -1.315563678741455 + ], + [ + 7.940496444702148, + 0.707351565361023, + -1.2245588302612305 + ], + [ + 7.940496444702148, + 0.707351565361023, + -1.315563678741455 + ], + [ + 7.830965042114258, + 0.8110250234603882, + -1.2245588302612305 + ], + [ + 7.830965042114258, + 0.8110250234603882, + -1.315563678741455 + ], + [ + 7.830965042114258, + 0.707351565361023, + -1.2245588302612305 + ], + [ + 7.830965042114258, + 0.707351565361023, + -1.315563678741455 + ] + ], + "center": { + "x": 7.885730743408203, + "y": 0.7591882944107056, + "z": -1.2700612545013428 + }, + "size": { + "x": 0.10953140258789062, + "y": 0.10367345809936523, + "z": 0.09100484848022461 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.940495014190674, + 0.7073752880096436, + -1.2245814800262451 + ], + [ + 7.830995082855225, + 0.7073403596878052, + -1.2245844602584839 + ], + [ + 7.830997467041016, + 0.707361102104187, + -1.3155649900436401 + ], + [ + 7.940497398376465, + 0.7073960304260254, + -1.315562129020691 + ], + [ + 7.9404616355896, + 0.8110105395317078, + -1.224557876586914 + ], + [ + 7.83096170425415, + 0.8109756112098694, + -1.2245607376098633 + ], + [ + 7.830964088439941, + 0.8109963536262512, + -1.315541386604309 + ], + [ + 7.940464019775391, + 0.8110312819480896, + -1.3155384063720703 + ] + ] + } + } + }, + { + "objectId": "Pencil|+07.39|+00.71|-01.21", + "object_info": { + "name": "Pencil_701f139a", + "position": { + "x": 7.389687538146973, + "y": 0.7120870351791382, + "z": -1.208244800567627 + }, + "rotation": { + "x": 359.9762268066406, + "y": 315.32928466796875, + "z": 348.6253967285156 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": null, + "distance": 3.2512645721435547, + "objectType": "Pencil", + "objectId": "Pencil|+07.39|+00.71|-01.21", + "assetId": "Pencil_5", + "parentReceptacles": [ + "DiningTable|+07.83|+00.00|-01.39" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.438035488128662, + 0.7168430685997009, + -1.1548523902893066 + ], + [ + 7.438035488128662, + 0.7168430685997009, + -1.2570972442626953 + ], + [ + 7.438035488128662, + 0.7073333859443665, + -1.1548523902893066 + ], + [ + 7.438035488128662, + 0.7073333859443665, + -1.2570972442626953 + ], + [ + 7.336851596832275, + 0.7168430685997009, + -1.1548523902893066 + ], + [ + 7.336851596832275, + 0.7168430685997009, + -1.2570972442626953 + ], + [ + 7.336851596832275, + 0.7073333859443665, + -1.1548523902893066 + ], + [ + 7.336851596832275, + 0.7073333859443665, + -1.2570972442626953 + ] + ], + "center": { + "x": 7.387443542480469, + "y": 0.7120882272720337, + "z": -1.205974817276001 + }, + "size": { + "x": 0.10118389129638672, + "y": 0.009509682655334473, + "z": 0.10224485397338867 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.34088659286499, + 0.706550121307373, + -1.153613567352295 + ], + [ + 7.334295272827148, + 0.7084148526191711, + -1.1601308584213257 + ], + [ + 7.432671546936035, + 0.7083568572998047, + -1.2596445083618164 + ], + [ + 7.439262866973877, + 0.7064920663833618, + -1.2531272172927856 + ], + [ + 7.342215538024902, + 0.7158198952674866, + -1.152305245399475 + ], + [ + 7.3356242179870605, + 0.7176846861839294, + -1.1588225364685059 + ], + [ + 7.434000492095947, + 0.7176266312599182, + -1.2583361864089966 + ], + [ + 7.440591812133789, + 0.7157618403434753, + -1.2518188953399658 + ] + ] + } + } + }, + { + "objectId": "HousePlant|+07.58|+00.71|-01.44", + "object_info": { + "name": "HousePlant_bfb7e560", + "position": { + "x": 7.5790252685546875, + "y": 0.7096959352493286, + "z": -1.4379713535308838 + }, + "rotation": { + "x": 0.03819238394498825, + "y": 0.015012485906481743, + "z": 359.8695983886719 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.0, + "salientMaterials": [ + "Ceramic", + "Organic" + ], + "receptacleObjectIds": null, + "distance": 3.068727970123291, + "objectType": "HousePlant", + "objectId": "HousePlant|+07.58|+00.71|-01.44", + "assetId": "Houseplant_6", + "parentReceptacles": [ + "DiningTable|+07.83|+00.00|-01.39" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.909245491027832, + 1.6920905113220215, + -1.0653295516967773 + ], + [ + 7.909245491027832, + 1.6920905113220215, + -1.6396684646606445 + ], + [ + 7.909245491027832, + 0.7073407173156738, + -1.0653295516967773 + ], + [ + 7.909245491027832, + 0.7073407173156738, + -1.6396684646606445 + ], + [ + 7.314090728759766, + 1.6920905113220215, + -1.0653295516967773 + ], + [ + 7.314090728759766, + 1.6920905113220215, + -1.6396684646606445 + ], + [ + 7.314090728759766, + 0.7073407173156738, + -1.0653295516967773 + ], + [ + 7.314090728759766, + 0.7073407173156738, + -1.6396684646606445 + ] + ], + "center": { + "x": 7.611668109893799, + "y": 1.1997156143188477, + "z": -1.352499008178711 + }, + "size": { + "x": 0.5951547622680664, + "y": 0.9847497940063477, + "z": 0.5743389129638672 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.907116889953613, + 0.7065669298171997, + -1.0660592317581177 + ], + [ + 7.3121185302734375, + 0.707921028137207, + -1.0659024715423584 + ], + [ + 7.3119683265686035, + 0.7083036303520203, + -1.6399024724960327 + ], + [ + 7.906966686248779, + 0.7069495320320129, + -1.6400593519210815 + ], + [ + 7.909359455108643, + 1.6916987895965576, + -1.0654032230377197 + ], + [ + 7.314360618591309, + 1.693052887916565, + -1.065246343612671 + ], + [ + 7.314210414886475, + 1.693435549736023, + -1.6392464637756348 + ], + [ + 7.90920877456665, + 1.6920814514160156, + -1.639403223991394 + ] + ] + } + } + }, + { + "objectId": "Candle|+07.43|+00.71|-01.60", + "object_info": { + "name": "Candle_8af0ad5f", + "position": { + "x": 7.432028770446777, + "y": 0.7078344821929932, + "z": -1.6019963026046753 + }, + "rotation": { + "x": 0.08512066304683685, + "y": 359.92169189453125, + "z": 0.25131356716156006 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.20000000298023224, + "salientMaterials": [ + "Wax" + ], + "receptacleObjectIds": null, + "distance": 2.874995231628418, + "objectType": "Candle", + "objectId": "Candle|+07.43|+00.71|-01.60", + "assetId": "Candle_6", + "parentReceptacles": [ + "DiningTable|+07.83|+00.00|-01.39" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.45319938659668, + 0.8752651214599609, + -1.5808188915252686 + ], + [ + 7.45319938659668, + 0.8752651214599609, + -1.623166561126709 + ], + [ + 7.45319938659668, + 0.7073695659637451, + -1.5808188915252686 + ], + [ + 7.45319938659668, + 0.7073695659637451, + -1.623166561126709 + ], + [ + 7.410835266113281, + 0.8752651214599609, + -1.5808188915252686 + ], + [ + 7.410835266113281, + 0.8752651214599609, + -1.623166561126709 + ], + [ + 7.410835266113281, + 0.7073695659637451, + -1.5808188915252686 + ], + [ + 7.410835266113281, + 0.7073695659637451, + -1.623166561126709 + ] + ], + "center": { + "x": 7.4320173263549805, + "y": 0.791317343711853, + "z": -1.6019927263259888 + }, + "size": { + "x": 0.04236412048339844, + "y": 0.16789555549621582, + "z": 0.04234766960144043 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.453159332275391, + 0.707535982131958, + -1.5808095932006836 + ], + [ + 7.410843372344971, + 0.7073503732681274, + -1.5808676481246948 + ], + [ + 7.410901069641113, + 0.7074132561683655, + -1.623184084892273 + ], + [ + 7.453217506408691, + 0.707598865032196, + -1.6231260299682617 + ], + [ + 7.452423095703125, + 0.8753263354301453, + -1.5805612802505493 + ], + [ + 7.410107135772705, + 0.8751407265663147, + -1.5806193351745605 + ], + [ + 7.410164833068848, + 0.8752036094665527, + -1.6229358911514282 + ], + [ + 7.452480792999268, + 0.8753892183303833, + -1.6228777170181274 + ] + ] + } + } + }, + { + "objectId": "DiningTable|+07.83|+00.00|-01.39", + "object_info": { + "name": "DiningTable_dc49cc20", + "position": { + "x": 7.825000286102295, + "y": 0.0010403990745544434, + "z": -1.3949894905090332 + }, + "rotation": { + "x": 0.0002652406401466578, + "y": -0.0027117880526930094, + "z": -0.0033904900774359703 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Bowl|+08.12|+00.71|-01.45", + "Mug|+07.90|+00.71|-01.27", + "HousePlant|+07.58|+00.71|-01.44", + "Pencil|+07.39|+00.71|-01.21", + "Candle|+07.43|+00.71|-01.60" + ], + "distance": 3.3000969886779785, + "objectType": "DiningTable", + "objectId": "DiningTable|+07.83|+00.00|-01.39", + "assetId": "RoboTHOR_dining_table_mella", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.39240550994873, + 0.7075797915458679, + -1.0263848304748535 + ], + [ + 8.39240550994873, + 0.7075797915458679, + -1.7605247497558594 + ], + [ + 8.39240550994873, + -0.00016772747039794922, + -1.0263848304748535 + ], + [ + 8.39240550994873, + -0.00016772747039794922, + -1.7605247497558594 + ], + [ + 7.252649307250977, + 0.7075797915458679, + -1.0263848304748535 + ], + [ + 7.252649307250977, + 0.7075797915458679, + -1.7605247497558594 + ], + [ + 7.252649307250977, + -0.00016772747039794922, + -1.0263848304748535 + ], + [ + 7.252649307250977, + -0.00016772747039794922, + -1.7605247497558594 + ] + ], + "center": { + "x": 7.8225274085998535, + "y": 0.353706032037735, + "z": -1.3934547901153564 + }, + "size": { + "x": 1.139756202697754, + "y": 0.7077475190162659, + "z": 0.7341399192810059 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 8.392498970031738, + 5.7183788157999516e-05, + -1.026352047920227 + ], + [ + 7.252767562866211, + -0.00013725482858717442, + -1.0263869762420654 + ], + [ + 7.252790451049805, + -0.00017180363647639751, + -1.760493278503418 + ], + [ + 8.392520904541016, + 2.2634980268776417e-05, + -1.76045823097229 + ], + [ + 8.392377853393555, + 0.7075800895690918, + -1.0263853073120117 + ], + [ + 7.2526469230651855, + 0.7073856592178345, + -1.0264203548431396 + ], + [ + 7.252669334411621, + 0.7073510885238647, + -1.7605266571044922 + ], + [ + 8.392400741577148, + 0.7075455188751221, + -1.7604916095733643 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 6.600000381469727, + "y": 0.9009992480278015, + "z": -2.4000000953674316 + }, + "agent_rotation": { + "x": -0.0, + "y": 18.000001907348633, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 6.600000381469727, + "y": 1.5759992599487305, + "z": -2.4000000953674316 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Candle|+07.43|+00.71|-01.60", + "DiningTable|+07.83|+00.00|-01.39", + "HousePlant|+07.58|+00.71|-01.44" + ], + "different_object": [ + "Painting|+09.03|+01.44|-01.01", + "Bowl|+08.12|+00.71|-01.45", + "Pencil|+07.39|+00.71|-01.21", + "Mug|+07.90|+00.71|-01.27" + ] +} \ No newline at end of file diff --git a/train/FloorPlan_Train2_1/16/1_depth_npy.npy b/train/FloorPlan_Train2_1/16/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..f08027cc1cf98d9eee782a88b96a9494b6b08fe1 --- /dev/null +++ b/train/FloorPlan_Train2_1/16/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:90f12d653bdcf032db9bfb13ebe2f48e5aa0f7b40d73be36039e50537c1ae49d +size 3145856 diff --git a/train/FloorPlan_Train2_1/16/1_semantic_sensor_npy.npy b/train/FloorPlan_Train2_1/16/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..f20ebcef668303739a1863b7cd1b0ebcba71dc9c --- /dev/null +++ b/train/FloorPlan_Train2_1/16/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:07d42c889b734f1471e6d6bbef50152c9b6a2a503332dbae2b9d232040e3304b +size 2359424 diff --git a/train/FloorPlan_Train2_1/16/depth_0.png b/train/FloorPlan_Train2_1/16/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..e913c235e578c060d578cc9a533772a5fbb0b1e2 Binary files /dev/null and b/train/FloorPlan_Train2_1/16/depth_0.png differ diff --git a/train/FloorPlan_Train2_1/16/depth_1.png b/train/FloorPlan_Train2_1/16/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..91ce070f37d8c54487b638d8be524710708d199e Binary files /dev/null and b/train/FloorPlan_Train2_1/16/depth_1.png differ diff --git a/train/FloorPlan_Train2_1/16/mask_questions.jsonl b/train/FloorPlan_Train2_1/16/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/train/FloorPlan_Train2_1/16/questions_distance.jsonl b/train/FloorPlan_Train2_1/16/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ab6cb739f32de58b9ae24b5dffe2a617877b6d9f --- /dev/null +++ b/train/FloorPlan_Train2_1/16/questions_distance.jsonl @@ -0,0 +1,2 @@ +{"id": 1301, "folder_dir": "FloorPlan_Train2_1/16", "query": "Which of the following objects is closest to DiningTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Pencil\nB. Mug\nC. Bowl\nD. Other\n", "answer": "B", "src_object": "DiningTable", "target_object": "Mug", "question": "Which of the following objects is closest to DiningTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Pencil", "semantic_id": "Pencil|+07.39|+00.71|-01.21", "distance": 0.5940408307803355, "com": {"x": 7.387443542480469, "y": 0.7120882272720337, "z": -1.205974817276001}}, {"text": "Mug", "semantic_id": "Mug|+07.90|+00.71|-01.27", "distance": 0.42852828525235737, "com": {"x": 7.885730743408203, "y": 0.7591882944107056, "z": -1.2700612545013428}}, {"text": "Bowl", "semantic_id": "Bowl|+08.12|+00.71|-01.45", "distance": 0.4979068818491945, "com": {"x": 8.120052337646484, "y": 0.748933732509613, "z": -1.4498927593231201}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan_Train2_1/16/rgb_0.png", "image_2": "FloorPlan_Train2_1/16/rgb_1.png"} +{"id": 1302, "folder_dir": "FloorPlan_Train2_1/16", "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. Mug\nB. Candle\nC. Pencil\nD. Other\n", "answer": "B", "src_object": "HousePlant", "target_object": "Candle", "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": "Mug", "semantic_id": "Mug|+07.90|+00.71|-01.27", "distance": 0.5253290682093193, "com": {"x": 7.885730743408203, "y": 0.7591882944107056, "z": -1.2700612545013428}}, {"text": "Candle", "semantic_id": "Candle|+07.43|+00.71|-01.60", "distance": 0.5111855503198899, "com": {"x": 7.4320173263549805, "y": 0.791317343711853, "z": -1.6019927263259888}}, {"text": "Pencil", "semantic_id": "Pencil|+07.39|+00.71|-01.21", "distance": 0.5563510256569068, "com": {"x": 7.387443542480469, "y": 0.7120882272720337, "z": -1.205974817276001}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan_Train2_1/16/rgb_0.png", "image_2": "FloorPlan_Train2_1/16/rgb_1.png"} diff --git a/train/FloorPlan_Train2_1/16/rgb_0.png b/train/FloorPlan_Train2_1/16/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..68c7d9d0de1a9085a2206fede8183b752b3a4855 --- /dev/null +++ b/train/FloorPlan_Train2_1/16/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:454a6897a94e2d3e3e7d8521d280bfe41c3a5d4e31faca82e8f1c608d12d6275 +size 998419 diff --git a/train/FloorPlan_Train2_1/16/rgb_1.png b/train/FloorPlan_Train2_1/16/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..e56882870020b7812d817a79f72d2cd59deefecb --- /dev/null +++ b/train/FloorPlan_Train2_1/16/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7cfe5fc11fb6aa6597610ac3fbb43e9f478959f0975c1ff8c19e6afdadbf6bdc +size 1025594 diff --git a/train/FloorPlan_Train2_1/16/semantic_0.png b/train/FloorPlan_Train2_1/16/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..5bc6813ef0080bf46e9de088037a9fe98c440adf Binary files /dev/null and b/train/FloorPlan_Train2_1/16/semantic_0.png differ diff --git a/train/FloorPlan_Train2_1/16/semantic_1.png b/train/FloorPlan_Train2_1/16/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..d0cca92aa9d042cba3a811c2fd6e7d181c0a1091 Binary files /dev/null and b/train/FloorPlan_Train2_1/16/semantic_1.png differ diff --git a/train/FloorPlan_Train2_1/9/0.json b/train/FloorPlan_Train2_1/9/0.json new file mode 100644 index 0000000000000000000000000000000000000000..dbe5193fe360fbac8970eb8f1a48f84e51c08672 --- /dev/null +++ b/train/FloorPlan_Train2_1/9/0.json @@ -0,0 +1,1782 @@ +{ + "object": [ + { + "objectId": "AlarmClock|+05.08|+00.56|-03.47", + "object_info": { + "name": "AlarmClock_f2dbae38", + "position": { + "x": 5.083003044128418, + "y": 0.5617282390594482, + "z": -3.4659950733184814 + }, + "rotation": { + "x": 359.9910583496094, + "y": 284.9998474121094, + "z": -0.004817265551537275 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.800000011920929, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 1.9838218688964844, + "objectType": "AlarmClock", + "objectId": "AlarmClock|+05.08|+00.56|-03.47", + "assetId": "Alarm_Clock_6", + "parentReceptacles": [ + "SideTable|+05.04|00.00|-03.57" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.144377708435059, + 0.7631278038024902, + -3.3760313987731934 + ], + [ + 5.144377708435059, + 0.7631278038024902, + -3.5559473037719727 + ], + [ + 5.144377708435059, + 0.5598173141479492, + -3.3760313987731934 + ], + [ + 5.144377708435059, + 0.5598173141479492, + -3.5559473037719727 + ], + [ + 5.022011756896973, + 0.7631278038024902, + -3.3760313987731934 + ], + [ + 5.022011756896973, + 0.7631278038024902, + -3.5559473037719727 + ], + [ + 5.022011756896973, + 0.5598173141479492, + -3.3760313987731934 + ], + [ + 5.022011756896973, + 0.5598173141479492, + -3.5559473037719727 + ] + ], + "center": { + "x": 5.083194732666016, + "y": 0.6614725589752197, + "z": -3.465989351272583 + }, + "size": { + "x": 0.12236595153808594, + "y": 0.20331048965454102, + "z": 0.1799159049987793 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.063932418823242, + 0.5598171353340149, + -3.3725192546844482 + ], + [ + 5.019751071929932, + 0.5598320960998535, + -3.5374162197113037 + ], + [ + 5.102442264556885, + 0.5598285794258118, + -3.5595719814300537 + ], + [ + 5.1466240882873535, + 0.5598136186599731, + -3.3946750164031982 + ], + [ + 5.063945293426514, + 0.7631220817565918, + -3.372504234313965 + ], + [ + 5.019763946533203, + 0.7631370425224304, + -3.5374011993408203 + ], + [ + 5.102455139160156, + 0.7631335258483887, + -3.5595569610595703 + ], + [ + 5.146636486053467, + 0.76311856508255, + -3.394659996032715 + ] + ] + } + } + }, + { + "objectId": "Apple|+05.02|+00.63|-03.62", + "object_info": { + "name": "Apple_3aa31c15", + "position": { + "x": 5.020702838897705, + "y": 0.6267196536064148, + "z": -3.6245946884155273 + }, + "rotation": { + "x": 0.004681120626628399, + "y": -1.90127354926517e-06, + "z": 5.2069353841943666e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": true, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.20000000298023224, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 1.9601994752883911, + "objectType": "Apple", + "objectId": "Apple|+05.02|+00.63|-03.62", + "assetId": "Apple_6", + "parentReceptacles": [ + "SideTable|+05.04|00.00|-03.57" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.08512020111084, + 0.7003782391548157, + -3.5601789951324463 + ], + [ + 5.08512020111084, + 0.7003782391548157, + -3.6890156269073486 + ], + [ + 5.08512020111084, + 0.5598239302635193, + -3.5601789951324463 + ], + [ + 5.08512020111084, + 0.5598239302635193, + -3.6890156269073486 + ], + [ + 4.956284523010254, + 0.7003782391548157, + -3.5601789951324463 + ], + [ + 4.956284523010254, + 0.7003782391548157, + -3.6890156269073486 + ], + [ + 4.956284523010254, + 0.5598239302635193, + -3.5601789951324463 + ], + [ + 4.956284523010254, + 0.5598239302635193, + -3.6890156269073486 + ] + ], + "center": { + "x": 5.020702362060547, + "y": 0.6301010847091675, + "z": -3.6245973110198975 + }, + "size": { + "x": 0.12883567810058594, + "y": 0.1405543088912964, + "z": 0.12883663177490234 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.085119724273682, + 0.5598203539848328, + -3.560182571411133 + ], + [ + 4.9562835693359375, + 0.5598218441009521, + -3.560182571411133 + ], + [ + 4.9562835693359375, + 0.5598275661468506, + -3.689018487930298 + ], + [ + 5.085119724273682, + 0.5598260760307312, + -3.689018487930298 + ], + [ + 5.085121154785156, + 0.7003746628761292, + -3.560176372528076 + ], + [ + 4.95628547668457, + 0.7003761529922485, + -3.560176372528076 + ], + [ + 4.95628547668457, + 0.700381875038147, + -3.689012289047241 + ], + [ + 5.085121154785156, + 0.7003803849220276, + -3.689012289047241 + ] + ] + } + } + }, + { + "objectId": "Drawer|+04.88|+00.27|-02.89", + "object_info": { + "name": "Drawer_69e903b1", + "position": { + "x": 4.883700847625732, + "y": 0.2703988552093506, + "z": -2.8904294967651367 + }, + "rotation": { + "x": -2.0317756934673525e-05, + "y": 89.99891662597656, + "z": -3.827755790553056e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.519655466079712, + "objectType": "Drawer", + "objectId": "Drawer|+04.88|+00.27|-02.89", + "assetId": "", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.201037406921387, + 0.46735382080078125, + -2.0472445487976074 + ], + [ + 5.201037406921387, + 0.46735382080078125, + -2.8938045501708984 + ], + [ + 5.201037406921387, + 0.0740557312965393, + -2.0472445487976074 + ], + [ + 5.201037406921387, + 0.0740557312965393, + -2.8938045501708984 + ], + [ + 4.566332817077637, + 0.46735382080078125, + -2.0472445487976074 + ], + [ + 4.566332817077637, + 0.46735382080078125, + -2.8938045501708984 + ], + [ + 4.566332817077637, + 0.0740557312965393, + -2.0472445487976074 + ], + [ + 4.566332817077637, + 0.0740557312965393, + -2.8938045501708984 + ] + ], + "center": { + "x": 4.883685111999512, + "y": 0.2707047760486603, + "z": -2.470524549484253 + }, + "size": { + "x": 0.63470458984375, + "y": 0.39329808950424194, + "z": 0.846560001373291 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bottle|+04.96|+00.56|-03.42", + "object_info": { + "name": "Bottle_1d6ce2e4", + "position": { + "x": 4.964999198913574, + "y": 0.5599075555801392, + "z": -3.4160072803497314 + }, + "rotation": { + "x": 359.9654541015625, + "y": -0.0025043017230927944, + "z": -0.0015134402783587575 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.20000000298023224, + "salientMaterials": [ + "Glass" + ], + "receptacleObjectIds": null, + "distance": 2.1099321842193604, + "objectType": "Bottle", + "objectId": "Bottle|+04.96|+00.56|-03.42", + "assetId": "Bottle_1", + "parentReceptacles": [ + "SideTable|+05.04|00.00|-03.57" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.018353462219238, + 0.8133507966995239, + -3.362642765045166 + ], + [ + 5.018353462219238, + 0.8133507966995239, + -3.4694085121154785 + ], + [ + 5.018353462219238, + 0.559807538986206, + -3.362642765045166 + ], + [ + 5.018353462219238, + 0.559807538986206, + -3.4694085121154785 + ], + [ + 4.911587715148926, + 0.8133507966995239, + -3.362642765045166 + ], + [ + 4.911587715148926, + 0.8133507966995239, + -3.4694085121154785 + ], + [ + 4.911587715148926, + 0.559807538986206, + -3.362642765045166 + ], + [ + 4.911587715148926, + 0.559807538986206, + -3.4694085121154785 + ] + ], + "center": { + "x": 4.964970588684082, + "y": 0.686579167842865, + "z": -3.4160256385803223 + }, + "size": { + "x": 0.1067657470703125, + "y": 0.25354325771331787, + "z": 0.1067657470703125 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.018380641937256, + 0.559857189655304, + -3.3626208305358887 + ], + [ + 4.911614894866943, + 0.5598234534263611, + -3.3626182079315186 + ], + [ + 4.911612033843994, + 0.5597927570343018, + -3.46938419342041 + ], + [ + 5.018378257751465, + 0.5598264932632446, + -3.4693868160247803 + ], + [ + 5.018300533294678, + 0.8133736848831177, + -3.3626937866210938 + ], + [ + 4.911534786224365, + 0.8133399486541748, + -3.3626911640167236 + ], + [ + 4.911531925201416, + 0.8133091926574707, + -3.4694571495056152 + ], + [ + 5.018298149108887, + 0.8133429288864136, + -3.4694597721099854 + ] + ] + } + } + }, + { + "objectId": "Laptop|+04.80|+00.61|-02.45", + "object_info": { + "name": "Laptop_d928aa6a", + "position": { + "x": 4.802971363067627, + "y": 0.6062590479850769, + "z": -2.4460458755493164 + }, + "rotation": { + "x": 0.38351917266845703, + "y": 210.0006866455078, + "z": -0.0002801173832267523 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 2.299999952316284, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 2.809436321258545, + "objectType": "Laptop", + "objectId": "Laptop|+04.80|+00.61|-02.45", + "assetId": "Laptop_6", + "parentReceptacles": [ + "Bed|+04.20|+00.00|-02.48" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.04713249206543, + 0.8851285576820374, + -2.2218401432037354 + ], + [ + 5.04713249206543, + 0.8851285576820374, + -2.6727206707000732 + ], + [ + 5.04713249206543, + 0.6052622199058533, + -2.2218401432037354 + ], + [ + 5.04713249206543, + 0.6052622199058533, + -2.6727206707000732 + ], + [ + 4.557373046875, + 0.8851285576820374, + -2.2218401432037354 + ], + [ + 4.557373046875, + 0.8851285576820374, + -2.6727206707000732 + ], + [ + 4.557373046875, + 0.6052622199058533, + -2.2218401432037354 + ], + [ + 4.557373046875, + 0.6052622199058533, + -2.6727206707000732 + ] + ], + "center": { + "x": 4.802252769470215, + "y": 0.7451953887939453, + "z": -2.4472804069519043 + }, + "size": { + "x": 0.4897594451904297, + "y": 0.2798663377761841, + "z": 0.4508805274963379 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.557434558868408, + 0.6034315228462219, + -2.4739019870758057 + ], + [ + 4.901598930358887, + 0.6034278869628906, + -2.6726129055023193 + ], + [ + 5.04713249206543, + 0.6053743958473206, + -2.420551061630249 + ], + [ + 4.702968120574951, + 0.6053779721260071, + -2.2218401432037354 + ], + [ + 4.556501388549805, + 0.8831818699836731, + -2.4755234718322754 + ], + [ + 4.900665760040283, + 0.8831782341003418, + -2.674234390258789 + ], + [ + 5.046199321746826, + 0.885124683380127, + -2.4221725463867188 + ], + [ + 4.702034950256348, + 0.885128378868103, + -2.223461627960205 + ] + ] + } + } + }, + { + "objectId": "SideTable|+05.04|00.00|-03.57", + "object_info": { + "name": "SideTable_6c9d863d", + "position": { + "x": 5.043000221252441, + "y": -0.0020266175270080566, + "z": -3.5730109214782715 + }, + "rotation": { + "x": -7.843902130844072e-05, + "y": 270.0002136230469, + "z": -7.731795631116256e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "AlarmClock|+05.08|+00.56|-03.47", + "Bottle|+04.96|+00.56|-03.42", + "Apple|+05.02|+00.63|-03.62" + ], + "distance": 2.141591787338257, + "objectType": "SideTable", + "objectId": "SideTable|+05.04|00.00|-03.57", + "assetId": "Side_Table_317_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.2345428466796875, + 0.559944212436676, + -3.3559184074401855 + ], + [ + 5.2345428466796875, + 0.559944212436676, + -3.7874083518981934 + ], + [ + 5.2345428466796875, + 1.430511474609375e-06, + -3.3559184074401855 + ], + [ + 5.2345428466796875, + 1.430511474609375e-06, + -3.7874083518981934 + ], + [ + 4.868200302124023, + 0.559944212436676, + -3.3559184074401855 + ], + [ + 4.868200302124023, + 0.559944212436676, + -3.7874083518981934 + ], + [ + 4.868200302124023, + 1.430511474609375e-06, + -3.3559184074401855 + ], + [ + 4.868200302124023, + 1.430511474609375e-06, + -3.7874083518981934 + ] + ], + "center": { + "x": 5.0513715744018555, + "y": 0.2799728214740753, + "z": -3.5716633796691895 + }, + "size": { + "x": 0.36634254455566406, + "y": 0.5599427819252014, + "z": 0.4314899444580078 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.86820125579834, + 9.404029697179794e-07, + -3.355919122695923 + ], + [ + 4.86820125579834, + 1.3245735317468643e-06, + -3.7874088287353516 + ], + [ + 5.234543800354004, + 1.3844110071659088e-06, + -3.7874090671539307 + ], + [ + 5.234543800354004, + 1.000240445137024e-06, + -3.355919122695923 + ], + [ + 4.86820125579834, + 0.5599435567855835, + -3.3559184074401855 + ], + [ + 4.86820125579834, + 0.5599439144134521, + -3.7874083518981934 + ], + [ + 5.234543800354004, + 0.5599439144134521, + -3.7874083518981934 + ], + [ + 5.234543800354004, + 0.5599435567855835, + -3.3559186458587646 + ] + ] + } + } + }, + { + "objectId": "CellPhone|+04.64|+00.61|-02.69", + "object_info": { + "name": "CellPhone_e0c99ff3", + "position": { + "x": 4.638007164001465, + "y": 0.6053308248519897, + "z": -2.693052291870117 + }, + "rotation": { + "x": -0.0002687949745450169, + "y": 171.6435089111328, + "z": -0.005572794005274773 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1599999964237213, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 2.7704339027404785, + "objectType": "CellPhone", + "objectId": "CellPhone|+04.64|+00.61|-02.69", + "assetId": "Cellphone_2", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.688342571258545, + 0.6113958954811096, + -2.6079635620117188 + ], + [ + 4.688342571258545, + 0.6113958954811096, + -2.7785181999206543 + ], + [ + 4.688342571258545, + 0.6052599549293518, + -2.6079635620117188 + ], + [ + 4.688342571258545, + 0.6052599549293518, + -2.7785181999206543 + ], + [ + 4.587714672088623, + 0.6113958954811096, + -2.6079635620117188 + ], + [ + 4.587714672088623, + 0.6113958954811096, + -2.7785181999206543 + ], + [ + 4.587714672088623, + 0.6052599549293518, + -2.6079635620117188 + ], + [ + 4.587714672088623, + 0.6052599549293518, + -2.7785181999206543 + ] + ], + "center": { + "x": 4.638028621673584, + "y": 0.6083279252052307, + "z": -2.6932408809661865 + }, + "size": { + "x": 0.10062789916992188, + "y": 0.0061359405517578125, + "z": 0.17055463790893555 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.611098289489746, + 0.6052614450454712, + -2.7785184383392334 + ], + [ + 4.688342094421387, + 0.6052679419517517, + -2.7671732902526855 + ], + [ + 4.664958477020264, + 0.6052664518356323, + -2.607963800430298 + ], + [ + 4.587714672088623, + 0.6052599549293518, + -2.6193089485168457 + ], + [ + 4.611097812652588, + 0.6113893985748291, + -2.7785184383392334 + ], + [ + 4.6883416175842285, + 0.6113958954811096, + -2.7671732902526855 + ], + [ + 4.6649580001831055, + 0.6113944053649902, + -2.607963800430298 + ], + [ + 4.587714195251465, + 0.6113879084587097, + -2.6193089485168457 + ] + ] + } + } + }, + { + "objectId": "Bed|+04.20|+00.00|-02.48", + "object_info": { + "name": "Bed_25b79cf7", + "position": { + "x": 4.198010444641113, + "y": 1.7851591110229492e-05, + "z": -2.475999355316162 + }, + "rotation": { + "x": -2.0317773305578157e-05, + "y": 89.9989013671875, + "z": -3.827755426755175e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Fabric", + "Wood" + ], + "receptacleObjectIds": [ + "Laptop|+04.80|+00.61|-02.45", + "RemoteControl|+04.48|+00.61|-02.54", + "Pillow|+03.51|+00.67|-02.33", + "Book|+03.55|+00.61|-02.73" + ], + "distance": 3.3591511249542236, + "objectType": "Bed", + "objectId": "Bed|+04.20|+00.00|-02.48", + "assetId": "RoboTHOR_hemnes_day_bed", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.251813888549805, + 0.8731186389923096, + -2.030113697052002 + ], + [ + 5.251813888549805, + 0.8731186389923096, + -2.894226551055908 + ], + [ + 5.251813888549805, + 8.106231689453125e-06, + -2.030113697052002 + ], + [ + 5.251813888549805, + 8.106231689453125e-06, + -2.894226551055908 + ], + [ + 3.1434707641601562, + 0.8731186389923096, + -2.030113697052002 + ], + [ + 3.1434707641601562, + 0.8731186389923096, + -2.894226551055908 + ], + [ + 3.1434707641601562, + 8.106231689453125e-06, + -2.030113697052002 + ], + [ + 3.1434707641601562, + 8.106231689453125e-06, + -2.894226551055908 + ] + ], + "center": { + "x": 4.1976423263549805, + "y": 0.4365633726119995, + "z": -2.462170124053955 + }, + "size": { + "x": 2.1083431243896484, + "y": 0.8731105327606201, + "z": 0.8641128540039062 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.251824378967285, + 1.5431556676048785e-05, + -2.894209861755371 + ], + [ + 5.251810550689697, + 1.4201650628820062e-05, + -2.0301241874694824 + ], + [ + 3.143462657928467, + 1.4450725757342298e-05, + -2.0301570892333984 + ], + [ + 3.1434762477874756, + 1.568063089507632e-05, + -2.894242763519287 + ], + [ + 5.251824378967285, + 0.8731319308280945, + -2.8942086696624756 + ], + [ + 5.2518110275268555, + 0.8731306791305542, + -2.030122756958008 + ], + [ + 3.143462896347046, + 0.8731309175491333, + -2.030155658721924 + ], + [ + 3.1434762477874756, + 0.8731321692466736, + -2.8942413330078125 + ] + ] + } + } + }, + { + "objectId": "Drawer|+04.20|+00.27|-02.89", + "object_info": { + "name": "Drawer_efdeed3e", + "position": { + "x": 4.201973915100098, + "y": 0.2703986167907715, + "z": -2.8904426097869873 + }, + "rotation": { + "x": -2.0317756934673525e-05, + "y": 89.99891662597656, + "z": -3.827755790553056e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.0702054500579834, + "objectType": "Drawer", + "objectId": "Drawer|+04.20|+00.27|-02.89", + "assetId": "", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.51931095123291, + 0.467353880405426, + -2.047255277633667 + ], + [ + 4.51931095123291, + 0.467353880405426, + -2.893815279006958 + ], + [ + 4.51931095123291, + 0.07405585050582886, + -2.047255277633667 + ], + [ + 4.51931095123291, + 0.07405585050582886, + -2.893815279006958 + ], + [ + 3.88460636138916, + 0.467353880405426, + -2.047255277633667 + ], + [ + 3.88460636138916, + 0.467353880405426, + -2.893815279006958 + ], + [ + 3.88460636138916, + 0.07405585050582886, + -2.047255277633667 + ], + [ + 3.88460636138916, + 0.07405585050582886, + -2.893815279006958 + ] + ], + "center": { + "x": 4.201958656311035, + "y": 0.27070486545562744, + "z": -2.4705352783203125 + }, + "size": { + "x": 0.63470458984375, + "y": 0.39329802989959717, + "z": 0.846560001373291 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "FloorLamp|+09.50|+00.00|-04.61", + "object_info": { + "name": "FloorLamp_7b9f7403", + "position": { + "x": 9.50234603881836, + "y": 0.004467606544494629, + "z": -4.608982563018799 + }, + "rotation": { + "x": 0.006881124339997768, + "y": 0.21738579869270325, + "z": -0.00042331861914135516 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": true, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 2.8548407554626465, + "objectType": "FloorLamp", + "objectId": "FloorLamp|+09.50|+00.00|-04.61", + "assetId": "Floor_Lamp_13", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 9.787321090698242, + 2.003042697906494, + -4.324234962463379 + ], + [ + 9.787321090698242, + 2.003042697906494, + -4.899701118469238 + ], + [ + 9.787321090698242, + 1.3709068298339844e-05, + -4.324234962463379 + ], + [ + 9.787321090698242, + 1.3709068298339844e-05, + -4.899701118469238 + ], + [ + 9.211359024047852, + 2.003042697906494, + -4.324234962463379 + ], + [ + 9.211359024047852, + 2.003042697906494, + -4.899701118469238 + ], + [ + 9.211359024047852, + 1.3709068298339844e-05, + -4.324234962463379 + ], + [ + 9.211359024047852, + 1.3709068298339844e-05, + -4.899701118469238 + ] + ], + "center": { + "x": 9.499340057373047, + "y": 1.0015281438827515, + "z": -4.611968040466309 + }, + "size": { + "x": 0.5759620666503906, + "y": 2.0030288696289062, + "z": 0.5754661560058594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 9.787399291992188, + -2.7268193662166595e-05, + -4.326410293579102 + ], + [ + 9.213592529296875, + -3.0118972063064575e-05, + -4.324228763580322 + ], + [ + 9.211413383483887, + 1.567928120493889e-05, + -4.8975348472595215 + ], + [ + 9.785219192504883, + 1.8530059605836868e-05, + -4.899716377258301 + ], + [ + 9.787389755249023, + 2.003046989440918, + -4.326250076293945 + ], + [ + 9.213582992553711, + 2.0030441284179688, + -4.324068546295166 + ], + [ + 9.211403846740723, + 2.0030899047851562, + -4.897374629974365 + ], + [ + 9.785210609436035, + 2.0030927658081055, + -4.8995561599731445 + ] + ] + } + } + }, + { + "objectId": "SprayBottle|+05.14|00.00|-03.84", + "object_info": { + "name": "SprayBottle_a9754c67", + "position": { + "x": 5.1370015144348145, + "y": -0.0005081817507743835, + "z": -3.844012975692749 + }, + "rotation": { + "x": 0.0034503545612096786, + "y": 269.99951171875, + "z": 0.03528226166963577 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.10999999940395355, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 1.9716495275497437, + "objectType": "SprayBottle", + "objectId": "SprayBottle|+05.14|00.00|-03.84", + "assetId": "Spray_Bottle_6", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.189345836639404, + 0.2455020546913147, + -3.8275833129882812 + ], + [ + 5.189345836639404, + 0.2455020546913147, + -3.8604817390441895 + ], + [ + 5.189345836639404, + -1.8402934074401855e-06, + -3.8275833129882812 + ], + [ + 5.189345836639404, + -1.8402934074401855e-06, + -3.8604817390441895 + ], + [ + 5.07687520980835, + 0.2455020546913147, + -3.8275833129882812 + ], + [ + 5.07687520980835, + 0.2455020546913147, + -3.8604817390441895 + ], + [ + 5.07687520980835, + -1.8402934074401855e-06, + -3.8275833129882812 + ], + [ + 5.07687520980835, + -1.8402934074401855e-06, + -3.8604817390441895 + ] + ], + "center": { + "x": 5.133110523223877, + "y": 0.12275011092424393, + "z": -3.8440325260162354 + }, + "size": { + "x": 0.11247062683105469, + "y": 0.24550390243530273, + "z": 0.0328984260559082 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.076879978179932, + 5.427864380180836e-06, + -3.8275833129882812 + ], + [ + 5.076879978179932, + -1.732143573462963e-06, + -3.860438108444214 + ], + [ + 5.1893463134765625, + 2.53249891102314e-06, + -3.860438108444214 + ], + [ + 5.1893463134765625, + 9.692506864666939e-06, + -3.8275833129882812 + ], + [ + 5.076870918273926, + 0.24550381302833557, + -3.827636957168579 + ], + [ + 5.076870918273926, + 0.24549666047096252, + -3.8604915142059326 + ], + [ + 5.189337253570557, + 0.24550092220306396, + -3.8604915142059326 + ], + [ + 5.189337253570557, + 0.245508074760437, + -3.827636957168579 + ] + ] + } + } + }, + { + "objectId": "Drawer|+05.05|+00.47|-03.57", + "object_info": { + "name": "Drawer_14fd8fcf", + "position": { + "x": 5.050837993621826, + "y": 0.4674181044101715, + "z": -3.5713119506835938 + }, + "rotation": { + "x": -7.843902130844072e-05, + "y": 270.0002136230469, + "z": -7.731795631116256e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 1.9835032224655151, + "objectType": "Drawer", + "objectId": "Drawer|+05.05|+00.47|-03.57", + "assetId": "", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.227380752563477, + 0.5204447507858276, + -3.4340028762817383 + ], + [ + 5.227380752563477, + 0.5204447507858276, + -3.7086181640625 + ], + [ + 5.227380752563477, + 0.4450979232788086, + -3.4340028762817383 + ], + [ + 5.227380752563477, + 0.4450979232788086, + -3.7086181640625 + ], + [ + 4.871293067932129, + 0.5204447507858276, + -3.4340028762817383 + ], + [ + 4.871293067932129, + 0.5204447507858276, + -3.7086181640625 + ], + [ + 4.871293067932129, + 0.4450979232788086, + -3.4340028762817383 + ], + [ + 4.871293067932129, + 0.4450979232788086, + -3.7086181640625 + ] + ], + "center": { + "x": 5.049336910247803, + "y": 0.4827713370323181, + "z": -3.571310520172119 + }, + "size": { + "x": 0.35608768463134766, + "y": 0.07534682750701904, + "z": 0.2746152877807617 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 2.9000000953674316, + "y": 0.9009992480278015, + "z": -4.0 + }, + "agent_rotation": { + "x": -0.0, + "y": 107.0, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 2.9000000953674316, + "y": 1.5759992599487305, + "z": -4.0 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Laptop|+04.80|+00.61|-02.45", + "Drawer|+04.20|+00.27|-02.89", + "CellPhone|+04.64|+00.61|-02.69", + "Bed|+04.20|+00.00|-02.48", + "Drawer|+04.88|+00.27|-02.89" + ], + "different_object": [ + "SprayBottle|+05.14|00.00|-03.84", + "Apple|+05.02|+00.63|-03.62", + "Bottle|+04.96|+00.56|-03.42", + "AlarmClock|+05.08|+00.56|-03.47", + "Drawer|+05.05|+00.47|-03.57", + "SideTable|+05.04|00.00|-03.57", + "FloorLamp|+09.50|+00.00|-04.61" + ] +} \ No newline at end of file diff --git a/train/FloorPlan_Train2_1/9/0_depth_npy.npy b/train/FloorPlan_Train2_1/9/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..8bb55faf58ace2b60047c536f4f69f93059b3e8a --- /dev/null +++ b/train/FloorPlan_Train2_1/9/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:982031ead54e8da32c493999956dea4e45b6a02aa05a74094310e02682bc04af +size 3145856 diff --git a/train/FloorPlan_Train2_1/9/0_semantic_sensor_npy.npy b/train/FloorPlan_Train2_1/9/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..680dbb078df48c5d18b90e729ef307e4c8e6ba65 --- /dev/null +++ b/train/FloorPlan_Train2_1/9/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:53ccb59bb01d7fe3665e674e780c6b7e01e97bf6761407c318e267e5216ee74f +size 2359424 diff --git a/train/FloorPlan_Train2_1/9/1.json b/train/FloorPlan_Train2_1/9/1.json new file mode 100644 index 0000000000000000000000000000000000000000..689bd05b87419c521fcfec1bc79c32e0f800bd95 --- /dev/null +++ b/train/FloorPlan_Train2_1/9/1.json @@ -0,0 +1,1467 @@ +{ + "object": [ + { + "objectId": "Drawer|+04.88|+00.27|-02.89", + "object_info": { + "name": "Drawer_69e903b1", + "position": { + "x": 4.883700847625732, + "y": 0.2703988552093506, + "z": -2.8904294967651367 + }, + "rotation": { + "x": -2.0317756934673525e-05, + "y": 89.99891662597656, + "z": -3.827755790553056e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.519655466079712, + "objectType": "Drawer", + "objectId": "Drawer|+04.88|+00.27|-02.89", + "assetId": "", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.201037406921387, + 0.46735382080078125, + -2.0472445487976074 + ], + [ + 5.201037406921387, + 0.46735382080078125, + -2.8938045501708984 + ], + [ + 5.201037406921387, + 0.0740557312965393, + -2.0472445487976074 + ], + [ + 5.201037406921387, + 0.0740557312965393, + -2.8938045501708984 + ], + [ + 4.566332817077637, + 0.46735382080078125, + -2.0472445487976074 + ], + [ + 4.566332817077637, + 0.46735382080078125, + -2.8938045501708984 + ], + [ + 4.566332817077637, + 0.0740557312965393, + -2.0472445487976074 + ], + [ + 4.566332817077637, + 0.0740557312965393, + -2.8938045501708984 + ] + ], + "center": { + "x": 4.883685111999512, + "y": 0.2707047760486603, + "z": -2.470524549484253 + }, + "size": { + "x": 0.63470458984375, + "y": 0.39329808950424194, + "z": 0.846560001373291 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Laptop|+04.80|+00.61|-02.45", + "object_info": { + "name": "Laptop_d928aa6a", + "position": { + "x": 4.802971363067627, + "y": 0.6062590479850769, + "z": -2.4460458755493164 + }, + "rotation": { + "x": 0.38351917266845703, + "y": 210.0006866455078, + "z": -0.0002801173832267523 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 2.299999952316284, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 2.809436321258545, + "objectType": "Laptop", + "objectId": "Laptop|+04.80|+00.61|-02.45", + "assetId": "Laptop_6", + "parentReceptacles": [ + "Bed|+04.20|+00.00|-02.48" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.04713249206543, + 0.8851285576820374, + -2.2218401432037354 + ], + [ + 5.04713249206543, + 0.8851285576820374, + -2.6727206707000732 + ], + [ + 5.04713249206543, + 0.6052622199058533, + -2.2218401432037354 + ], + [ + 5.04713249206543, + 0.6052622199058533, + -2.6727206707000732 + ], + [ + 4.557373046875, + 0.8851285576820374, + -2.2218401432037354 + ], + [ + 4.557373046875, + 0.8851285576820374, + -2.6727206707000732 + ], + [ + 4.557373046875, + 0.6052622199058533, + -2.2218401432037354 + ], + [ + 4.557373046875, + 0.6052622199058533, + -2.6727206707000732 + ] + ], + "center": { + "x": 4.802252769470215, + "y": 0.7451953887939453, + "z": -2.4472804069519043 + }, + "size": { + "x": 0.4897594451904297, + "y": 0.2798663377761841, + "z": 0.4508805274963379 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.557434558868408, + 0.6034315228462219, + -2.4739019870758057 + ], + [ + 4.901598930358887, + 0.6034278869628906, + -2.6726129055023193 + ], + [ + 5.04713249206543, + 0.6053743958473206, + -2.420551061630249 + ], + [ + 4.702968120574951, + 0.6053779721260071, + -2.2218401432037354 + ], + [ + 4.556501388549805, + 0.8831818699836731, + -2.4755234718322754 + ], + [ + 4.900665760040283, + 0.8831782341003418, + -2.674234390258789 + ], + [ + 5.046199321746826, + 0.885124683380127, + -2.4221725463867188 + ], + [ + 4.702034950256348, + 0.885128378868103, + -2.223461627960205 + ] + ] + } + } + }, + { + "objectId": "CellPhone|+04.64|+00.61|-02.69", + "object_info": { + "name": "CellPhone_e0c99ff3", + "position": { + "x": 4.638007164001465, + "y": 0.6053308248519897, + "z": -2.693052291870117 + }, + "rotation": { + "x": -0.0002687949745450169, + "y": 171.6435089111328, + "z": -0.005572794005274773 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1599999964237213, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 2.7704339027404785, + "objectType": "CellPhone", + "objectId": "CellPhone|+04.64|+00.61|-02.69", + "assetId": "Cellphone_2", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.688342571258545, + 0.6113958954811096, + -2.6079635620117188 + ], + [ + 4.688342571258545, + 0.6113958954811096, + -2.7785181999206543 + ], + [ + 4.688342571258545, + 0.6052599549293518, + -2.6079635620117188 + ], + [ + 4.688342571258545, + 0.6052599549293518, + -2.7785181999206543 + ], + [ + 4.587714672088623, + 0.6113958954811096, + -2.6079635620117188 + ], + [ + 4.587714672088623, + 0.6113958954811096, + -2.7785181999206543 + ], + [ + 4.587714672088623, + 0.6052599549293518, + -2.6079635620117188 + ], + [ + 4.587714672088623, + 0.6052599549293518, + -2.7785181999206543 + ] + ], + "center": { + "x": 4.638028621673584, + "y": 0.6083279252052307, + "z": -2.6932408809661865 + }, + "size": { + "x": 0.10062789916992188, + "y": 0.0061359405517578125, + "z": 0.17055463790893555 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.611098289489746, + 0.6052614450454712, + -2.7785184383392334 + ], + [ + 4.688342094421387, + 0.6052679419517517, + -2.7671732902526855 + ], + [ + 4.664958477020264, + 0.6052664518356323, + -2.607963800430298 + ], + [ + 4.587714672088623, + 0.6052599549293518, + -2.6193089485168457 + ], + [ + 4.611097812652588, + 0.6113893985748291, + -2.7785184383392334 + ], + [ + 4.6883416175842285, + 0.6113958954811096, + -2.7671732902526855 + ], + [ + 4.6649580001831055, + 0.6113944053649902, + -2.607963800430298 + ], + [ + 4.587714195251465, + 0.6113879084587097, + -2.6193089485168457 + ] + ] + } + } + }, + { + "objectId": "Bed|+04.20|+00.00|-02.48", + "object_info": { + "name": "Bed_25b79cf7", + "position": { + "x": 4.198010444641113, + "y": 1.7851591110229492e-05, + "z": -2.475999355316162 + }, + "rotation": { + "x": -2.0317773305578157e-05, + "y": 89.9989013671875, + "z": -3.827755426755175e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Fabric", + "Wood" + ], + "receptacleObjectIds": [ + "Laptop|+04.80|+00.61|-02.45", + "RemoteControl|+04.48|+00.61|-02.54", + "Pillow|+03.51|+00.67|-02.33", + "Book|+03.55|+00.61|-02.73" + ], + "distance": 3.3591511249542236, + "objectType": "Bed", + "objectId": "Bed|+04.20|+00.00|-02.48", + "assetId": "RoboTHOR_hemnes_day_bed", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.251813888549805, + 0.8731186389923096, + -2.030113697052002 + ], + [ + 5.251813888549805, + 0.8731186389923096, + -2.894226551055908 + ], + [ + 5.251813888549805, + 8.106231689453125e-06, + -2.030113697052002 + ], + [ + 5.251813888549805, + 8.106231689453125e-06, + -2.894226551055908 + ], + [ + 3.1434707641601562, + 0.8731186389923096, + -2.030113697052002 + ], + [ + 3.1434707641601562, + 0.8731186389923096, + -2.894226551055908 + ], + [ + 3.1434707641601562, + 8.106231689453125e-06, + -2.030113697052002 + ], + [ + 3.1434707641601562, + 8.106231689453125e-06, + -2.894226551055908 + ] + ], + "center": { + "x": 4.1976423263549805, + "y": 0.4365633726119995, + "z": -2.462170124053955 + }, + "size": { + "x": 2.1083431243896484, + "y": 0.8731105327606201, + "z": 0.8641128540039062 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.251824378967285, + 1.5431556676048785e-05, + -2.894209861755371 + ], + [ + 5.251810550689697, + 1.4201650628820062e-05, + -2.0301241874694824 + ], + [ + 3.143462657928467, + 1.4450725757342298e-05, + -2.0301570892333984 + ], + [ + 3.1434762477874756, + 1.568063089507632e-05, + -2.894242763519287 + ], + [ + 5.251824378967285, + 0.8731319308280945, + -2.8942086696624756 + ], + [ + 5.2518110275268555, + 0.8731306791305542, + -2.030122756958008 + ], + [ + 3.143462896347046, + 0.8731309175491333, + -2.030155658721924 + ], + [ + 3.1434762477874756, + 0.8731321692466736, + -2.8942413330078125 + ] + ] + } + } + }, + { + "objectId": "Drawer|+04.20|+00.27|-02.89", + "object_info": { + "name": "Drawer_efdeed3e", + "position": { + "x": 4.201973915100098, + "y": 0.2703986167907715, + "z": -2.8904426097869873 + }, + "rotation": { + "x": -2.0317756934673525e-05, + "y": 89.99891662597656, + "z": -3.827755790553056e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.0702054500579834, + "objectType": "Drawer", + "objectId": "Drawer|+04.20|+00.27|-02.89", + "assetId": "", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.51931095123291, + 0.467353880405426, + -2.047255277633667 + ], + [ + 4.51931095123291, + 0.467353880405426, + -2.893815279006958 + ], + [ + 4.51931095123291, + 0.07405585050582886, + -2.047255277633667 + ], + [ + 4.51931095123291, + 0.07405585050582886, + -2.893815279006958 + ], + [ + 3.88460636138916, + 0.467353880405426, + -2.047255277633667 + ], + [ + 3.88460636138916, + 0.467353880405426, + -2.893815279006958 + ], + [ + 3.88460636138916, + 0.07405585050582886, + -2.047255277633667 + ], + [ + 3.88460636138916, + 0.07405585050582886, + -2.893815279006958 + ] + ], + "center": { + "x": 4.201958656311035, + "y": 0.27070486545562744, + "z": -2.4705352783203125 + }, + "size": { + "x": 0.63470458984375, + "y": 0.39329802989959717, + "z": 0.846560001373291 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "RemoteControl|+04.48|+00.61|-02.54", + "object_info": { + "name": "RemoteControl_53ee9cb0", + "position": { + "x": 4.4790754318237305, + "y": 0.6066296100616455, + "z": -2.5440425872802734 + }, + "rotation": { + "x": 9.042520105140284e-05, + "y": 0.000614441407378763, + "z": -0.00011138019181089476 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.15000000596046448, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.9862892627716064, + "objectType": "RemoteControl", + "objectId": "RemoteControl|+04.48|+00.61|-02.54", + "assetId": "Remote_3", + "parentReceptacles": [ + "Bed|+04.20|+00.00|-02.48" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.512876987457275, + 0.626789927482605, + -2.436476230621338 + ], + [ + 4.512876987457275, + 0.626789927482605, + -2.6558690071105957 + ], + [ + 4.512876987457275, + 0.6052623987197876, + -2.436476230621338 + ], + [ + 4.512876987457275, + 0.6052623987197876, + -2.6558690071105957 + ], + [ + 4.4452643394470215, + 0.626789927482605, + -2.436476230621338 + ], + [ + 4.4452643394470215, + 0.626789927482605, + -2.6558690071105957 + ], + [ + 4.4452643394470215, + 0.6052623987197876, + -2.436476230621338 + ], + [ + 4.4452643394470215, + 0.6052623987197876, + -2.6558690071105957 + ] + ], + "center": { + "x": 4.479070663452148, + "y": 0.6160261631011963, + "z": -2.546172618865967 + }, + "size": { + "x": 0.0676126480102539, + "y": 0.021527528762817383, + "z": 0.2193927764892578 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.512875080108643, + 0.605262279510498, + -2.4364776611328125 + ], + [ + 4.44526481628418, + 0.605267345905304, + -2.436476707458496 + ], + [ + 4.445261478424072, + 0.6052687764167786, + -2.6558680534362793 + ], + [ + 4.512871742248535, + 0.6052637100219727, + -2.6558690071105957 + ], + [ + 4.512876510620117, + 0.6267838478088379, + -2.4364776611328125 + ], + [ + 4.445266246795654, + 0.6267889142036438, + -2.436476469039917 + ], + [ + 4.445262908935547, + 0.6267903447151184, + -2.6558678150177 + ], + [ + 4.51287317276001, + 0.6267852783203125, + -2.6558690071105957 + ] + ] + } + } + }, + { + "objectId": "ArmChair|+05.67|+00.00|-03.34", + "object_info": { + "name": "ArmChair_976b4464", + "position": { + "x": 5.674000263214111, + "y": 0.0003311336040496826, + "z": -3.3376054763793945 + }, + "rotation": { + "x": 0.0722069963812828, + "y": 0.007394183427095413, + "z": 359.99407958984375 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Fabric", + "Wood" + ], + "receptacleObjectIds": [], + "distance": 1.7910224199295044, + "objectType": "ArmChair", + "objectId": "ArmChair|+05.67|+00.00|-03.34", + "assetId": "RoboTHOR_armchair_emmabo", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.9838457107543945, + 0.7615068554878235, + -2.80964994430542 + ], + [ + 5.9838457107543945, + 0.7615068554878235, + -3.8527841567993164 + ], + [ + 5.9838457107543945, + -1.0251998901367188e-05, + -2.80964994430542 + ], + [ + 5.9838457107543945, + -1.0251998901367188e-05, + -3.8527841567993164 + ], + [ + 5.3649091720581055, + 0.7615068554878235, + -2.80964994430542 + ], + [ + 5.3649091720581055, + 0.7615068554878235, + -3.8527841567993164 + ], + [ + 5.3649091720581055, + -1.0251998901367188e-05, + -2.80964994430542 + ], + [ + 5.3649091720581055, + -1.0251998901367188e-05, + -3.8527841567993164 + ] + ], + "center": { + "x": 5.67437744140625, + "y": 0.38074830174446106, + "z": -3.331217050552368 + }, + "size": { + "x": 0.6189365386962891, + "y": 0.7615171074867249, + "z": 1.0431342124938965 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.983843803405762, + -0.000647825188934803, + -2.809797763824463 + ], + [ + 5.364981651306152, + -0.0006348271272145212, + -2.8097238540649414 + ], + [ + 5.364856719970703, + 0.0003689778968691826, + -3.8532891273498535 + ], + [ + 5.983719348907471, + 0.0003559798642527312, + -3.853363037109375 + ], + [ + 5.983860015869141, + 0.7606476545333862, + -2.809065580368042 + ], + [ + 5.364997863769531, + 0.7606606483459473, + -2.8089914321899414 + ], + [ + 5.364872932434082, + 0.7616645097732544, + -3.8525569438934326 + ], + [ + 5.98373556137085, + 0.7616515159606934, + -3.852630853652954 + ] + ] + } + } + }, + { + "objectId": "Painting|+04.18|+01.50|-01.99", + "object_info": { + "name": "Painting_0820bf89", + "position": { + "x": 4.177000045776367, + "y": 1.4950000047683716, + "z": -1.9900000095367432 + }, + "rotation": { + "x": -0.0, + "y": 180.00001525878906, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.6112418174743652, + "objectType": "Painting", + "objectId": "Painting|+04.18|+01.50|-01.99", + "assetId": "Wall_Decor_Painting_8", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.527903079986572, + 1.758375644683838, + -1.9921107292175293 + ], + [ + 4.527903079986572, + 1.758375644683838, + -2.009321689605713 + ], + [ + 4.527903079986572, + 1.2316243648529053, + -1.9921107292175293 + ], + [ + 4.527903079986572, + 1.2316243648529053, + -2.009321689605713 + ], + [ + 3.8248209953308105, + 1.758375644683838, + -1.9921107292175293 + ], + [ + 3.8248209953308105, + 1.758375644683838, + -2.009321689605713 + ], + [ + 3.8248209953308105, + 1.2316243648529053, + -1.9921107292175293 + ], + [ + 3.8248209953308105, + 1.2316243648529053, + -2.009321689605713 + ] + ], + "center": { + "x": 4.176362037658691, + "y": 1.4950000047683716, + "z": -2.000716209411621 + }, + "size": { + "x": 0.7030820846557617, + "y": 0.5267512798309326, + "z": 0.017210960388183594 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Book|+03.55|+00.61|-02.73", + "object_info": { + "name": "Book_6870be45", + "position": { + "x": 3.5484557151794434, + "y": 0.6059596538543701, + "z": -2.7263917922973633 + }, + "rotation": { + "x": 0.015068678185343742, + "y": 198.4351806640625, + "z": 0.5429370999336243 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 3.668862819671631, + "objectType": "Book", + "objectId": "Book|+03.55|+00.61|-02.73", + "assetId": "Book_29", + "parentReceptacles": [ + "Bed|+04.20|+00.00|-02.48" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.6582932472229004, + 0.6229625940322876, + -2.597898483276367 + ], + [ + 3.6582932472229004, + 0.6229625940322876, + -2.854900360107422 + ], + [ + 3.6582932472229004, + 0.6051326990127563, + -2.597898483276367 + ], + [ + 3.6582932472229004, + 0.6051326990127563, + -2.854900360107422 + ], + [ + 3.4386534690856934, + 0.6229625940322876, + -2.597898483276367 + ], + [ + 3.4386534690856934, + 0.6229625940322876, + -2.854900360107422 + ], + [ + 3.4386534690856934, + 0.6051326990127563, + -2.597898483276367 + ], + [ + 3.4386534690856934, + 0.6051326990127563, + -2.854900360107422 + ] + ], + "center": { + "x": 3.548473358154297, + "y": 0.614047646522522, + "z": -2.7263994216918945 + }, + "size": { + "x": 0.21963977813720703, + "y": 0.01782989501953125, + "z": 0.2570018768310547 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.438640594482422, + 0.6054220795631409, + -2.8046531677246094 + ], + [ + 3.5892224311828613, + 0.6038720011711121, + -2.854846715927124 + ], + [ + 3.658142328262329, + 0.603916585445404, + -2.6480870246887207 + ], + [ + 3.5075607299804688, + 0.6054666638374329, + -2.597893476486206 + ], + [ + 3.4388041496276855, + 0.623199999332428, + -2.8047115802764893 + ], + [ + 3.589385986328125, + 0.6216499209403992, + -2.854905128479004 + ], + [ + 3.6583058834075928, + 0.6216945052146912, + -2.6481454372406006 + ], + [ + 3.5077242851257324, + 0.62324458360672, + -2.597951650619507 + ] + ] + } + } + }, + { + "objectId": "Pillow|+03.51|+00.67|-02.33", + "object_info": { + "name": "Pillow_383aacd1", + "position": { + "x": 3.511986494064331, + "y": 0.6677935123443604, + "z": -2.333008289337158 + }, + "rotation": { + "x": 0.0009829907212406397, + "y": 346.28564453125, + "z": -0.0014705248177051544 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 3.890742063522339, + "objectType": "Pillow", + "objectId": "Pillow|+03.51|+00.67|-02.33", + "assetId": "pillow_5", + "parentReceptacles": [ + "Bed|+04.20|+00.00|-02.48" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.708345413208008, + 0.722912073135376, + -2.1336591243743896 + ], + [ + 3.708345413208008, + 0.722912073135376, + -2.532355546951294 + ], + [ + 3.708345413208008, + 0.6052596569061279, + -2.1336591243743896 + ], + [ + 3.708345413208008, + 0.6052596569061279, + -2.532355546951294 + ], + [ + 3.3156137466430664, + 0.722912073135376, + -2.1336591243743896 + ], + [ + 3.3156137466430664, + 0.722912073135376, + -2.532355546951294 + ], + [ + 3.3156137466430664, + 0.6052596569061279, + -2.1336591243743896 + ], + [ + 3.3156137466430664, + 0.6052596569061279, + -2.532355546951294 + ] + ], + "center": { + "x": 3.511979579925537, + "y": 0.664085865020752, + "z": -2.333007335662842 + }, + "size": { + "x": 0.3927316665649414, + "y": 0.11765241622924805, + "z": 0.3986964225769043 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.6297543048858643, + 0.6052584052085876, + -2.133661985397339 + ], + [ + 3.3156137466430664, + 0.6052702069282532, + -2.2103235721588135 + ], + [ + 3.3942012786865234, + 0.6052759885787964, + -2.5323562622070312 + ], + [ + 3.7083420753479004, + 0.6052641272544861, + -2.4556946754455566 + ], + [ + 3.62975811958313, + 0.7228958010673523, + -2.1336591243743896 + ], + [ + 3.315617561340332, + 0.7229076027870178, + -2.2103207111358643 + ], + [ + 3.394205093383789, + 0.722913384437561, + -2.532353401184082 + ], + [ + 3.708345651626587, + 0.7229015231132507, + -2.4556915760040283 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 2.0, + "y": 0.9009992480278015, + "z": -2.9000000953674316 + }, + "agent_rotation": { + "x": -0.0, + "y": 41.0, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 2.0, + "y": 1.5759992599487305, + "z": -2.9000000953674316 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Laptop|+04.80|+00.61|-02.45", + "Drawer|+04.20|+00.27|-02.89", + "CellPhone|+04.64|+00.61|-02.69", + "Bed|+04.20|+00.00|-02.48", + "Drawer|+04.88|+00.27|-02.89" + ], + "different_object": [ + "Pillow|+03.51|+00.67|-02.33", + "ArmChair|+05.67|+00.00|-03.34", + "Painting|+04.18|+01.50|-01.99", + "RemoteControl|+04.48|+00.61|-02.54", + "Book|+03.55|+00.61|-02.73" + ] +} \ No newline at end of file diff --git a/train/FloorPlan_Train2_1/9/1_depth_npy.npy b/train/FloorPlan_Train2_1/9/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..7d2348171239e568a126f5018c29f59e0b64e79a --- /dev/null +++ b/train/FloorPlan_Train2_1/9/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5c670320b1090b7e40dd5babb7f7305135af61add20c9a6cbe4f0d8bd832f7b5 +size 3145856 diff --git a/train/FloorPlan_Train2_1/9/1_semantic_sensor_npy.npy b/train/FloorPlan_Train2_1/9/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..042e951410df2f9dd6496d898deda8d8fdc97f19 --- /dev/null +++ b/train/FloorPlan_Train2_1/9/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:79371fe9a6f1ab5ec8b0e42d2e2cf4882d9f7f5d812b765317b544f0b2bdfb7b +size 2359424 diff --git a/train/FloorPlan_Train2_1/9/depth_0.png b/train/FloorPlan_Train2_1/9/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..ea8989f836920b2ccebd802959109c48a7196a4a Binary files /dev/null and b/train/FloorPlan_Train2_1/9/depth_0.png differ diff --git a/train/FloorPlan_Train2_1/9/depth_1.png b/train/FloorPlan_Train2_1/9/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..3873f620861faa47e0755ab3a826c21b29be7ce2 Binary files /dev/null and b/train/FloorPlan_Train2_1/9/depth_1.png differ diff --git a/train/FloorPlan_Train2_1/9/mask_questions.jsonl b/train/FloorPlan_Train2_1/9/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/train/FloorPlan_Train2_1/9/questions_direction.jsonl b/train/FloorPlan_Train2_1/9/questions_direction.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dc6a4f9a692a8b7600d46f7a0a986c43fcf6f449 --- /dev/null +++ b/train/FloorPlan_Train2_1/9/questions_direction.jsonl @@ -0,0 +1,7 @@ +{"id": 139, "folder_dir": "FloorPlan_Train2_1/9", "pair_name": "SideTable-Painting", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of SideTable. Where is the centroid position of Painting in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "A", "src_object": "SideTable", "tgt_object": "Painting", "src_com": {"x": 5.0513715744018555, "y": 0.2799728214740753, "z": -3.5716633796691895}, "tgt_com": {"x": 4.176362037658691, "y": 1.4950000047683716, "z": -2.000716209411621}, "agent_pos": {"x": 2.9000000953674316, "y": 1.5759992599487305, "z": -4.0}, "image_1": "FloorPlan_Train2_1/9/0_rgb_image.png", "image_2": "FloorPlan_Train2_1/9/1_rgb_image.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 140, "folder_dir": "FloorPlan_Train2_1/9", "pair_name": "SideTable-Pillow", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of SideTable. Where is the centroid position of Pillow in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "A", "src_object": "SideTable", "tgt_object": "Pillow", "src_com": {"x": 5.0513715744018555, "y": 0.2799728214740753, "z": -3.5716633796691895}, "tgt_com": {"x": 3.511979579925537, "y": 0.664085865020752, "z": -2.333007335662842}, "agent_pos": {"x": 2.9000000953674316, "y": 1.5759992599487305, "z": -4.0}, "image_1": "FloorPlan_Train2_1/9/0_rgb_image.png", "image_2": "FloorPlan_Train2_1/9/1_rgb_image.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 141, "folder_dir": "FloorPlan_Train2_1/9", "pair_name": "FloorLamp-Painting", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of FloorLamp. Where is the centroid position of Painting in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "A", "src_object": "FloorLamp", "tgt_object": "Painting", "src_com": {"x": 9.499340057373047, "y": 1.0015281438827515, "z": -4.611968040466309}, "tgt_com": {"x": 4.176362037658691, "y": 1.4950000047683716, "z": -2.000716209411621}, "agent_pos": {"x": 2.9000000953674316, "y": 1.5759992599487305, "z": -4.0}, "image_1": "FloorPlan_Train2_1/9/0_rgb_image.png", "image_2": "FloorPlan_Train2_1/9/1_rgb_image.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 142, "folder_dir": "FloorPlan_Train2_1/9", "pair_name": "Painting-SideTable", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Painting. Where is the centroid position of SideTable in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "C", "src_object": "Painting", "tgt_object": "SideTable", "src_com": {"x": 4.176362037658691, "y": 1.4950000047683716, "z": -2.000716209411621}, "tgt_com": {"x": 5.0513715744018555, "y": 0.2799728214740753, "z": -3.5716633796691895}, "agent_pos": {"x": 2.0, "y": 1.5759992599487305, "z": -2.9000000953674316}, "image_1": "FloorPlan_Train2_1/9/1_rgb_image.png", "image_2": "FloorPlan_Train2_1/9/0_rgb_image.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 143, "folder_dir": "FloorPlan_Train2_1/9", "pair_name": "Painting-FloorLamp", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Painting. Where is the centroid position of FloorLamp in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "C", "src_object": "Painting", "tgt_object": "FloorLamp", "src_com": {"x": 4.176362037658691, "y": 1.4950000047683716, "z": -2.000716209411621}, "tgt_com": {"x": 9.499340057373047, "y": 1.0015281438827515, "z": -4.611968040466309}, "agent_pos": {"x": 2.0, "y": 1.5759992599487305, "z": -2.9000000953674316}, "image_1": "FloorPlan_Train2_1/9/1_rgb_image.png", "image_2": "FloorPlan_Train2_1/9/0_rgb_image.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 144, "folder_dir": "FloorPlan_Train2_1/9", "pair_name": "Pillow-SideTable", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Pillow. Where is the centroid position of SideTable in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "C", "src_object": "Pillow", "tgt_object": "SideTable", "src_com": {"x": 3.511979579925537, "y": 0.664085865020752, "z": -2.333007335662842}, "tgt_com": {"x": 5.0513715744018555, "y": 0.2799728214740753, "z": -3.5716633796691895}, "agent_pos": {"x": 2.0, "y": 1.5759992599487305, "z": -2.9000000953674316}, "image_1": "FloorPlan_Train2_1/9/1_rgb_image.png", "image_2": "FloorPlan_Train2_1/9/0_rgb_image.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 145, "folder_dir": "FloorPlan_Train2_1/9", "pair_name": "Pillow-FloorLamp", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Pillow. Where is the centroid position of FloorLamp in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "C", "src_object": "Pillow", "tgt_object": "FloorLamp", "src_com": {"x": 3.511979579925537, "y": 0.664085865020752, "z": -2.333007335662842}, "tgt_com": {"x": 9.499340057373047, "y": 1.0015281438827515, "z": -4.611968040466309}, "agent_pos": {"x": 2.0, "y": 1.5759992599487305, "z": -2.9000000953674316}, "image_1": "FloorPlan_Train2_1/9/1_rgb_image.png", "image_2": "FloorPlan_Train2_1/9/0_rgb_image.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} diff --git a/train/FloorPlan_Train2_1/9/questions_distance.jsonl b/train/FloorPlan_Train2_1/9/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5621538907b72a7ad691334b17c291789f2bbd01 --- /dev/null +++ b/train/FloorPlan_Train2_1/9/questions_distance.jsonl @@ -0,0 +1 @@ +{"id": 1300, "folder_dir": "FloorPlan_Train2_1/9", "query": "Which of the following objects is closest to Bed in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. RemoteControl\nB. Laptop\nC. CellPhone\nD. Other\n", "answer": "A", "src_object": "Bed", "target_object": "RemoteControl", "question": "Which of the following objects is closest to Bed in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "RemoteControl", "semantic_id": "RemoteControl|+04.48|+00.61|-02.54", "distance": 0.3441877703029098, "com": {"x": 4.479070663452148, "y": 0.6160261631011963, "z": -2.546172618865967}}, {"text": "Laptop", "semantic_id": "Laptop|+04.80|+00.61|-02.45", "distance": 0.6789913202773008, "com": {"x": 4.802252769470215, "y": 0.7451953887939453, "z": -2.4472804069519043}}, {"text": "CellPhone", "semantic_id": "CellPhone|+04.64|+00.61|-02.69", "distance": 0.5261528725874152, "com": {"x": 4.638028621673584, "y": 0.6083279252052307, "z": -2.6932408809661865}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan_Train2_1/9/rgb_0.png", "image_2": "FloorPlan_Train2_1/9/rgb_1.png"} diff --git a/train/FloorPlan_Train2_1/9/rgb_0.png b/train/FloorPlan_Train2_1/9/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..75a8dec45fb22b5d3bb8e5f622889813e740f025 --- /dev/null +++ b/train/FloorPlan_Train2_1/9/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:637141b4879005bd3762472344da0487700c1b4874ca5bb6a5121ffb15d06055 +size 1071256 diff --git a/train/FloorPlan_Train2_1/9/rgb_1.png b/train/FloorPlan_Train2_1/9/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..648c186972e1a027e189b47584bff0f6048b9d31 --- /dev/null +++ b/train/FloorPlan_Train2_1/9/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aa84f43f620558b894a99919fea5c8e341dafa6f4cbd1835c97962c072d561df +size 980528 diff --git a/train/FloorPlan_Train2_1/9/semantic_0.png b/train/FloorPlan_Train2_1/9/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..419a6d93be3d32a243c65efed3ff201818ad3c61 Binary files /dev/null and b/train/FloorPlan_Train2_1/9/semantic_0.png differ diff --git a/train/FloorPlan_Train2_1/9/semantic_1.png b/train/FloorPlan_Train2_1/9/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..121fd364ea3cf85b62b5c67a38d27049177b1a06 Binary files /dev/null and b/train/FloorPlan_Train2_1/9/semantic_1.png differ diff --git a/train/FloorPlan_Train2_1/color_to_object_id.json b/train/FloorPlan_Train2_1/color_to_object_id.json new file mode 100644 index 0000000000000000000000000000000000000000..a60d37e8e6706cb9b3cb1a7d08857ba44202bac9 --- /dev/null +++ b/train/FloorPlan_Train2_1/color_to_object_id.json @@ -0,0 +1,1234 @@ +[ + { + "Wall_4|0.98|1.298|-2.63": [ + 142, + 238, + 72 + ] + }, + { + "Wall": [ + 148, + 232, + 164 + ] + }, + { + "Wall_1|5.43|1.298|-0.07999992": [ + 95, + 14, + 145 + ] + }, + { + "Wall_3|5.43|1.298|-5.218": [ + 172, + 42, + 63 + ] + }, + { + "Mug|+07.90|+00.71|-01.27": [ + 70, + 152, + 181 + ] + }, + { + "Mug": [ + 8, + 94, + 186 + ] + }, + { + "BasketBall|+01.13|+00.12|-03.11": [ + 226, + 245, + 44 + ] + }, + { + "BasketBall": [ + 97, + 58, + 36 + ] + }, + { + "Vase|+06.77|+00.87|-03.71": [ + 67, + 203, + 191 + ] + }, + { + "Vase": [ + 83, + 152, + 69 + ] + }, + { + "RemoteControl|+04.48|+00.61|-02.54": [ + 177, + 145, + 212 + ] + }, + { + "RemoteControl": [ + 187, + 19, + 208 + ] + }, + { + "HousePlant|+07.58|+00.71|-01.44": [ + 180, + 139, + 175 + ] + }, + { + "HousePlant": [ + 73, + 144, + 213 + ] + }, + { + "Television|+01.36|+01.61|-03.67": [ + 114, + 233, + 244 + ] + }, + { + "Television": [ + 27, + 245, + 217 + ] + }, + { + "Laptop|+04.80|+00.61|-02.45": [ + 44, + 240, + 177 + ] + }, + { + "Laptop": [ + 20, + 107, + 222 + ] + }, + { + "DeskLamp|+06.39|+00.87|-03.66": [ + 252, + 245, + 117 + ] + }, + { + "DeskLamp": [ + 99, + 164, + 25 + ] + }, + { + "AlarmClock|+05.08|+00.56|-03.47": [ + 9, + 248, + 122 + ] + }, + { + "AlarmClock": [ + 184, + 20, + 170 + ] + }, + { + "Apple|+05.02|+00.63|-03.62": [ + 13, + 180, + 8 + ] + }, + { + "Apple": [ + 159, + 98, + 144 + ] + }, + { + "TheHand": [ + 254, + 153, + 113 + ] + }, + { + "Candle|+07.43|+00.71|-01.60": [ + 195, + 41, + 88 + ] + }, + { + "Candle": [ + 233, + 102, + 178 + ] + }, + { + "SprayBottle|+05.14|00.00|-03.84": [ + 233, + 212, + 102 + ] + }, + { + "SprayBottle": [ + 89, + 126, + 121 + ] + }, + { + "Bottle|+04.96|+00.56|-03.42": [ + 38, + 210, + 103 + ] + }, + { + "Bottle": [ + 64, + 80, + 115 + ] + }, + { + "FloorLamp|+09.50|+00.00|-04.61": [ + 150, + 19, + 72 + ] + }, + { + "FloorLamp": [ + 253, + 73, + 35 + ] + }, + { + "Pillow|+03.51|+00.67|-02.33": [ + 237, + 205, + 35 + ] + }, + { + "Pillow": [ + 217, + 193, + 130 + ] + }, + { + "GarbageCan|+01.19|00.00|-01.25": [ + 203, + 136, + 122 + ] + }, + { + "GarbageCan": [ + 225, + 40, + 55 + ] + }, + { + "BaseballBat|+03.04|+00.04|-02.30": [ + 89, + 198, + 112 + ] + }, + { + "BaseballBat": [ + 171, + 20, + 38 + ] + }, + { + "Bowl|+08.12|+00.71|-01.45": [ + 55, + 151, + 68 + ] + }, + { + "Bowl": [ + 209, + 182, + 193 + ] + }, + { + "CellPhone|+04.64|+00.61|-02.69": [ + 72, + 46, + 69 + ] + }, + { + "CellPhone": [ + 227, + 98, + 136 + ] + }, + { + "Pencil|+07.39|+00.71|-01.21": [ + 127, + 158, + 203 + ] + }, + { + "Pencil": [ + 177, + 226, + 23 + ] + }, + { + "Box|+09.57|+00.20|-02.88": [ + 130, + 215, + 227 + ] + }, + { + "Box": [ + 60, + 252, + 230 + ] + }, + { + "Painting|+09.03|+01.44|-01.01": [ + 22, + 105, + 185 + ] + }, + { + "Painting": [ + 40, + 117, + 236 + ] + }, + { + "agent_neck_1": [ + 237, + 2, + 11 + ] + }, + { + "agent_body_1 (shadows)": [ + 118, + 234, + 145 + ] + }, + { + "Drawer|+03.52|+00.27|-02.89": [ + 29, + 49, + 255 + ] + }, + { + "Drawer": [ + 155, + 30, + 210 + ] + }, + { + "agent_collarbone_1 (shadows)": [ + 93, + 86, + 170 + ] + }, + { + "Drawer|+01.60|+00.97|-04.07": [ + 108, + 87, + 70 + ] + }, + { + "Book|+03.55|+00.61|-02.73": [ + 188, + 176, + 190 + ] + }, + { + "Book": [ + 43, + 31, + 148 + ] + }, + { + "Chair|+09.41|+00.01|-02.28": [ + 14, + 48, + 224 + ] + }, + { + "Chair": [ + 166, + 13, + 176 + ] + }, + { + "agent_head_1 (shadows)": [ + 82, + 123, + 140 + ] + }, + { + "stretch_robot_base_code": [ + 222, + 118, + 166 + ] + }, + { + "agent_head_1": [ + 70, + 23, + 227 + ] + }, + { + "Drawer|+01.60|+00.46|-03.74": [ + 151, + 55, + 148 + ] + }, + { + "SideTable|+05.04|00.00|-03.57": [ + 71, + 97, + 126 + ] + }, + { + "SideTable": [ + 202, + 45, + 114 + ] + }, + { + "Drawer|+05.05|+00.47|-03.57": [ + 247, + 62, + 17 + ] + }, + { + "wall_panel_32_5 (24)|9.801|0|-2.956": [ + 43, + 34, + 251 + ] + }, + { + "wall_panel_32_5 (16)|3.934|0|-4.912": [ + 130, + 197, + 33 + ] + }, + { + "wall_panel_32_5 (21)|8.824|0|-4.912": [ + 21, + 9, + 13 + ] + }, + { + "wall_panel_32_5 (26)|2.362441|0|-1.977738": [ + 94, + 223, + 40 + ] + }, + { + "wall_panel_32_5 (6)|6.868|0|-1": [ + 136, + 4, + 23 + ] + }, + { + "wall_panel_32_5 (18)|5.89|0|-4.912": [ + 33, + 28, + 206 + ] + }, + { + "wall_panel_32_5 (23)|9.801|0|-1.978": [ + 185, + 151, + 128 + ] + }, + { + "wall_panel_32_5 (7)|7.846|0|-1": [ + 24, + 11, + 114 + ] + }, + { + "wall_panel_32_5 (33)|7.252441|0|-3.933738": [ + 117, + 160, + 178 + ] + }, + { + "wall_panel_32_5 (11)|1|0|-2.956": [ + 197, + 53, + 123 + ] + }, + { + "wall_panel_32_5 (1)|1.978|0|-1": [ + 157, + 180, + 241 + ] + }, + { + "wall_panel_32_5 (32)|6.274441|0|-3.933738": [ + 116, + 225, + 230 + ] + }, + { + "wall_panel_32_5 (19)|6.868|0|-4.912": [ + 238, + 127, + 129 + ] + }, + { + "wall_panel_32_5 (17)|4.912|0|-4.912": [ + 31, + 241, + 210 + ] + }, + { + "wall_panel_32_5 (22)|9.801|0|-1": [ + 173, + 96, + 201 + ] + }, + { + "wall_panel_32_5 (20)|7.846|0|-4.912": [ + 76, + 223, + 95 + ] + }, + { + "wall_panel_32_5 (29)|5.296441|0|-1.977738": [ + 58, + 243, + 95 + ] + }, + { + "wall_panel_32_5 (28)|4.318441|0|-1.977738": [ + 253, + 82, + 5 + ] + }, + { + "wall_panel_32_5 (3)|3.934|0|-1": [ + 37, + 224, + 119 + ] + }, + { + "wall_panel_32_5|1|0|-1": [ + 202, + 3, + 193 + ] + }, + { + "wall_panel_32_5 (31)|5.296441|0|-3.933738": [ + 106, + 106, + 202 + ] + }, + { + "wall_panel_32_5 (13)|1|0|-4.912": [ + 10, + 8, + 168 + ] + }, + { + "wall_panel_32_5 (25)|9.801|0|-3.934": [ + 180, + 118, + 197 + ] + }, + { + "wall_panel_32_5 (12)|1|0|-3.934": [ + 69, + 182, + 203 + ] + }, + { + "wall_panel_32_5 (2)|2.956|0|-1": [ + 203, + 76, + 17 + ] + }, + { + "wall_panel_32_5 (8)|8.824|0|-1": [ + 203, + 125, + 30 + ] + }, + { + "wall_panel_32_5 (15)|2.956|0|-4.912": [ + 23, + 83, + 10 + ] + }, + { + "wall_panel_32_5 (5)|5.89|0|-1": [ + 186, + 88, + 110 + ] + }, + { + "wall_panel_32_5 (10)|1|0|-1.978": [ + 217, + 136, + 210 + ] + }, + { + "wall_panel_32_5 (27)|3.340441|0|-1.977738": [ + 134, + 26, + 155 + ] + }, + { + "wall_panel_32_5 (14)|1.978|0|-4.912": [ + 140, + 158, + 51 + ] + }, + { + "wall_panel_32_5 (9)|1|0|-1": [ + 72, + 206, + 229 + ] + }, + { + "wall_panel_32_5 (30)|5.296441|0|-2.955738": [ + 217, + 187, + 245 + ] + }, + { + "wall_panel_32_5 (4)|4.912|0|-1": [ + 231, + 22, + 92 + ] + }, + { + "Drawer|+01.60|+00.20|-03.74": [ + 248, + 80, + 199 + ] + }, + { + "stretch_robot_laser": [ + 10, + 130, + 176 + ] + }, + { + "Drawer|+04.20|+00.27|-02.89": [ + 141, + 106, + 135 + ] + }, + { + "stretch_robot_mast": [ + 23, + 220, + 180 + ] + }, + { + "stretch_robot_head_1": [ + 49, + 42, + 177 + ] + }, + { + "Drawer|+04.88|+00.27|-02.89": [ + 27, + 28, + 22 + ] + }, + { + "thorkea_ceiling_vent (1)|2.821|2.612|-2.386": [ + 237, + 235, + 57 + ] + }, + { + "Undefined": [ + 236, + 15, + 192 + ] + }, + { + "ArmChair|+05.67|+00.00|-03.34": [ + 183, + 73, + 92 + ] + }, + { + "ArmChair": [ + 96, + 52, + 68 + ] + }, + { + "agent_neck_3": [ + 222, + 137, + 117 + ] + }, + { + "Dresser|+01.33|+00.00|-03.74": [ + 123, + 199, + 183 + ] + }, + { + "Dresser": [ + 51, + 128, + 146 + ] + }, + { + "robot_tilt_link_n (shadows)": [ + 36, + 8, + 148 + ] + }, + { + "agent_head_2 (shadows)": [ + 32, + 197, + 156 + ] + }, + { + "stretch_robot_head_3 (shadows)": [ + 223, + 148, + 246 + ] + }, + { + "Painting|+02.45|+01.51|-04.90": [ + 0, + 154, + 15 + ] + }, + { + "Shelf|+09.48|+00.20|-02.91": [ + 218, + 219, + 199 + ] + }, + { + "Shelf": [ + 39, + 54, + 158 + ] + }, + { + "thorkea_ceiling_vent (2)|7.687|2.612|-2.386": [ + 163, + 32, + 207 + ] + }, + { + "agent_collarbone_2": [ + 2, + 37, + 101 + ] + }, + { + "agent_neck_2 (shadows)": [ + 92, + 208, + 201 + ] + }, + { + "agent_head_2": [ + 150, + 20, + 222 + ] + }, + { + "stretch_robot_head_2": [ + 216, + 48, + 217 + ] + }, + { + "agent_neck_3 (shadows)": [ + 126, + 142, + 197 + ] + }, + { + "stretch_robot_omniwheel": [ + 9, + 217, + 190 + ] + }, + { + "robot_wrist_link": [ + 253, + 249, + 75 + ] + }, + { + "robot_tilt_link_n": [ + 218, + 60, + 247 + ] + }, + { + "robot_finger_r": [ + 88, + 122, + 163 + ] + }, + { + "robot_finger_l": [ + 30, + 239, + 74 + ] + }, + { + "robot_elbow_link": [ + 19, + 122, + 20 + ] + }, + { + "robot_camera_link_n": [ + 228, + 169, + 65 + ] + }, + { + "robot_cam_mount_n": [ + 140, + 135, + 233 + ] + }, + { + "robot_battery_n": [ + 44, + 151, + 43 + ] + }, + { + "robot_ar_tag": [ + 68, + 228, + 250 + ] + }, + { + "robot_shoulder_link": [ + 138, + 163, + 159 + ] + }, + { + "robot_roll_link_n": [ + 242, + 112, + 218 + ] + }, + { + "robot_plate": [ + 213, + 32, + 44 + ] + }, + { + "robot_main_wheel_r_n": [ + 10, + 144, + 235 + ] + }, + { + "robot_main_wheel_l_n": [ + 154, + 200, + 234 + ] + }, + { + "robot_main_body": [ + 17, + 40, + 206 + ] + }, + { + "robot_gripper_link": [ + 142, + 152, + 201 + ] + }, + { + "robot_forearm_link": [ + 238, + 115, + 222 + ] + }, + { + "DiningTable|+07.83|+00.00|-01.39": [ + 198, + 98, + 131 + ] + }, + { + "DiningTable": [ + 83, + 33, + 33 + ] + }, + { + "Painting|+05.31|+01.39|-02.93": [ + 55, + 38, + 59 + ] + }, + { + "agent_collarbone_2 (shadows)": [ + 63, + 136, + 94 + ] + }, + { + "stretch_robot_head_2 (shadows)": [ + 246, + 93, + 166 + ] + }, + { + "stretch_robot_wheel_r": [ + 44, + 167, + 162 + ] + }, + { + "RoboTHOR_Ceiling|0|0|0": [ + 133, + 29, + 34 + ] + }, + { + "Ceiling": [ + 50, + 55, + 251 + ] + }, + { + "thorkea_ceiling_vent|5.267|2.612|-2.386": [ + 252, + 17, + 215 + ] + }, + { + "agent_collarbone_3": [ + 90, + 90, + 59 + ] + }, + { + "Drawer|+01.60|+00.97|-03.74": [ + 71, + 29, + 222 + ] + }, + { + "stretch_robot_wheel_l": [ + 156, + 103, + 229 + ] + }, + { + "Drawer|+01.60|+00.72|-03.74": [ + 220, + 35, + 1 + ] + }, + { + "Drawer|+01.60|+00.97|-03.41": [ + 17, + 0, + 88 + ] + }, + { + "agent_collarbone_3 (shadows)": [ + 88, + 54, + 205 + ] + }, + { + "agent_neck_1 (shadows)": [ + 130, + 236, + 39 + ] + }, + { + "Box|+01.39|+00.11|-04.49": [ + 103, + 209, + 238 + ] + }, + { + "agent_body_1": [ + 1, + 92, + 174 + ] + }, + { + "stretch_robot_base": [ + 222, + 21, + 105 + ] + }, + { + "robot_roll_link_n (shadows)": [ + 210, + 61, + 186 + ] + }, + { + "agent_neck_2": [ + 141, + 253, + 138 + ] + }, + { + "agent_collarbone_1": [ + 134, + 151, + 126 + ] + }, + { + "Wall_2|9.892|1.298|-2.63": [ + 253, + 170, + 195 + ] + }, + { + "Floor|+00.00|+00.00|+00.00": [ + 88, + 131, + 103 + ] + }, + { + "Floor": [ + 243, + 246, + 208 + ] + }, + { + "SideTable|+09.48|+00.00|-02.91": [ + 187, + 216, + 159 + ] + }, + { + "stretch_robot_head_3": [ + 46, + 18, + 120 + ] + }, + { + "Drawer|+06.47|+00.77|-03.63": [ + 67, + 102, + 15 + ] + }, + { + "SideTable|+06.47|+00.00|-03.69": [ + 13, + 146, + 241 + ] + }, + { + "Painting|+04.18|+01.50|-01.99": [ + 187, + 80, + 212 + ] + }, + { + "Bed|+04.20|+00.00|-02.48": [ + 81, + 57, + 182 + ] + }, + { + "Bed": [ + 209, + 156, + 101 + ] + }, + { + "robot_camera_link_n (shadows)": [ + 171, + 206, + 252 + ] + } +] \ No newline at end of file diff --git a/train/train1316/0/0.json b/train/train1316/0/0.json new file mode 100644 index 0000000000000000000000000000000000000000..592951913d15e6038b0dfefacef14c97ff97a7ed --- /dev/null +++ b/train/train1316/0/0.json @@ -0,0 +1,774 @@ +{ + "object": [ + { + "objectId": "door|4|5", + "object_info": { + "name": "door|4|5", + "position": { + "x": 6.489999771118164, + "y": -0.0021260976791381836, + "z": 0.10284990072250366 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 4.4392242431640625, + "objectType": "Doorway", + "objectId": "door|4|5", + "assetId": "Doorway_Double_7", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.5596208572387695, + 2.09407377243042, + 2.072422742843628 + ], + [ + 6.5596208572387695, + 2.09407377243042, + 0.06777405738830566 + ], + [ + 6.5596208572387695, + -0.0015277862548828125, + 2.072422742843628 + ], + [ + 6.5596208572387695, + -0.0015277862548828125, + 0.06777405738830566 + ], + [ + 5.575068473815918, + 2.09407377243042, + 2.072422742843628 + ], + [ + 5.575068473815918, + 2.09407377243042, + 0.06777405738830566 + ], + [ + 5.575068473815918, + -0.0015277862548828125, + 2.072422742843628 + ], + [ + 5.575068473815918, + -0.0015277862548828125, + 0.06777405738830566 + ] + ], + "center": { + "x": 6.067344665527344, + "y": 1.0462729930877686, + "z": 1.0700984001159668 + }, + "size": { + "x": 0.9845523834228516, + "y": 2.0956015586853027, + "z": 2.0046486854553223 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Pillow|4|4|1", + "object_info": { + "name": "Pillow|4|4|1", + "position": { + "x": 3.201425075531006, + "y": 0.5985909104347229, + "z": 0.4681455194950104 + }, + "rotation": { + "x": 8.277619599539321e-06, + "y": 3.8141854474815773e-06, + "z": -3.4723187127383426e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 2.5503132343292236, + "objectType": "Pillow", + "objectId": "Pillow|4|4|1", + "assetId": "pillow_3", + "parentReceptacles": [ + "Bed|4|4|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.447932481765747, + 0.6661474704742432, + 0.6612910032272339 + ], + [ + 3.447932481765747, + 0.6661474704742432, + 0.27500003576278687 + ], + [ + 3.447932481765747, + 0.5310343503952026, + 0.6612910032272339 + ], + [ + 3.447932481765747, + 0.5310343503952026, + 0.27500003576278687 + ], + [ + 2.9549176692962646, + 0.6661474704742432, + 0.6612910032272339 + ], + [ + 2.9549176692962646, + 0.6661474704742432, + 0.27500003576278687 + ], + [ + 2.9549176692962646, + 0.5310343503952026, + 0.6612910032272339 + ], + [ + 2.9549176692962646, + 0.5310343503952026, + 0.27500003576278687 + ] + ], + "center": { + "x": 3.201425075531006, + "y": 0.5985909104347229, + "z": 0.4681455194950104 + }, + "size": { + "x": 0.4930148124694824, + "y": 0.13511312007904053, + "z": 0.386290967464447 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.447932481765747, + 0.5310343503952026, + 0.6612909436225891 + ], + [ + 2.9549176692962646, + 0.5310346484184265, + 0.6612909436225891 + ], + [ + 2.9549176692962646, + 0.5310347080230713, + 0.27500009536743164 + ], + [ + 3.447932481765747, + 0.5310344099998474, + 0.27500003576278687 + ], + [ + 3.447932481765747, + 0.6661471128463745, + 0.6612909436225891 + ], + [ + 2.9549176692962646, + 0.6661474108695984, + 0.6612910032272339 + ], + [ + 2.9549176692962646, + 0.6661474704742432, + 0.27500009536743164 + ], + [ + 3.447932481765747, + 0.6661471724510193, + 0.27500009536743164 + ] + ] + } + } + }, + { + "objectId": "Bed|4|4|0", + "object_info": { + "name": "Bed|4|4|0", + "position": { + "x": 3.4979326725006104, + "y": 0.00913289189338684, + "z": 1.0374341011047363 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": true, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "Pillow|4|4|1", + "Pillow|4|4|2" + ], + "distance": 2.169922113418579, + "objectType": "Bed", + "objectId": "Bed|4|4|0", + "assetId": "Bed_20", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.080060958862305, + 0.6742458939552307, + 2.044003486633301 + ], + [ + 4.080060958862305, + 0.6742458939552307, + 0.02499997615814209 + ], + [ + 4.080060958862305, + 0.0, + 2.044003486633301 + ], + [ + 4.080060958862305, + 0.0, + 0.02499997615814209 + ], + [ + 2.915804862976074, + 0.6742458939552307, + 2.044003486633301 + ], + [ + 2.915804862976074, + 0.6742458939552307, + 0.02499997615814209 + ], + [ + 2.915804862976074, + 0.0, + 2.044003486633301 + ], + [ + 2.915804862976074, + 0.0, + 0.02499997615814209 + ] + ], + "center": { + "x": 3.4979329109191895, + "y": 0.33712294697761536, + "z": 1.0345016717910767 + }, + "size": { + "x": 1.1642560958862305, + "y": 0.6742458939552307, + "z": 2.019003391265869 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.080060958862305, + 2.9802322387695312e-08, + 2.044003486633301 + ], + [ + 2.915804624557495, + 2.9802322387695312e-08, + 2.044003486633301 + ], + [ + 2.915804624557495, + 2.9802322387695312e-08, + 0.02499997615814209 + ], + [ + 4.080060958862305, + 2.9802322387695312e-08, + 0.02499997615814209 + ], + [ + 4.080060958862305, + 0.6742458343505859, + 2.044003486633301 + ], + [ + 2.915804624557495, + 0.6742458343505859, + 2.044003486633301 + ], + [ + 2.915804624557495, + 0.6742458343505859, + 0.02499997615814209 + ], + [ + 4.080060958862305, + 0.6742458343505859, + 0.02499997615814209 + ] + ] + } + } + }, + { + "objectId": "Pillow|4|4|2", + "object_info": { + "name": "Pillow|4|4|2", + "position": { + "x": 3.7944400310516357, + "y": 0.5985909104347229, + "z": 0.4681455194950104 + }, + "rotation": { + "x": 1.0193306479777675e-05, + "y": 4.182281372777652e-06, + "z": -3.53850336978212e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 2.6073267459869385, + "objectType": "Pillow", + "objectId": "Pillow|4|4|2", + "assetId": "pillow_3", + "parentReceptacles": [ + "Bed|4|4|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.040947437286377, + 0.6661474704742432, + 0.6612910032272339 + ], + [ + 4.040947437286377, + 0.6661474704742432, + 0.27500003576278687 + ], + [ + 4.040947437286377, + 0.5310343503952026, + 0.6612910032272339 + ], + [ + 4.040947437286377, + 0.5310343503952026, + 0.27500003576278687 + ], + [ + 3.5479326248168945, + 0.6661474704742432, + 0.6612910032272339 + ], + [ + 3.5479326248168945, + 0.6661474704742432, + 0.27500003576278687 + ], + [ + 3.5479326248168945, + 0.5310343503952026, + 0.6612910032272339 + ], + [ + 3.5479326248168945, + 0.5310343503952026, + 0.27500003576278687 + ] + ], + "center": { + "x": 3.7944400310516357, + "y": 0.5985909104347229, + "z": 0.4681455194950104 + }, + "size": { + "x": 0.4930148124694824, + "y": 0.13511312007904053, + "z": 0.386290967464447 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.040947437286377, + 0.5310343503952026, + 0.6612909436225891 + ], + [ + 3.5479326248168945, + 0.5310346484184265, + 0.6612909436225891 + ], + [ + 3.5479326248168945, + 0.5310347080230713, + 0.27500009536743164 + ], + [ + 4.040947437286377, + 0.5310344099998474, + 0.27500003576278687 + ], + [ + 4.040947437286377, + 0.6661471128463745, + 0.6612909436225891 + ], + [ + 3.5479326248168945, + 0.6661474108695984, + 0.6612910032272339 + ], + [ + 3.5479326248168945, + 0.6661474704742432, + 0.27500009536743164 + ], + [ + 4.040947437286377, + 0.6661471724510193, + 0.27500009536743164 + ] + ] + } + } + }, + { + "objectId": "Bed|4|0", + "object_info": { + "name": "Bed|4|0", + "position": { + "x": 1.0386308431625366, + "y": 7.62939453125e-06, + "z": 0.5922693610191345 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Fabric", + "Wood" + ], + "receptacleObjectIds": [], + "distance": 3.391033172607422, + "objectType": "Bed", + "objectId": "Bed|4|0", + "assetId": "RoboTHOR_bed_tarva_v", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.0666112899780273, + 0.9211342334747314, + 1.159531593322754 + ], + [ + 2.0666112899780273, + 0.9211342334747314, + 0.025007009506225586 + ], + [ + 2.0666112899780273, + 7.68899917602539e-06, + 1.159531593322754 + ], + [ + 2.0666112899780273, + 7.68899917602539e-06, + 0.025007009506225586 + ], + [ + 0.025006651878356934, + 0.9211342334747314, + 1.159531593322754 + ], + [ + 0.025006651878356934, + 0.9211342334747314, + 0.025007009506225586 + ], + [ + 0.025006651878356934, + 7.68899917602539e-06, + 1.159531593322754 + ], + [ + 0.025006651878356934, + 7.68899917602539e-06, + 0.025007009506225586 + ] + ], + "center": { + "x": 1.0458089113235474, + "y": 0.46057096123695374, + "z": 0.5922693014144897 + }, + "size": { + "x": 2.041604518890381, + "y": 0.9211265444755554, + "z": 1.1345245838165283 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.0666117668151855, + 7.62939453125e-06, + 0.025006890296936035 + ], + [ + 2.0666117668151855, + 7.62939453125e-06, + 1.159531593322754 + ], + [ + 0.025006651878356934, + 7.62939453125e-06, + 1.159531831741333 + ], + [ + 0.025006413459777832, + 7.62939453125e-06, + 0.02500706911087036 + ], + [ + 2.0666117668151855, + 0.9211342334747314, + 0.025006890296936035 + ], + [ + 2.0666117668151855, + 0.9211342334747314, + 1.159531593322754 + ], + [ + 0.025006651878356934, + 0.9211342334747314, + 1.159531831741333 + ], + [ + 0.025006413459777832, + 0.9211342334747314, + 0.02500706911087036 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 3.200000047683716, + "y": 0.9009997844696045, + "z": 2.9000000953674316 + }, + "agent_rotation": { + "x": -0.0, + "y": 180.0, + "z": 0.0 + }, + "agent_cameraHorizon": 60.00001525878906, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 3.200000047683716, + "y": 1.5759997367858887, + "z": 2.9000000953674316 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Bed|4|4|0", + "Bed|4|0" + ], + "different_object": [ + "door|4|5", + "Pillow|4|4|2", + "Pillow|4|4|1" + ] +} \ No newline at end of file diff --git a/train/train1316/0/0_depth_npy.npy b/train/train1316/0/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..6905175ed5ccb3c0ecf2783996c4451702ab100b --- /dev/null +++ b/train/train1316/0/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:20c12c34b0b88f51814ae3054d82e83a42166e6d685b922cf50bd56d838b5e7a +size 3145856 diff --git a/train/train1316/0/0_semantic_sensor_npy.npy b/train/train1316/0/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..90b826b07d9f9745b26598c51cdc81fc55ccad29 --- /dev/null +++ b/train/train1316/0/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c043a8e9b8f2b64b099d997e8a26d2b61c562404ff5ff28fec07fe482ba48139 +size 2359424 diff --git a/train/train1316/0/1.json b/train/train1316/0/1.json new file mode 100644 index 0000000000000000000000000000000000000000..6309e7f8e9b1eebf4387a3d698c9085a05d96952 --- /dev/null +++ b/train/train1316/0/1.json @@ -0,0 +1,1424 @@ +{ + "object": [ + { + "objectId": "HousePlant|4|2|0", + "object_info": { + "name": "HousePlant|4|2|0", + "position": { + "x": 0.30994442105293274, + "y": -0.011004626750946045, + "z": 1.6419564485549927 + }, + "rotation": { + "x": 0.014700928702950478, + "y": 319.5398254394531, + "z": -0.0010689004557207227 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.0, + "salientMaterials": [ + "Ceramic", + "Organic" + ], + "receptacleObjectIds": null, + "distance": 3.3645150661468506, + "objectType": "HousePlant", + "objectId": "HousePlant|4|2|0", + "assetId": "Houseplant_7", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.5120116472244263, + 0.8549591302871704, + 1.8441842794418335 + ], + [ + 0.5120116472244263, + 0.8549591302871704, + 1.3857589960098267 + ], + [ + 0.5120116472244263, + 4.470348358154297e-07, + 1.8441842794418335 + ], + [ + 0.5120116472244263, + 4.470348358154297e-07, + 1.3857589960098267 + ], + [ + 0.07821935415267944, + 0.8549591302871704, + 1.8441842794418335 + ], + [ + 0.07821935415267944, + 0.8549591302871704, + 1.3857589960098267 + ], + [ + 0.07821935415267944, + 4.470348358154297e-07, + 1.8441842794418335 + ], + [ + 0.07821935415267944, + 4.470348358154297e-07, + 1.3857589960098267 + ] + ], + "center": { + "x": 0.29511550068855286, + "y": 0.4274797737598419, + "z": 1.61497163772583 + }, + "size": { + "x": 0.4337922930717468, + "y": 0.8549586534500122, + "z": 0.45842528343200684 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.3325675129890442, + -3.080535680055618e-05, + 1.9269013404846191 + ], + [ + 0.025000065565109253, + -2.3263506591320038e-05, + 1.664583444595337 + ], + [ + 0.3163772225379944, + 9.194575250148773e-05, + 1.322944164276123 + ], + [ + 0.6239446401596069, + 8.440390229225159e-05, + 1.5852620601654053 + ], + [ + 0.33243730664253235, + 0.8548397421836853, + 1.9270786046981812 + ], + [ + 0.024869859218597412, + 0.854847252368927, + 1.664760708808899 + ], + [ + 0.31624704599380493, + 0.8549624681472778, + 1.3231213092803955 + ], + [ + 0.6238144636154175, + 0.8549549579620361, + 1.5854393243789673 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|1", + "object_info": { + "name": "Dresser|4|1", + "position": { + "x": 1.1732268333435059, + "y": 0.0015782415866851807, + "z": 4.117611408233643 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "CD|surface|4|0", + "RemoteControl|surface|4|2" + ], + "distance": 2.5240843296051025, + "objectType": "Dresser", + "objectId": "Dresser|4|1", + "assetId": "Dresser_209_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.312486410140991, + 0.6974328756332397, + 4.302001953125 + ], + [ + 2.312486410140991, + 0.6974328756332397, + 3.921083450317383 + ], + [ + 2.312486410140991, + 1.6689300537109375e-06, + 4.302001953125 + ], + [ + 2.312486410140991, + 1.6689300537109375e-06, + 3.921083450317383 + ], + [ + 0.02500319480895996, + 0.6974328756332397, + 4.302001953125 + ], + [ + 0.02500319480895996, + 0.6974328756332397, + 3.921083450317383 + ], + [ + 0.02500319480895996, + 1.6689300537109375e-06, + 4.302001953125 + ], + [ + 0.02500319480895996, + 1.6689300537109375e-06, + 3.921083450317383 + ] + ], + "center": { + "x": 1.1687448024749756, + "y": 0.34871727228164673, + "z": 4.111542701721191 + }, + "size": { + "x": 2.2874832153320312, + "y": 0.697431206703186, + "z": 0.3809185028076172 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.02500319480895996, + 1.9371509552001953e-06, + 3.921083927154541 + ], + [ + 2.312486410140991, + 1.9371509552001953e-06, + 3.921083927154541 + ], + [ + 2.312486410140991, + 1.9371509552001953e-06, + 4.302001953125 + ], + [ + 0.02500319480895996, + 1.9371509552001953e-06, + 4.302002429962158 + ], + [ + 0.02500319480895996, + 0.6974328756332397, + 3.921083927154541 + ], + [ + 2.312486410140991, + 0.6974328756332397, + 3.921083927154541 + ], + [ + 2.312486410140991, + 0.6974328756332397, + 4.302001953125 + ], + [ + 0.02500319480895996, + 0.6974328756332397, + 4.302002429962158 + ] + ] + } + } + }, + { + "objectId": "Bed|4|4|0", + "object_info": { + "name": "Bed|4|4|0", + "position": { + "x": 3.4979326725006104, + "y": 0.00913289189338684, + "z": 1.0374341011047363 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": true, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "Pillow|4|4|1", + "Pillow|4|4|2" + ], + "distance": 2.169922113418579, + "objectType": "Bed", + "objectId": "Bed|4|4|0", + "assetId": "Bed_20", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.080060958862305, + 0.6742458939552307, + 2.044003486633301 + ], + [ + 4.080060958862305, + 0.6742458939552307, + 0.02499997615814209 + ], + [ + 4.080060958862305, + 0.0, + 2.044003486633301 + ], + [ + 4.080060958862305, + 0.0, + 0.02499997615814209 + ], + [ + 2.915804862976074, + 0.6742458939552307, + 2.044003486633301 + ], + [ + 2.915804862976074, + 0.6742458939552307, + 0.02499997615814209 + ], + [ + 2.915804862976074, + 0.0, + 2.044003486633301 + ], + [ + 2.915804862976074, + 0.0, + 0.02499997615814209 + ] + ], + "center": { + "x": 3.4979329109191895, + "y": 0.33712294697761536, + "z": 1.0345016717910767 + }, + "size": { + "x": 1.1642560958862305, + "y": 0.6742458939552307, + "z": 2.019003391265869 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.080060958862305, + 2.9802322387695312e-08, + 2.044003486633301 + ], + [ + 2.915804624557495, + 2.9802322387695312e-08, + 2.044003486633301 + ], + [ + 2.915804624557495, + 2.9802322387695312e-08, + 0.02499997615814209 + ], + [ + 4.080060958862305, + 2.9802322387695312e-08, + 0.02499997615814209 + ], + [ + 4.080060958862305, + 0.6742458343505859, + 2.044003486633301 + ], + [ + 2.915804624557495, + 0.6742458343505859, + 2.044003486633301 + ], + [ + 2.915804624557495, + 0.6742458343505859, + 0.02499997615814209 + ], + [ + 4.080060958862305, + 0.6742458343505859, + 0.02499997615814209 + ] + ] + } + } + }, + { + "objectId": "RemoteControl|surface|4|2", + "object_info": { + "name": "RemoteControl|surface|4|2", + "position": { + "x": 1.1707401275634766, + "y": 0.6975149512290955, + "z": 4.251361846923828 + }, + "rotation": { + "x": -3.632873631431721e-05, + "y": 269.9999694824219, + "z": 359.9389953613281 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.15000000596046448, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.4352893829345703, + "objectType": "RemoteControl", + "objectId": "RemoteControl|surface|4|2", + "assetId": "RoboTHOR_remote_coolux_v", + "parentReceptacles": [ + "Dresser|4|1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.2680222988128662, + 0.7153843641281128, + 4.271951675415039 + ], + [ + 1.2680222988128662, + 0.7153843641281128, + 4.230802536010742 + ], + [ + 1.2680222988128662, + 0.6974300146102905, + 4.271951675415039 + ], + [ + 1.2680222988128662, + 0.6974300146102905, + 4.230802536010742 + ], + [ + 1.073457956314087, + 0.7153843641281128, + 4.271951675415039 + ], + [ + 1.073457956314087, + 0.7153843641281128, + 4.230802536010742 + ], + [ + 1.073457956314087, + 0.6974300146102905, + 4.271951675415039 + ], + [ + 1.073457956314087, + 0.6974300146102905, + 4.230802536010742 + ] + ], + "center": { + "x": 1.1707401275634766, + "y": 0.7064071893692017, + "z": 4.251377105712891 + }, + "size": { + "x": 0.1945643424987793, + "y": 0.017954349517822266, + "z": 0.041149139404296875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.0734577178955078, + 0.6974148750305176, + 4.271932125091553 + ], + [ + 1.0734577178955078, + 0.6974586844444275, + 4.230791091918945 + ], + [ + 1.2680226564407349, + 0.6974585652351379, + 4.230791091918945 + ], + [ + 1.2680225372314453, + 0.697414755821228, + 4.271932601928711 + ], + [ + 1.0734577178955078, + 0.7153557538986206, + 4.271951198577881 + ], + [ + 1.0734577178955078, + 0.7153995633125305, + 4.230810165405273 + ], + [ + 1.2680226564407349, + 0.715399444103241, + 4.230810642242432 + ], + [ + 1.2680225372314453, + 0.715355634689331, + 4.271951675415039 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|1___3", + "object_info": { + "name": "Drawer (3)", + "position": { + "x": 0.6491994857788086, + "y": 0.47976580262184143, + "z": 4.047611236572266 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "CD|surface|4|1" + ], + "distance": 2.835329055786133, + "objectType": "Drawer", + "objectId": "Dresser|4|1___3", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.1660950183868408, + 0.6543091535568237, + 4.179344177246094 + ], + [ + 1.1660950183868408, + 0.6543091535568237, + 3.918689727783203 + ], + [ + 1.1660950183868408, + 0.34582221508026123, + 4.179344177246094 + ], + [ + 1.1660950183868408, + 0.34582221508026123, + 3.918689727783203 + ], + [ + 0.13230395317077637, + 0.6543091535568237, + 4.179344177246094 + ], + [ + 0.13230395317077637, + 0.6543091535568237, + 3.918689727783203 + ], + [ + 0.13230395317077637, + 0.34582221508026123, + 4.179344177246094 + ], + [ + 0.13230395317077637, + 0.34582221508026123, + 3.918689727783203 + ] + ], + "center": { + "x": 0.6491994857788086, + "y": 0.5000656843185425, + "z": 4.049016952514648 + }, + "size": { + "x": 1.0337910652160645, + "y": 0.3084869384765625, + "z": 0.2606544494628906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|4|1___1", + "object_info": { + "name": "Drawer (1)", + "position": { + "x": 1.68937349319458, + "y": 0.47607824206352234, + "z": 4.047611236572266 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 1.92707097530365, + "objectType": "Drawer", + "objectId": "Dresser|4|1___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.2062690258026123, + 0.6506216526031494, + 4.179344177246094 + ], + [ + 2.2062690258026123, + 0.6506216526031494, + 3.918689727783203 + ], + [ + 2.2062690258026123, + 0.3421347141265869, + 4.179344177246094 + ], + [ + 2.2062690258026123, + 0.3421347141265869, + 3.918689727783203 + ], + [ + 1.1724779605865479, + 0.6506216526031494, + 4.179344177246094 + ], + [ + 1.1724779605865479, + 0.6506216526031494, + 3.918689727783203 + ], + [ + 1.1724779605865479, + 0.3421347141265869, + 4.179344177246094 + ], + [ + 1.1724779605865479, + 0.3421347141265869, + 3.918689727783203 + ] + ], + "center": { + "x": 1.68937349319458, + "y": 0.49637818336486816, + "z": 4.049016952514648 + }, + "size": { + "x": 1.0337910652160645, + "y": 0.3084869384765625, + "z": 0.2606544494628906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bed|4|0", + "object_info": { + "name": "Bed|4|0", + "position": { + "x": 1.0386308431625366, + "y": 7.62939453125e-06, + "z": 0.5922693610191345 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Fabric", + "Wood" + ], + "receptacleObjectIds": [], + "distance": 3.391033172607422, + "objectType": "Bed", + "objectId": "Bed|4|0", + "assetId": "RoboTHOR_bed_tarva_v", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.0666112899780273, + 0.9211342334747314, + 1.159531593322754 + ], + [ + 2.0666112899780273, + 0.9211342334747314, + 0.025007009506225586 + ], + [ + 2.0666112899780273, + 7.68899917602539e-06, + 1.159531593322754 + ], + [ + 2.0666112899780273, + 7.68899917602539e-06, + 0.025007009506225586 + ], + [ + 0.025006651878356934, + 0.9211342334747314, + 1.159531593322754 + ], + [ + 0.025006651878356934, + 0.9211342334747314, + 0.025007009506225586 + ], + [ + 0.025006651878356934, + 7.68899917602539e-06, + 1.159531593322754 + ], + [ + 0.025006651878356934, + 7.68899917602539e-06, + 0.025007009506225586 + ] + ], + "center": { + "x": 1.0458089113235474, + "y": 0.46057096123695374, + "z": 0.5922693014144897 + }, + "size": { + "x": 2.041604518890381, + "y": 0.9211265444755554, + "z": 1.1345245838165283 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.0666117668151855, + 7.62939453125e-06, + 0.025006890296936035 + ], + [ + 2.0666117668151855, + 7.62939453125e-06, + 1.159531593322754 + ], + [ + 0.025006651878356934, + 7.62939453125e-06, + 1.159531831741333 + ], + [ + 0.025006413459777832, + 7.62939453125e-06, + 0.02500706911087036 + ], + [ + 2.0666117668151855, + 0.9211342334747314, + 0.025006890296936035 + ], + [ + 2.0666117668151855, + 0.9211342334747314, + 1.159531593322754 + ], + [ + 0.025006651878356934, + 0.9211342334747314, + 1.159531831741333 + ], + [ + 0.025006413459777832, + 0.9211342334747314, + 0.02500706911087036 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|1___0", + "object_info": { + "name": "Drawer", + "position": { + "x": 1.68937349319458, + "y": 0.16780176758766174, + "z": 4.047611236572266 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.017578601837158, + "objectType": "Drawer", + "objectId": "Dresser|4|1___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.2062690258026123, + 0.3403380513191223, + 4.179344177246094 + ], + [ + 2.2062690258026123, + 0.3403380513191223, + 3.918689727783203 + ], + [ + 2.2062690258026123, + 0.03385818004608154, + 4.179344177246094 + ], + [ + 2.2062690258026123, + 0.03385818004608154, + 3.918689727783203 + ], + [ + 1.1724779605865479, + 0.3403380513191223, + 4.179344177246094 + ], + [ + 1.1724779605865479, + 0.3403380513191223, + 3.918689727783203 + ], + [ + 1.1724779605865479, + 0.03385818004608154, + 4.179344177246094 + ], + [ + 1.1724779605865479, + 0.03385818004608154, + 3.918689727783203 + ] + ], + "center": { + "x": 1.68937349319458, + "y": 0.18709811568260193, + "z": 4.049016952514648 + }, + "size": { + "x": 1.0337910652160645, + "y": 0.30647987127304077, + "z": 0.2606544494628906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|4|1___2", + "object_info": { + "name": "Drawer (2)", + "position": { + "x": 0.6452269554138184, + "y": 0.16780176758766174, + "z": 4.047611236572266 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.9017083644866943, + "objectType": "Drawer", + "objectId": "Dresser|4|1___2", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.1621224880218506, + 0.34234514832496643, + 4.179344177246094 + ], + [ + 1.1621224880218506, + 0.34234514832496643, + 3.918689727783203 + ], + [ + 1.1621224880218506, + 0.03385820984840393, + 4.179344177246094 + ], + [ + 1.1621224880218506, + 0.03385820984840393, + 3.918689727783203 + ], + [ + 0.12833142280578613, + 0.34234514832496643, + 4.179344177246094 + ], + [ + 0.12833142280578613, + 0.34234514832496643, + 3.918689727783203 + ], + [ + 0.12833142280578613, + 0.03385820984840393, + 4.179344177246094 + ], + [ + 0.12833142280578613, + 0.03385820984840393, + 3.918689727783203 + ] + ], + "center": { + "x": 0.6452269554138184, + "y": 0.18810167908668518, + "z": 4.049016952514648 + }, + "size": { + "x": 1.0337910652160645, + "y": 0.3084869384765625, + "z": 0.2606544494628906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "BaseballBat|4|3", + "object_info": { + "name": "BaseballBat|4|3", + "position": { + "x": 3.4558966159820557, + "y": 0.2735336124897003, + "z": 4.256573677062988 + }, + "rotation": { + "x": 0.14369982481002808, + "y": 180.0022430419922, + "z": 359.9489440917969 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.8999999761581421, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 1.419536828994751, + "objectType": "BaseballBat", + "objectId": "BaseballBat|4|3", + "assetId": "BaseballBat_4", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.4971671104431152, + 0.9590680599212646, + 4.301998615264893 + ], + [ + 3.4971671104431152, + 0.9590680599212646, + 4.2101149559021 + ], + [ + 3.4971671104431152, + -4.76837158203125e-07, + 4.301998615264893 + ], + [ + 3.4971671104431152, + -4.76837158203125e-07, + 4.2101149559021 + ], + [ + 3.415523052215576, + 0.9590680599212646, + 4.301998615264893 + ], + [ + 3.415523052215576, + 0.9590680599212646, + 4.2101149559021 + ], + [ + 3.415523052215576, + -4.76837158203125e-07, + 4.301998615264893 + ], + [ + 3.415523052215576, + -4.76837158203125e-07, + 4.2101149559021 + ] + ], + "center": { + "x": 3.4563450813293457, + "y": 0.4795337915420532, + "z": 4.256056785583496 + }, + "size": { + "x": 0.08164405822753906, + "y": 0.9590685367584229, + "z": 0.09188365936279297 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.416377067565918, + -4.76837158203125e-07, + 4.212523460388184 + ], + [ + 3.4971635341644287, + 7.149577140808105e-05, + 4.212520122528076 + ], + [ + 3.4971671104431152, + 0.00029587745666503906, + 4.301995277404785 + ], + [ + 3.4163806438446045, + 0.00022390484809875488, + 4.301998615264893 + ], + [ + 3.415522813796997, + 0.9587717056274414, + 4.210118770599365 + ], + [ + 3.496309280395508, + 0.9588435888290405, + 4.210115432739258 + ], + [ + 3.4963128566741943, + 0.9590680599212646, + 4.299590587615967 + ], + [ + 3.4155263900756836, + 0.958996057510376, + 4.299593925476074 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 3.200000047683716, + "y": 0.9009997844696045, + "z": 2.9000000953674316 + }, + "agent_rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "agent_cameraHorizon": 60.000003814697266, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 3.200000047683716, + "y": 1.5759997367858887, + "z": 2.9000000953674316 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Bed|4|4|0", + "Bed|4|0" + ], + "different_object": [ + "Dresser|4|1___2", + "RemoteControl|surface|4|2", + "BaseballBat|4|3", + "Dresser|4|1___0", + "Dresser|4|1___1", + "Dresser|4|1___3", + "Dresser|4|1", + "HousePlant|4|2|0" + ] +} \ No newline at end of file diff --git a/train/train1316/0/1_depth_npy.npy b/train/train1316/0/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..0b65d3dd284620f9f97921b3ea8feded3415d94f --- /dev/null +++ b/train/train1316/0/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e0108b45ec68288acfa3739f1582b27b308903e8cd6b0df4c7293892fec57665 +size 3145856 diff --git a/train/train1316/0/1_semantic_sensor_npy.npy b/train/train1316/0/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..4fc49e398602f87991bf1777ff0752e25eaece36 --- /dev/null +++ b/train/train1316/0/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1731a85c3f62fc7007e96f53fd319845265c65601e711ac6bd2afda215247861 +size 2359424 diff --git a/train/train1316/0/depth_0.png b/train/train1316/0/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..ab29af452cd98a51aa7803ec871876a2d0b966e0 Binary files /dev/null and b/train/train1316/0/depth_0.png differ diff --git a/train/train1316/0/depth_1.png b/train/train1316/0/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..f1c7464ed548bf6ac0dd3f1a66a0c4699382cd23 Binary files /dev/null and b/train/train1316/0/depth_1.png differ diff --git a/train/train1316/0/mask_questions.jsonl b/train/train1316/0/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/train/train1316/0/rgb_0.png b/train/train1316/0/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..0f89d2dfdec06ee0f75c08d7bfa58db4624c38c1 --- /dev/null +++ b/train/train1316/0/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bcde3babd32ccf0302cab8597d1c6a2f94ba6c751113a9dcb164a43ce01bf9d5 +size 833858 diff --git a/train/train1316/0/rgb_1.png b/train/train1316/0/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..374097da10784bcc1dbf925d87f7cbd81eb02fee --- /dev/null +++ b/train/train1316/0/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ba898ab748c663b7ee4d8ec19b7f557df8a4759e62ce531177ef6a8c8c0018c6 +size 802278 diff --git a/train/train1316/0/semantic_0.png b/train/train1316/0/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..cf677f8a443049454588ce8f0824798dfafb07d6 Binary files /dev/null and b/train/train1316/0/semantic_0.png differ diff --git a/train/train1316/0/semantic_1.png b/train/train1316/0/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..9523f35ba3abfdfd90b4d9255cf383397d09294a Binary files /dev/null and b/train/train1316/0/semantic_1.png differ diff --git a/train/train1316/1/0.json b/train/train1316/1/0.json new file mode 100644 index 0000000000000000000000000000000000000000..36adcd912a1d2c53d60615bed741c2786cd5dc60 --- /dev/null +++ b/train/train1316/1/0.json @@ -0,0 +1,1424 @@ +{ + "object": [ + { + "objectId": "HousePlant|4|2|0", + "object_info": { + "name": "HousePlant|4|2|0", + "position": { + "x": 0.30994442105293274, + "y": -0.011004626750946045, + "z": 1.6419564485549927 + }, + "rotation": { + "x": 0.014700928702950478, + "y": 319.5398254394531, + "z": -0.0010689004557207227 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.0, + "salientMaterials": [ + "Ceramic", + "Organic" + ], + "receptacleObjectIds": null, + "distance": 3.3645150661468506, + "objectType": "HousePlant", + "objectId": "HousePlant|4|2|0", + "assetId": "Houseplant_7", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.5120116472244263, + 0.8549591302871704, + 1.8441842794418335 + ], + [ + 0.5120116472244263, + 0.8549591302871704, + 1.3857589960098267 + ], + [ + 0.5120116472244263, + 4.470348358154297e-07, + 1.8441842794418335 + ], + [ + 0.5120116472244263, + 4.470348358154297e-07, + 1.3857589960098267 + ], + [ + 0.07821935415267944, + 0.8549591302871704, + 1.8441842794418335 + ], + [ + 0.07821935415267944, + 0.8549591302871704, + 1.3857589960098267 + ], + [ + 0.07821935415267944, + 4.470348358154297e-07, + 1.8441842794418335 + ], + [ + 0.07821935415267944, + 4.470348358154297e-07, + 1.3857589960098267 + ] + ], + "center": { + "x": 0.29511550068855286, + "y": 0.4274797737598419, + "z": 1.61497163772583 + }, + "size": { + "x": 0.4337922930717468, + "y": 0.8549586534500122, + "z": 0.45842528343200684 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.3325675129890442, + -3.080535680055618e-05, + 1.9269013404846191 + ], + [ + 0.025000065565109253, + -2.3263506591320038e-05, + 1.664583444595337 + ], + [ + 0.3163772225379944, + 9.194575250148773e-05, + 1.322944164276123 + ], + [ + 0.6239446401596069, + 8.440390229225159e-05, + 1.5852620601654053 + ], + [ + 0.33243730664253235, + 0.8548397421836853, + 1.9270786046981812 + ], + [ + 0.024869859218597412, + 0.854847252368927, + 1.664760708808899 + ], + [ + 0.31624704599380493, + 0.8549624681472778, + 1.3231213092803955 + ], + [ + 0.6238144636154175, + 0.8549549579620361, + 1.5854393243789673 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|1", + "object_info": { + "name": "Dresser|4|1", + "position": { + "x": 1.1732268333435059, + "y": 0.0015782415866851807, + "z": 4.117611408233643 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "CD|surface|4|0", + "RemoteControl|surface|4|2" + ], + "distance": 2.5240843296051025, + "objectType": "Dresser", + "objectId": "Dresser|4|1", + "assetId": "Dresser_209_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.312486410140991, + 0.6974328756332397, + 4.302001953125 + ], + [ + 2.312486410140991, + 0.6974328756332397, + 3.921083450317383 + ], + [ + 2.312486410140991, + 1.6689300537109375e-06, + 4.302001953125 + ], + [ + 2.312486410140991, + 1.6689300537109375e-06, + 3.921083450317383 + ], + [ + 0.02500319480895996, + 0.6974328756332397, + 4.302001953125 + ], + [ + 0.02500319480895996, + 0.6974328756332397, + 3.921083450317383 + ], + [ + 0.02500319480895996, + 1.6689300537109375e-06, + 4.302001953125 + ], + [ + 0.02500319480895996, + 1.6689300537109375e-06, + 3.921083450317383 + ] + ], + "center": { + "x": 1.1687448024749756, + "y": 0.34871727228164673, + "z": 4.111542701721191 + }, + "size": { + "x": 2.2874832153320312, + "y": 0.697431206703186, + "z": 0.3809185028076172 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.02500319480895996, + 1.9371509552001953e-06, + 3.921083927154541 + ], + [ + 2.312486410140991, + 1.9371509552001953e-06, + 3.921083927154541 + ], + [ + 2.312486410140991, + 1.9371509552001953e-06, + 4.302001953125 + ], + [ + 0.02500319480895996, + 1.9371509552001953e-06, + 4.302002429962158 + ], + [ + 0.02500319480895996, + 0.6974328756332397, + 3.921083927154541 + ], + [ + 2.312486410140991, + 0.6974328756332397, + 3.921083927154541 + ], + [ + 2.312486410140991, + 0.6974328756332397, + 4.302001953125 + ], + [ + 0.02500319480895996, + 0.6974328756332397, + 4.302002429962158 + ] + ] + } + } + }, + { + "objectId": "Bed|4|4|0", + "object_info": { + "name": "Bed|4|4|0", + "position": { + "x": 3.4979326725006104, + "y": 0.00913289189338684, + "z": 1.0374341011047363 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": true, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "Pillow|4|4|1", + "Pillow|4|4|2" + ], + "distance": 2.169922113418579, + "objectType": "Bed", + "objectId": "Bed|4|4|0", + "assetId": "Bed_20", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.080060958862305, + 0.6742458939552307, + 2.044003486633301 + ], + [ + 4.080060958862305, + 0.6742458939552307, + 0.02499997615814209 + ], + [ + 4.080060958862305, + 0.0, + 2.044003486633301 + ], + [ + 4.080060958862305, + 0.0, + 0.02499997615814209 + ], + [ + 2.915804862976074, + 0.6742458939552307, + 2.044003486633301 + ], + [ + 2.915804862976074, + 0.6742458939552307, + 0.02499997615814209 + ], + [ + 2.915804862976074, + 0.0, + 2.044003486633301 + ], + [ + 2.915804862976074, + 0.0, + 0.02499997615814209 + ] + ], + "center": { + "x": 3.4979329109191895, + "y": 0.33712294697761536, + "z": 1.0345016717910767 + }, + "size": { + "x": 1.1642560958862305, + "y": 0.6742458939552307, + "z": 2.019003391265869 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.080060958862305, + 2.9802322387695312e-08, + 2.044003486633301 + ], + [ + 2.915804624557495, + 2.9802322387695312e-08, + 2.044003486633301 + ], + [ + 2.915804624557495, + 2.9802322387695312e-08, + 0.02499997615814209 + ], + [ + 4.080060958862305, + 2.9802322387695312e-08, + 0.02499997615814209 + ], + [ + 4.080060958862305, + 0.6742458343505859, + 2.044003486633301 + ], + [ + 2.915804624557495, + 0.6742458343505859, + 2.044003486633301 + ], + [ + 2.915804624557495, + 0.6742458343505859, + 0.02499997615814209 + ], + [ + 4.080060958862305, + 0.6742458343505859, + 0.02499997615814209 + ] + ] + } + } + }, + { + "objectId": "RemoteControl|surface|4|2", + "object_info": { + "name": "RemoteControl|surface|4|2", + "position": { + "x": 1.1707401275634766, + "y": 0.6975149512290955, + "z": 4.251361846923828 + }, + "rotation": { + "x": -3.632873631431721e-05, + "y": 269.9999694824219, + "z": 359.9389953613281 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.15000000596046448, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.4352893829345703, + "objectType": "RemoteControl", + "objectId": "RemoteControl|surface|4|2", + "assetId": "RoboTHOR_remote_coolux_v", + "parentReceptacles": [ + "Dresser|4|1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.2680222988128662, + 0.7153843641281128, + 4.271951675415039 + ], + [ + 1.2680222988128662, + 0.7153843641281128, + 4.230802536010742 + ], + [ + 1.2680222988128662, + 0.6974300146102905, + 4.271951675415039 + ], + [ + 1.2680222988128662, + 0.6974300146102905, + 4.230802536010742 + ], + [ + 1.073457956314087, + 0.7153843641281128, + 4.271951675415039 + ], + [ + 1.073457956314087, + 0.7153843641281128, + 4.230802536010742 + ], + [ + 1.073457956314087, + 0.6974300146102905, + 4.271951675415039 + ], + [ + 1.073457956314087, + 0.6974300146102905, + 4.230802536010742 + ] + ], + "center": { + "x": 1.1707401275634766, + "y": 0.7064071893692017, + "z": 4.251377105712891 + }, + "size": { + "x": 0.1945643424987793, + "y": 0.017954349517822266, + "z": 0.041149139404296875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.0734577178955078, + 0.6974148750305176, + 4.271932125091553 + ], + [ + 1.0734577178955078, + 0.6974586844444275, + 4.230791091918945 + ], + [ + 1.2680226564407349, + 0.6974585652351379, + 4.230791091918945 + ], + [ + 1.2680225372314453, + 0.697414755821228, + 4.271932601928711 + ], + [ + 1.0734577178955078, + 0.7153557538986206, + 4.271951198577881 + ], + [ + 1.0734577178955078, + 0.7153995633125305, + 4.230810165405273 + ], + [ + 1.2680226564407349, + 0.715399444103241, + 4.230810642242432 + ], + [ + 1.2680225372314453, + 0.715355634689331, + 4.271951675415039 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|1___3", + "object_info": { + "name": "Drawer (3)", + "position": { + "x": 0.6491994857788086, + "y": 0.47976580262184143, + "z": 4.047611236572266 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "CD|surface|4|1" + ], + "distance": 2.835329055786133, + "objectType": "Drawer", + "objectId": "Dresser|4|1___3", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.1660950183868408, + 0.6543091535568237, + 4.179344177246094 + ], + [ + 1.1660950183868408, + 0.6543091535568237, + 3.918689727783203 + ], + [ + 1.1660950183868408, + 0.34582221508026123, + 4.179344177246094 + ], + [ + 1.1660950183868408, + 0.34582221508026123, + 3.918689727783203 + ], + [ + 0.13230395317077637, + 0.6543091535568237, + 4.179344177246094 + ], + [ + 0.13230395317077637, + 0.6543091535568237, + 3.918689727783203 + ], + [ + 0.13230395317077637, + 0.34582221508026123, + 4.179344177246094 + ], + [ + 0.13230395317077637, + 0.34582221508026123, + 3.918689727783203 + ] + ], + "center": { + "x": 0.6491994857788086, + "y": 0.5000656843185425, + "z": 4.049016952514648 + }, + "size": { + "x": 1.0337910652160645, + "y": 0.3084869384765625, + "z": 0.2606544494628906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|4|1___1", + "object_info": { + "name": "Drawer (1)", + "position": { + "x": 1.68937349319458, + "y": 0.47607824206352234, + "z": 4.047611236572266 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 1.92707097530365, + "objectType": "Drawer", + "objectId": "Dresser|4|1___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.2062690258026123, + 0.6506216526031494, + 4.179344177246094 + ], + [ + 2.2062690258026123, + 0.6506216526031494, + 3.918689727783203 + ], + [ + 2.2062690258026123, + 0.3421347141265869, + 4.179344177246094 + ], + [ + 2.2062690258026123, + 0.3421347141265869, + 3.918689727783203 + ], + [ + 1.1724779605865479, + 0.6506216526031494, + 4.179344177246094 + ], + [ + 1.1724779605865479, + 0.6506216526031494, + 3.918689727783203 + ], + [ + 1.1724779605865479, + 0.3421347141265869, + 4.179344177246094 + ], + [ + 1.1724779605865479, + 0.3421347141265869, + 3.918689727783203 + ] + ], + "center": { + "x": 1.68937349319458, + "y": 0.49637818336486816, + "z": 4.049016952514648 + }, + "size": { + "x": 1.0337910652160645, + "y": 0.3084869384765625, + "z": 0.2606544494628906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bed|4|0", + "object_info": { + "name": "Bed|4|0", + "position": { + "x": 1.0386308431625366, + "y": 7.62939453125e-06, + "z": 0.5922693610191345 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Fabric", + "Wood" + ], + "receptacleObjectIds": [], + "distance": 3.391033172607422, + "objectType": "Bed", + "objectId": "Bed|4|0", + "assetId": "RoboTHOR_bed_tarva_v", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.0666112899780273, + 0.9211342334747314, + 1.159531593322754 + ], + [ + 2.0666112899780273, + 0.9211342334747314, + 0.025007009506225586 + ], + [ + 2.0666112899780273, + 7.68899917602539e-06, + 1.159531593322754 + ], + [ + 2.0666112899780273, + 7.68899917602539e-06, + 0.025007009506225586 + ], + [ + 0.025006651878356934, + 0.9211342334747314, + 1.159531593322754 + ], + [ + 0.025006651878356934, + 0.9211342334747314, + 0.025007009506225586 + ], + [ + 0.025006651878356934, + 7.68899917602539e-06, + 1.159531593322754 + ], + [ + 0.025006651878356934, + 7.68899917602539e-06, + 0.025007009506225586 + ] + ], + "center": { + "x": 1.0458089113235474, + "y": 0.46057096123695374, + "z": 0.5922693014144897 + }, + "size": { + "x": 2.041604518890381, + "y": 0.9211265444755554, + "z": 1.1345245838165283 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.0666117668151855, + 7.62939453125e-06, + 0.025006890296936035 + ], + [ + 2.0666117668151855, + 7.62939453125e-06, + 1.159531593322754 + ], + [ + 0.025006651878356934, + 7.62939453125e-06, + 1.159531831741333 + ], + [ + 0.025006413459777832, + 7.62939453125e-06, + 0.02500706911087036 + ], + [ + 2.0666117668151855, + 0.9211342334747314, + 0.025006890296936035 + ], + [ + 2.0666117668151855, + 0.9211342334747314, + 1.159531593322754 + ], + [ + 0.025006651878356934, + 0.9211342334747314, + 1.159531831741333 + ], + [ + 0.025006413459777832, + 0.9211342334747314, + 0.02500706911087036 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|1___0", + "object_info": { + "name": "Drawer", + "position": { + "x": 1.68937349319458, + "y": 0.16780176758766174, + "z": 4.047611236572266 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.017578601837158, + "objectType": "Drawer", + "objectId": "Dresser|4|1___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.2062690258026123, + 0.3403380513191223, + 4.179344177246094 + ], + [ + 2.2062690258026123, + 0.3403380513191223, + 3.918689727783203 + ], + [ + 2.2062690258026123, + 0.03385818004608154, + 4.179344177246094 + ], + [ + 2.2062690258026123, + 0.03385818004608154, + 3.918689727783203 + ], + [ + 1.1724779605865479, + 0.3403380513191223, + 4.179344177246094 + ], + [ + 1.1724779605865479, + 0.3403380513191223, + 3.918689727783203 + ], + [ + 1.1724779605865479, + 0.03385818004608154, + 4.179344177246094 + ], + [ + 1.1724779605865479, + 0.03385818004608154, + 3.918689727783203 + ] + ], + "center": { + "x": 1.68937349319458, + "y": 0.18709811568260193, + "z": 4.049016952514648 + }, + "size": { + "x": 1.0337910652160645, + "y": 0.30647987127304077, + "z": 0.2606544494628906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|4|1___2", + "object_info": { + "name": "Drawer (2)", + "position": { + "x": 0.6452269554138184, + "y": 0.16780176758766174, + "z": 4.047611236572266 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.9017083644866943, + "objectType": "Drawer", + "objectId": "Dresser|4|1___2", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.1621224880218506, + 0.34234514832496643, + 4.179344177246094 + ], + [ + 1.1621224880218506, + 0.34234514832496643, + 3.918689727783203 + ], + [ + 1.1621224880218506, + 0.03385820984840393, + 4.179344177246094 + ], + [ + 1.1621224880218506, + 0.03385820984840393, + 3.918689727783203 + ], + [ + 0.12833142280578613, + 0.34234514832496643, + 4.179344177246094 + ], + [ + 0.12833142280578613, + 0.34234514832496643, + 3.918689727783203 + ], + [ + 0.12833142280578613, + 0.03385820984840393, + 4.179344177246094 + ], + [ + 0.12833142280578613, + 0.03385820984840393, + 3.918689727783203 + ] + ], + "center": { + "x": 0.6452269554138184, + "y": 0.18810167908668518, + "z": 4.049016952514648 + }, + "size": { + "x": 1.0337910652160645, + "y": 0.3084869384765625, + "z": 0.2606544494628906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "BaseballBat|4|3", + "object_info": { + "name": "BaseballBat|4|3", + "position": { + "x": 3.4558966159820557, + "y": 0.2735336124897003, + "z": 4.256573677062988 + }, + "rotation": { + "x": 0.14369982481002808, + "y": 180.0022430419922, + "z": 359.9489440917969 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.8999999761581421, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 1.419536828994751, + "objectType": "BaseballBat", + "objectId": "BaseballBat|4|3", + "assetId": "BaseballBat_4", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.4971671104431152, + 0.9590680599212646, + 4.301998615264893 + ], + [ + 3.4971671104431152, + 0.9590680599212646, + 4.2101149559021 + ], + [ + 3.4971671104431152, + -4.76837158203125e-07, + 4.301998615264893 + ], + [ + 3.4971671104431152, + -4.76837158203125e-07, + 4.2101149559021 + ], + [ + 3.415523052215576, + 0.9590680599212646, + 4.301998615264893 + ], + [ + 3.415523052215576, + 0.9590680599212646, + 4.2101149559021 + ], + [ + 3.415523052215576, + -4.76837158203125e-07, + 4.301998615264893 + ], + [ + 3.415523052215576, + -4.76837158203125e-07, + 4.2101149559021 + ] + ], + "center": { + "x": 3.4563450813293457, + "y": 0.4795337915420532, + "z": 4.256056785583496 + }, + "size": { + "x": 0.08164405822753906, + "y": 0.9590685367584229, + "z": 0.09188365936279297 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.416377067565918, + -4.76837158203125e-07, + 4.212523460388184 + ], + [ + 3.4971635341644287, + 7.149577140808105e-05, + 4.212520122528076 + ], + [ + 3.4971671104431152, + 0.00029587745666503906, + 4.301995277404785 + ], + [ + 3.4163806438446045, + 0.00022390484809875488, + 4.301998615264893 + ], + [ + 3.415522813796997, + 0.9587717056274414, + 4.210118770599365 + ], + [ + 3.496309280395508, + 0.9588435888290405, + 4.210115432739258 + ], + [ + 3.4963128566741943, + 0.9590680599212646, + 4.299590587615967 + ], + [ + 3.4155263900756836, + 0.958996057510376, + 4.299593925476074 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 3.200000047683716, + "y": 0.9009997844696045, + "z": 2.799999952316284 + }, + "agent_rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "agent_cameraHorizon": 60.000003814697266, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 3.200000047683716, + "y": 1.5759997367858887, + "z": 2.799999952316284 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Bed|4|0", + "Dresser|4|1___2", + "RemoteControl|surface|4|2", + "Dresser|4|1___0", + "Dresser|4|1___1", + "Dresser|4|1___3", + "Dresser|4|1", + "HousePlant|4|2|0" + ], + "different_object": [ + "BaseballBat|4|3", + "Bed|4|4|0" + ] +} \ No newline at end of file diff --git a/train/train1316/1/0_depth_npy.npy b/train/train1316/1/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..e0a24aa8dd92f492f679156e04f054e5bf7c4e54 --- /dev/null +++ b/train/train1316/1/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:63457441eb8b6964dfd5cc390ca945eb211f331319462ef020d5048b60d023ae +size 3145856 diff --git a/train/train1316/1/0_semantic_sensor_npy.npy b/train/train1316/1/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..b13de8d076737b98dc9cdce58245a5ae88846481 --- /dev/null +++ b/train/train1316/1/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d30374e847494b202e22a172f4edf7e4342d43a691fbeb4bfa13a704b3d33de3 +size 2359424 diff --git a/train/train1316/1/1.json b/train/train1316/1/1.json new file mode 100644 index 0000000000000000000000000000000000000000..4936c6c2db82fbac819b94bc8acca36c211a5ad2 --- /dev/null +++ b/train/train1316/1/1.json @@ -0,0 +1,1329 @@ +{ + "object": [ + { + "objectId": "HousePlant|4|2|0", + "object_info": { + "name": "HousePlant|4|2|0", + "position": { + "x": 0.30994442105293274, + "y": -0.011004626750946045, + "z": 1.6419564485549927 + }, + "rotation": { + "x": 0.014700928702950478, + "y": 319.5398254394531, + "z": -0.0010689004557207227 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.0, + "salientMaterials": [ + "Ceramic", + "Organic" + ], + "receptacleObjectIds": null, + "distance": 3.3645150661468506, + "objectType": "HousePlant", + "objectId": "HousePlant|4|2|0", + "assetId": "Houseplant_7", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.5120116472244263, + 0.8549591302871704, + 1.8441842794418335 + ], + [ + 0.5120116472244263, + 0.8549591302871704, + 1.3857589960098267 + ], + [ + 0.5120116472244263, + 4.470348358154297e-07, + 1.8441842794418335 + ], + [ + 0.5120116472244263, + 4.470348358154297e-07, + 1.3857589960098267 + ], + [ + 0.07821935415267944, + 0.8549591302871704, + 1.8441842794418335 + ], + [ + 0.07821935415267944, + 0.8549591302871704, + 1.3857589960098267 + ], + [ + 0.07821935415267944, + 4.470348358154297e-07, + 1.8441842794418335 + ], + [ + 0.07821935415267944, + 4.470348358154297e-07, + 1.3857589960098267 + ] + ], + "center": { + "x": 0.29511550068855286, + "y": 0.4274797737598419, + "z": 1.61497163772583 + }, + "size": { + "x": 0.4337922930717468, + "y": 0.8549586534500122, + "z": 0.45842528343200684 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.3325675129890442, + -3.080535680055618e-05, + 1.9269013404846191 + ], + [ + 0.025000065565109253, + -2.3263506591320038e-05, + 1.664583444595337 + ], + [ + 0.3163772225379944, + 9.194575250148773e-05, + 1.322944164276123 + ], + [ + 0.6239446401596069, + 8.440390229225159e-05, + 1.5852620601654053 + ], + [ + 0.33243730664253235, + 0.8548397421836853, + 1.9270786046981812 + ], + [ + 0.024869859218597412, + 0.854847252368927, + 1.664760708808899 + ], + [ + 0.31624704599380493, + 0.8549624681472778, + 1.3231213092803955 + ], + [ + 0.6238144636154175, + 0.8549549579620361, + 1.5854393243789673 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|1", + "object_info": { + "name": "Dresser|4|1", + "position": { + "x": 1.1732268333435059, + "y": 0.0015782415866851807, + "z": 4.117611408233643 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "CD|surface|4|0", + "RemoteControl|surface|4|2" + ], + "distance": 2.5240843296051025, + "objectType": "Dresser", + "objectId": "Dresser|4|1", + "assetId": "Dresser_209_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.312486410140991, + 0.6974328756332397, + 4.302001953125 + ], + [ + 2.312486410140991, + 0.6974328756332397, + 3.921083450317383 + ], + [ + 2.312486410140991, + 1.6689300537109375e-06, + 4.302001953125 + ], + [ + 2.312486410140991, + 1.6689300537109375e-06, + 3.921083450317383 + ], + [ + 0.02500319480895996, + 0.6974328756332397, + 4.302001953125 + ], + [ + 0.02500319480895996, + 0.6974328756332397, + 3.921083450317383 + ], + [ + 0.02500319480895996, + 1.6689300537109375e-06, + 4.302001953125 + ], + [ + 0.02500319480895996, + 1.6689300537109375e-06, + 3.921083450317383 + ] + ], + "center": { + "x": 1.1687448024749756, + "y": 0.34871727228164673, + "z": 4.111542701721191 + }, + "size": { + "x": 2.2874832153320312, + "y": 0.697431206703186, + "z": 0.3809185028076172 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.02500319480895996, + 1.9371509552001953e-06, + 3.921083927154541 + ], + [ + 2.312486410140991, + 1.9371509552001953e-06, + 3.921083927154541 + ], + [ + 2.312486410140991, + 1.9371509552001953e-06, + 4.302001953125 + ], + [ + 0.02500319480895996, + 1.9371509552001953e-06, + 4.302002429962158 + ], + [ + 0.02500319480895996, + 0.6974328756332397, + 3.921083927154541 + ], + [ + 2.312486410140991, + 0.6974328756332397, + 3.921083927154541 + ], + [ + 2.312486410140991, + 0.6974328756332397, + 4.302001953125 + ], + [ + 0.02500319480895996, + 0.6974328756332397, + 4.302002429962158 + ] + ] + } + } + }, + { + "objectId": "RemoteControl|surface|4|2", + "object_info": { + "name": "RemoteControl|surface|4|2", + "position": { + "x": 1.1707401275634766, + "y": 0.6975149512290955, + "z": 4.251361846923828 + }, + "rotation": { + "x": -3.632873631431721e-05, + "y": 269.9999694824219, + "z": 359.9389953613281 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.15000000596046448, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.4352893829345703, + "objectType": "RemoteControl", + "objectId": "RemoteControl|surface|4|2", + "assetId": "RoboTHOR_remote_coolux_v", + "parentReceptacles": [ + "Dresser|4|1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.2680222988128662, + 0.7153843641281128, + 4.271951675415039 + ], + [ + 1.2680222988128662, + 0.7153843641281128, + 4.230802536010742 + ], + [ + 1.2680222988128662, + 0.6974300146102905, + 4.271951675415039 + ], + [ + 1.2680222988128662, + 0.6974300146102905, + 4.230802536010742 + ], + [ + 1.073457956314087, + 0.7153843641281128, + 4.271951675415039 + ], + [ + 1.073457956314087, + 0.7153843641281128, + 4.230802536010742 + ], + [ + 1.073457956314087, + 0.6974300146102905, + 4.271951675415039 + ], + [ + 1.073457956314087, + 0.6974300146102905, + 4.230802536010742 + ] + ], + "center": { + "x": 1.1707401275634766, + "y": 0.7064071893692017, + "z": 4.251377105712891 + }, + "size": { + "x": 0.1945643424987793, + "y": 0.017954349517822266, + "z": 0.041149139404296875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.0734577178955078, + 0.6974148750305176, + 4.271932125091553 + ], + [ + 1.0734577178955078, + 0.6974586844444275, + 4.230791091918945 + ], + [ + 1.2680226564407349, + 0.6974585652351379, + 4.230791091918945 + ], + [ + 1.2680225372314453, + 0.697414755821228, + 4.271932601928711 + ], + [ + 1.0734577178955078, + 0.7153557538986206, + 4.271951198577881 + ], + [ + 1.0734577178955078, + 0.7153995633125305, + 4.230810165405273 + ], + [ + 1.2680226564407349, + 0.715399444103241, + 4.230810642242432 + ], + [ + 1.2680225372314453, + 0.715355634689331, + 4.271951675415039 + ] + ] + } + } + }, + { + "objectId": "Painting|4|6", + "object_info": { + "name": "Painting|4|6", + "position": { + "x": 0.00355725921690464, + "y": 2.062180519104004, + "z": 0.6646371483802795 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.164330959320068, + "objectType": "Painting", + "objectId": "Painting|4|6", + "assetId": "Wall_Decor_Painting_3", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.024349283427000046, + 2.3675389289855957, + 1.068190336227417 + ], + [ + 0.024349283427000046, + 2.3675389289855957, + 0.26250791549682617 + ], + [ + 0.024349283427000046, + 1.7544035911560059, + 1.068190336227417 + ], + [ + 0.024349283427000046, + 1.7544035911560059, + 0.26250791549682617 + ], + [ + 0.004999972879886627, + 2.3675389289855957, + 1.068190336227417 + ], + [ + 0.004999972879886627, + 2.3675389289855957, + 0.26250791549682617 + ], + [ + 0.004999972879886627, + 1.7544035911560059, + 1.068190336227417 + ], + [ + 0.004999972879886627, + 1.7544035911560059, + 0.26250791549682617 + ] + ], + "center": { + "x": 0.014674628153443336, + "y": 2.060971260070801, + "z": 0.6653491258621216 + }, + "size": { + "x": 0.01934931054711342, + "y": 0.6131353378295898, + "z": 0.8056824207305908 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "window|4|0", + "object_info": { + "name": "window|4|0", + "position": { + "x": 7.456891353285755e-07, + "y": 0.8624162673950195, + "z": 1.9678614139556885 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.410175085067749, + "objectType": "Window", + "objectId": "window|4|0", + "assetId": "Window_Hung_48x44", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.12091552466154099, + 2.136650800704956, + 3.239241361618042 + ], + [ + 0.12091552466154099, + 2.136650800704956, + 1.9676592350006104 + ], + [ + 0.12091552466154099, + 0.861915111541748, + 3.239241361618042 + ], + [ + 0.12091552466154099, + 0.861915111541748, + 1.9676592350006104 + ], + [ + -0.12091562896966934, + 2.136650800704956, + 3.239241361618042 + ], + [ + -0.12091562896966934, + 2.136650800704956, + 1.9676592350006104 + ], + [ + -0.12091562896966934, + 0.861915111541748, + 3.239241361618042 + ], + [ + -0.12091562896966934, + 0.861915111541748, + 1.9676592350006104 + ] + ], + "center": { + "x": -5.21540641784668e-08, + "y": 1.499282956123352, + "z": 2.603450298309326 + }, + "size": { + "x": 0.24183115363121033, + "y": 1.274735689163208, + "z": 1.2715821266174316 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|4|1___3", + "object_info": { + "name": "Drawer (3)", + "position": { + "x": 0.6491994857788086, + "y": 0.47976580262184143, + "z": 4.047611236572266 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "CD|surface|4|1" + ], + "distance": 2.835329055786133, + "objectType": "Drawer", + "objectId": "Dresser|4|1___3", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.1660950183868408, + 0.6543091535568237, + 4.179344177246094 + ], + [ + 1.1660950183868408, + 0.6543091535568237, + 3.918689727783203 + ], + [ + 1.1660950183868408, + 0.34582221508026123, + 4.179344177246094 + ], + [ + 1.1660950183868408, + 0.34582221508026123, + 3.918689727783203 + ], + [ + 0.13230395317077637, + 0.6543091535568237, + 4.179344177246094 + ], + [ + 0.13230395317077637, + 0.6543091535568237, + 3.918689727783203 + ], + [ + 0.13230395317077637, + 0.34582221508026123, + 4.179344177246094 + ], + [ + 0.13230395317077637, + 0.34582221508026123, + 3.918689727783203 + ] + ], + "center": { + "x": 0.6491994857788086, + "y": 0.5000656843185425, + "z": 4.049016952514648 + }, + "size": { + "x": 1.0337910652160645, + "y": 0.3084869384765625, + "z": 0.2606544494628906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|4|1___1", + "object_info": { + "name": "Drawer (1)", + "position": { + "x": 1.68937349319458, + "y": 0.47607824206352234, + "z": 4.047611236572266 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 1.92707097530365, + "objectType": "Drawer", + "objectId": "Dresser|4|1___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.2062690258026123, + 0.6506216526031494, + 4.179344177246094 + ], + [ + 2.2062690258026123, + 0.6506216526031494, + 3.918689727783203 + ], + [ + 2.2062690258026123, + 0.3421347141265869, + 4.179344177246094 + ], + [ + 2.2062690258026123, + 0.3421347141265869, + 3.918689727783203 + ], + [ + 1.1724779605865479, + 0.6506216526031494, + 4.179344177246094 + ], + [ + 1.1724779605865479, + 0.6506216526031494, + 3.918689727783203 + ], + [ + 1.1724779605865479, + 0.3421347141265869, + 4.179344177246094 + ], + [ + 1.1724779605865479, + 0.3421347141265869, + 3.918689727783203 + ] + ], + "center": { + "x": 1.68937349319458, + "y": 0.49637818336486816, + "z": 4.049016952514648 + }, + "size": { + "x": 1.0337910652160645, + "y": 0.3084869384765625, + "z": 0.2606544494628906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bed|4|0", + "object_info": { + "name": "Bed|4|0", + "position": { + "x": 1.0386308431625366, + "y": 7.62939453125e-06, + "z": 0.5922693610191345 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Fabric", + "Wood" + ], + "receptacleObjectIds": [], + "distance": 3.391033172607422, + "objectType": "Bed", + "objectId": "Bed|4|0", + "assetId": "RoboTHOR_bed_tarva_v", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.0666112899780273, + 0.9211342334747314, + 1.159531593322754 + ], + [ + 2.0666112899780273, + 0.9211342334747314, + 0.025007009506225586 + ], + [ + 2.0666112899780273, + 7.68899917602539e-06, + 1.159531593322754 + ], + [ + 2.0666112899780273, + 7.68899917602539e-06, + 0.025007009506225586 + ], + [ + 0.025006651878356934, + 0.9211342334747314, + 1.159531593322754 + ], + [ + 0.025006651878356934, + 0.9211342334747314, + 0.025007009506225586 + ], + [ + 0.025006651878356934, + 7.68899917602539e-06, + 1.159531593322754 + ], + [ + 0.025006651878356934, + 7.68899917602539e-06, + 0.025007009506225586 + ] + ], + "center": { + "x": 1.0458089113235474, + "y": 0.46057096123695374, + "z": 0.5922693014144897 + }, + "size": { + "x": 2.041604518890381, + "y": 0.9211265444755554, + "z": 1.1345245838165283 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.0666117668151855, + 7.62939453125e-06, + 0.025006890296936035 + ], + [ + 2.0666117668151855, + 7.62939453125e-06, + 1.159531593322754 + ], + [ + 0.025006651878356934, + 7.62939453125e-06, + 1.159531831741333 + ], + [ + 0.025006413459777832, + 7.62939453125e-06, + 0.02500706911087036 + ], + [ + 2.0666117668151855, + 0.9211342334747314, + 0.025006890296936035 + ], + [ + 2.0666117668151855, + 0.9211342334747314, + 1.159531593322754 + ], + [ + 0.025006651878356934, + 0.9211342334747314, + 1.159531831741333 + ], + [ + 0.025006413459777832, + 0.9211342334747314, + 0.02500706911087036 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|1___0", + "object_info": { + "name": "Drawer", + "position": { + "x": 1.68937349319458, + "y": 0.16780176758766174, + "z": 4.047611236572266 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.017578601837158, + "objectType": "Drawer", + "objectId": "Dresser|4|1___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.2062690258026123, + 0.3403380513191223, + 4.179344177246094 + ], + [ + 2.2062690258026123, + 0.3403380513191223, + 3.918689727783203 + ], + [ + 2.2062690258026123, + 0.03385818004608154, + 4.179344177246094 + ], + [ + 2.2062690258026123, + 0.03385818004608154, + 3.918689727783203 + ], + [ + 1.1724779605865479, + 0.3403380513191223, + 4.179344177246094 + ], + [ + 1.1724779605865479, + 0.3403380513191223, + 3.918689727783203 + ], + [ + 1.1724779605865479, + 0.03385818004608154, + 4.179344177246094 + ], + [ + 1.1724779605865479, + 0.03385818004608154, + 3.918689727783203 + ] + ], + "center": { + "x": 1.68937349319458, + "y": 0.18709811568260193, + "z": 4.049016952514648 + }, + "size": { + "x": 1.0337910652160645, + "y": 0.30647987127304077, + "z": 0.2606544494628906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|4|1___2", + "object_info": { + "name": "Drawer (2)", + "position": { + "x": 0.6452269554138184, + "y": 0.16780176758766174, + "z": 4.047611236572266 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.9017083644866943, + "objectType": "Drawer", + "objectId": "Dresser|4|1___2", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.1621224880218506, + 0.34234514832496643, + 4.179344177246094 + ], + [ + 1.1621224880218506, + 0.34234514832496643, + 3.918689727783203 + ], + [ + 1.1621224880218506, + 0.03385820984840393, + 4.179344177246094 + ], + [ + 1.1621224880218506, + 0.03385820984840393, + 3.918689727783203 + ], + [ + 0.12833142280578613, + 0.34234514832496643, + 4.179344177246094 + ], + [ + 0.12833142280578613, + 0.34234514832496643, + 3.918689727783203 + ], + [ + 0.12833142280578613, + 0.03385820984840393, + 4.179344177246094 + ], + [ + 0.12833142280578613, + 0.03385820984840393, + 3.918689727783203 + ] + ], + "center": { + "x": 0.6452269554138184, + "y": 0.18810167908668518, + "z": 4.049016952514648 + }, + "size": { + "x": 1.0337910652160645, + "y": 0.3084869384765625, + "z": 0.2606544494628906 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 3.0999999046325684, + "y": 0.9009997844696045, + "z": 2.799999952316284 + }, + "agent_rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "agent_cameraHorizon": 30.00000762939453, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 3.0999999046325684, + "y": 1.5759997367858887, + "z": 2.799999952316284 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Bed|4|0", + "Dresser|4|1___2", + "RemoteControl|surface|4|2", + "Dresser|4|1___0", + "Dresser|4|1___1", + "Dresser|4|1___3", + "Dresser|4|1", + "HousePlant|4|2|0" + ], + "different_object": [ + "window|4|0", + "Painting|4|6" + ] +} \ No newline at end of file diff --git a/train/train1316/1/1_depth_npy.npy b/train/train1316/1/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..c35e8d06052bfb9fbdb39b177e86a528ac41917c --- /dev/null +++ b/train/train1316/1/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b0e57aef8ffc2dffe2ce01e80f670b21e61501e0adb14f5f1d7df8a205480754 +size 3145856 diff --git a/train/train1316/1/1_semantic_sensor_npy.npy b/train/train1316/1/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..6eb4fbee220be736f7d6f67c9b7551f06efe604d --- /dev/null +++ b/train/train1316/1/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:42e1aaac47b7f2a2ec6793dfcfc07680d5e6ffa929e2783318cf643d499c3a71 +size 2359424 diff --git a/train/train1316/1/depth_0.png b/train/train1316/1/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..03823502975e74ff8a4ede1309afdd5c131143c0 Binary files /dev/null and b/train/train1316/1/depth_0.png differ diff --git a/train/train1316/1/depth_1.png b/train/train1316/1/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..c2485e813c7fc353844b38fe630ce8e28f6a3651 Binary files /dev/null and b/train/train1316/1/depth_1.png differ diff --git a/train/train1316/1/mask_questions.jsonl b/train/train1316/1/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e67234d4fd639db59100ac0f6f5e4644a02f16e0 --- /dev/null +++ b/train/train1316/1/mask_questions.jsonl @@ -0,0 +1,6 @@ +{"id": 2648, "folder_dir": "train1316/1", "pair_name": "0-1:Bed|4|0", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Bed\nB. BaseballBat\nC. None\nD. Drawer", "answer": "A", "object_name": "Bed", "image_1": "train1316/1/rgb_0.png", "image_2": "train1316/1/rgb_1.png", "mask_image": "train1316/1/rgb_1_mask_Bed|4|0.png", "options": ["Bed", "BaseballBat", "None", "Drawer"]} +{"id": 2649, "folder_dir": "train1316/1", "pair_name": "0-1:HousePlant|4|2|0", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. BaseballBat\nB. HousePlant\nC. Bed\nD. None", "answer": "B", "object_name": "HousePlant", "image_1": "train1316/1/rgb_0.png", "image_2": "train1316/1/rgb_1.png", "mask_image": "train1316/1/rgb_1_mask_HousePlant|4|2|0.png", "options": ["BaseballBat", "HousePlant", "Bed", "None"]} +{"id": 2650, "folder_dir": "train1316/1", "pair_name": "1-0:Dresser|4|1___2", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Window\nB. Bed\nC. Painting\nD. Drawer", "answer": "D", "object_name": "Drawer", "image_1": "train1316/1/rgb_1.png", "image_2": "train1316/1/rgb_0.png", "mask_image": "train1316/1/rgb_0_mask_Dresser|4|1___2.png", "options": ["Window", "Bed", "Painting", "Drawer"]} +{"id": 2651, "folder_dir": "train1316/1", "pair_name": "1-0:Dresser|4|1___0", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Bed\nB. Drawer\nC. Painting\nD. Window", "answer": "B", "object_name": "Drawer", "image_1": "train1316/1/rgb_1.png", "image_2": "train1316/1/rgb_0.png", "mask_image": "train1316/1/rgb_0_mask_Dresser|4|1___0.png", "options": ["Bed", "Drawer", "Painting", "Window"]} +{"id": 2652, "folder_dir": "train1316/1", "pair_name": "1-0:Dresser|4|1___3", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Window\nB. Drawer\nC. Painting\nD. Bed", "answer": "B", "object_name": "Drawer", "image_1": "train1316/1/rgb_1.png", "image_2": "train1316/1/rgb_0.png", "mask_image": "train1316/1/rgb_0_mask_Dresser|4|1___3.png", "options": ["Window", "Drawer", "Painting", "Bed"]} +{"id": 2653, "folder_dir": "train1316/1", "pair_name": "1-0:HousePlant|4|2|0", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Window\nB. Bed\nC. Painting\nD. HousePlant", "answer": "D", "object_name": "HousePlant", "image_1": "train1316/1/rgb_1.png", "image_2": "train1316/1/rgb_0.png", "mask_image": "train1316/1/rgb_0_mask_HousePlant|4|2|0.png", "options": ["Window", "Bed", "Painting", "HousePlant"]} diff --git a/train/train1316/1/questions_distance.jsonl b/train/train1316/1/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..48c28341d5e458c93f1ca3f591f083f12a735f03 --- /dev/null +++ b/train/train1316/1/questions_distance.jsonl @@ -0,0 +1 @@ +{"id": 1070, "folder_dir": "train1316/1", "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. Painting\nB. Window\nC. RemoteControl\nD. Other\n", "answer": "B", "src_object": "HousePlant", "target_object": "Window", "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": "Painting", "semantic_id": "Painting|4|6", "distance": 1.9101634573713786, "com": {"x": 0.014674628153443336, "y": 2.060971260070801, "z": 0.6653491258621216}}, {"text": "Window", "semantic_id": "window|4|0", "distance": 1.4875971610900223, "com": {"x": -5.21540641784668e-08, "y": 1.499282956123352, "z": 2.603450298309326}}, {"text": "RemoteControl", "semantic_id": "RemoteControl|surface|4|2", "distance": 2.7919800826654257, "com": {"x": 1.1707401275634766, "y": 0.7064071893692017, "z": 4.251377105712891}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1316/1/rgb_0.png", "image_2": "train1316/1/rgb_1.png"} diff --git a/train/train1316/1/rgb_0.png b/train/train1316/1/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..a22b967924ae22eb9ee27a13654796dad45c1903 --- /dev/null +++ b/train/train1316/1/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a8d6a7a01f1414d785e4f643713c5f8ec751a2e8a1e21849e9926047bac67fdb +size 820275 diff --git a/train/train1316/1/rgb_0_mask_Dresser|4|1___0.png b/train/train1316/1/rgb_0_mask_Dresser|4|1___0.png new file mode 100644 index 0000000000000000000000000000000000000000..72fc196f9122a6e6687fbb0a05fcb5aa1c09fc6e --- /dev/null +++ b/train/train1316/1/rgb_0_mask_Dresser|4|1___0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4e74d23e479d65c84f0712cd563f6baa1c17347ff887191ef7168c35f1450e24 +size 712058 diff --git a/train/train1316/1/rgb_0_mask_Dresser|4|1___2.png b/train/train1316/1/rgb_0_mask_Dresser|4|1___2.png new file mode 100644 index 0000000000000000000000000000000000000000..db1557c56b10b7c482eae39175044240962f4bfa --- /dev/null +++ b/train/train1316/1/rgb_0_mask_Dresser|4|1___2.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7630276ae26ee87b2bcfaf4570825ad017c75a29d9bb58f396017819803b22c0 +size 720255 diff --git a/train/train1316/1/rgb_0_mask_Dresser|4|1___3.png b/train/train1316/1/rgb_0_mask_Dresser|4|1___3.png new file mode 100644 index 0000000000000000000000000000000000000000..f2d38965d04702db0714609d403c58c7749a6d03 --- /dev/null +++ b/train/train1316/1/rgb_0_mask_Dresser|4|1___3.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b71d265ac4d68081a308ff9407d5068c47b0e915adcc7598a49b042d60916c69 +size 716860 diff --git a/train/train1316/1/rgb_0_mask_HousePlant|4|2|0.png b/train/train1316/1/rgb_0_mask_HousePlant|4|2|0.png new file mode 100644 index 0000000000000000000000000000000000000000..2af36ca1eb913fb251732aa633971aad136530a4 --- /dev/null +++ b/train/train1316/1/rgb_0_mask_HousePlant|4|2|0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:38ab1e77c6a03a28bb50c9fa3244adcd51d194f9005ec1894fb9ddb29540dc69 +size 710162 diff --git a/train/train1316/1/rgb_1.png b/train/train1316/1/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..765b1626562a0338a686586a1c1db587cd7b5346 --- /dev/null +++ b/train/train1316/1/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d6af4d50d7f04bd546bfb30851a90faea387ed921a0c3910a6b9807f1c9329ec +size 702482 diff --git a/train/train1316/1/rgb_1_mask_Bed|4|0.png b/train/train1316/1/rgb_1_mask_Bed|4|0.png new file mode 100644 index 0000000000000000000000000000000000000000..74ed37db32ea104d333fbee233ae4488168c6d1c --- /dev/null +++ b/train/train1316/1/rgb_1_mask_Bed|4|0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9042e12a0f948fab20511da7afdb8ba9214a8186fb21a904940319cc477185b6 +size 486470 diff --git a/train/train1316/1/rgb_1_mask_HousePlant|4|2|0.png b/train/train1316/1/rgb_1_mask_HousePlant|4|2|0.png new file mode 100644 index 0000000000000000000000000000000000000000..71600389f47201177fe26446954c117680598e25 --- /dev/null +++ b/train/train1316/1/rgb_1_mask_HousePlant|4|2|0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f5322c9fb201ee353b659db30b8c1bf47157c297f1b76650dee9cbe4679e7a9b +size 616816 diff --git a/train/train1316/1/semantic_0.png b/train/train1316/1/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..a17cdbca7bbb3ea9768f492921eed43e670843e9 Binary files /dev/null and b/train/train1316/1/semantic_0.png differ diff --git a/train/train1316/1/semantic_1.png b/train/train1316/1/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..cbec90dc735ce3c6a18a41f92e446c350d368127 Binary files /dev/null and b/train/train1316/1/semantic_1.png differ diff --git a/train/train1316/2/0.json b/train/train1316/2/0.json new file mode 100644 index 0000000000000000000000000000000000000000..7d0413df45c4b894c7bf5ecdab03222df7a0ee86 --- /dev/null +++ b/train/train1316/2/0.json @@ -0,0 +1,3734 @@ +{ + "object": [ + { + "objectId": "Painting|8|6", + "object_info": { + "name": "Painting|8|6", + "position": { + "x": 10.810393333435059, + "y": 1.7489491701126099, + "z": 9.954865455627441 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 10.30770206451416, + "objectType": "Painting", + "objectId": "Painting|8|6", + "assetId": "Wall_Decor_Photo_7", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.812000274658203, + 2.070725917816162, + 10.422999382019043 + ], + [ + 10.812000274658203, + 2.070725917816162, + 9.48673152923584 + ], + [ + 10.812000274658203, + 1.430199146270752, + 10.422999382019043 + ], + [ + 10.812000274658203, + 1.430199146270752, + 9.48673152923584 + ], + [ + 10.78457260131836, + 2.070725917816162, + 10.422999382019043 + ], + [ + 10.78457260131836, + 2.070725917816162, + 9.48673152923584 + ], + [ + 10.78457260131836, + 1.430199146270752, + 10.422999382019043 + ], + [ + 10.78457260131836, + 1.430199146270752, + 9.48673152923584 + ] + ], + "center": { + "x": 10.798286437988281, + "y": 1.750462532043457, + "z": 9.954865455627441 + }, + "size": { + "x": 0.02742767333984375, + "y": 0.6405267715454102, + "z": 0.9362678527832031 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ShelvingUnit|8|4___3", + "object_info": { + "name": "Shelf (4)", + "position": { + "x": 10.666072845458984, + "y": 0.7197344899177551, + "z": 8.748308181762695 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SprayBottle|surface|8|19" + ], + "distance": 9.384777069091797, + "objectType": "Shelf", + "objectId": "ShelvingUnit|8|4___3", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.775839805603027, + 0.8503605127334595, + 8.95882797241211 + ], + [ + 10.775839805603027, + 0.8503605127334595, + 8.537788391113281 + ], + [ + 10.775839805603027, + 0.5891084671020508, + 8.95882797241211 + ], + [ + 10.775839805603027, + 0.5891084671020508, + 8.537788391113281 + ], + [ + 10.556305885314941, + 0.8503605127334595, + 8.95882797241211 + ], + [ + 10.556305885314941, + 0.8503605127334595, + 8.537788391113281 + ], + [ + 10.556305885314941, + 0.5891084671020508, + 8.95882797241211 + ], + [ + 10.556305885314941, + 0.5891084671020508, + 8.537788391113281 + ] + ], + "center": { + "x": 10.666072845458984, + "y": 0.7197344899177551, + "z": 8.748308181762695 + }, + "size": { + "x": 0.21953392028808594, + "y": 0.2612520456314087, + "z": 0.4210395812988281 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "HousePlant|surface|8|21", + "object_info": { + "name": "HousePlant|surface|8|21", + "position": { + "x": 10.672377586364746, + "y": 1.1573187112808228, + "z": 8.531096458435059 + }, + "rotation": { + "x": 0.2098698765039444, + "y": 270.01934814453125, + "z": 0.01799631491303444 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.0, + "salientMaterials": [ + "Ceramic", + "Organic" + ], + "receptacleObjectIds": null, + "distance": 9.260151863098145, + "objectType": "HousePlant", + "objectId": "HousePlant|surface|8|21", + "assetId": "Houseplant_20", + "parentReceptacles": [ + "ShelvingUnit|8|4___0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.759166717529297, + 1.799793004989624, + 8.620718002319336 + ], + [ + 10.759166717529297, + 1.799793004989624, + 8.420431137084961 + ], + [ + 10.759166717529297, + 1.1548223495483398, + 8.620718002319336 + ], + [ + 10.759166717529297, + 1.1548223495483398, + 8.420431137084961 + ], + [ + 10.568635940551758, + 1.799793004989624, + 8.620718002319336 + ], + [ + 10.568635940551758, + 1.799793004989624, + 8.420431137084961 + ], + [ + 10.568635940551758, + 1.1548223495483398, + 8.620718002319336 + ], + [ + 10.568635940551758, + 1.1548223495483398, + 8.420431137084961 + ] + ], + "center": { + "x": 10.663901329040527, + "y": 1.477307677268982, + "z": 8.520574569702148 + }, + "size": { + "x": 0.19053077697753906, + "y": 0.6449706554412842, + "z": 0.200286865234375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 10.570816993713379, + 1.1546283960342407, + 8.620931625366211 + ], + [ + 10.570749282836914, + 1.154565453529358, + 8.420631408691406 + ], + [ + 10.761248588562012, + 1.1552633047103882, + 8.420567512512207 + ], + [ + 10.761316299438477, + 1.155326247215271, + 8.620866775512695 + ], + [ + 10.568455696105957, + 1.7993704080581665, + 8.620729446411133 + ], + [ + 10.568387985229492, + 1.7993075847625732, + 8.420430183410645 + ], + [ + 10.758886337280273, + 1.800005316734314, + 8.420365333557129 + ], + [ + 10.758954048156738, + 1.8000681400299072, + 8.620665550231934 + ] + ] + } + } + }, + { + "objectId": "Plate|surface|8|22", + "object_info": { + "name": "Plate|surface|8|22", + "position": { + "x": 7.238898754119873, + "y": 0.781857430934906, + "z": 6.395248889923096 + }, + "rotation": { + "x": 0.005719710607081652, + "y": 180.00010681152344, + "z": 0.009062936529517174 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 5.239582538604736, + "objectType": "Plate", + "objectId": "Plate|surface|8|22", + "assetId": "Plate_4", + "parentReceptacles": [ + "DiningTable|8|2|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.335898399353027, + 0.8000904321670532, + 6.494068145751953 + ], + [ + 7.335898399353027, + 0.8000904321670532, + 6.297903060913086 + ], + [ + 7.335898399353027, + 0.7813748121261597, + 6.494068145751953 + ], + [ + 7.335898399353027, + 0.7813748121261597, + 6.297903060913086 + ], + [ + 7.140985488891602, + 0.8000904321670532, + 6.494068145751953 + ], + [ + 7.140985488891602, + 0.8000904321670532, + 6.297903060913086 + ], + [ + 7.140985488891602, + 0.7813748121261597, + 6.494068145751953 + ], + [ + 7.140985488891602, + 0.7813748121261597, + 6.297903060913086 + ] + ], + "center": { + "x": 7.2384419441223145, + "y": 0.7907326221466064, + "z": 6.3959856033325195 + }, + "size": { + "x": 0.19491291046142578, + "y": 0.018715620040893555, + "z": 0.1961650848388672 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.140983581542969, + 0.7813949584960938, + 6.297904968261719 + ], + [ + 7.335896015167236, + 0.7813641428947449, + 6.2979044914245605 + ], + [ + 7.335896015167236, + 0.7813836932182312, + 6.494068622589111 + ], + [ + 7.140984058380127, + 0.7814145088195801, + 6.4940690994262695 + ], + [ + 7.140986442565918, + 0.800077497959137, + 6.297903060913086 + ], + [ + 7.3358988761901855, + 0.8000466823577881, + 6.297902584075928 + ], + [ + 7.335899353027344, + 0.8000662326812744, + 6.4940667152404785 + ], + [ + 7.140986919403076, + 0.8000970482826233, + 6.494067192077637 + ] + ] + } + } + }, + { + "objectId": "door|4|8", + "object_info": { + "name": "door|4|8", + "position": { + "x": 4.4892144203186035, + "y": -0.0006060600280761719, + "z": 4.330454349517822 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.029446840286255, + "objectType": "Doorway", + "objectId": "door|4|8", + "assetId": "Doorway_Double_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.426213264465332, + 2.0728206634521484, + 5.2253947257995605 + ], + [ + 6.426213264465332, + 2.0728206634521484, + 4.253799915313721 + ], + [ + 6.426213264465332, + -2.384185791015625e-07, + 5.2253947257995605 + ], + [ + 6.426213264465332, + -2.384185791015625e-07, + 4.253799915313721 + ], + [ + 4.468653678894043, + 2.0728206634521484, + 5.2253947257995605 + ], + [ + 4.468653678894043, + 2.0728206634521484, + 4.253799915313721 + ], + [ + 4.468653678894043, + -2.384185791015625e-07, + 5.2253947257995605 + ], + [ + 4.468653678894043, + -2.384185791015625e-07, + 4.253799915313721 + ] + ], + "center": { + "x": 5.4474334716796875, + "y": 1.0364102125167847, + "z": 4.739597320556641 + }, + "size": { + "x": 1.957559585571289, + "y": 2.0728209018707275, + "z": 0.9715948104858398 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "SprayBottle|surface|5|4", + "object_info": { + "name": "SprayBottle|surface|5|4", + "position": { + "x": 10.670975685119629, + "y": 0.014967948198318481, + "z": 0.059493474662303925 + }, + "rotation": { + "x": 11.626057624816895, + "y": 89.02001190185547, + "z": 347.7622985839844 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.10999999940395355, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 8.03134536743164, + "objectType": "SprayBottle", + "objectId": "SprayBottle|surface|5|4", + "assetId": "Spray_Bottle_8", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.76441764831543, + 0.25343987345695496, + 0.07645612955093384 + ], + [ + 10.76441764831543, + 0.25343987345695496, + 0.0008867718279361725 + ], + [ + 10.76441764831543, + -6.204843521118164e-05, + 0.07645612955093384 + ], + [ + 10.76441764831543, + -6.204843521118164e-05, + 0.0008867718279361725 + ], + [ + 10.619390487670898, + 0.25343987345695496, + 0.07645612955093384 + ], + [ + 10.619390487670898, + 0.25343987345695496, + 0.0008867718279361725 + ], + [ + 10.619390487670898, + -6.204843521118164e-05, + 0.07645612955093384 + ], + [ + 10.619390487670898, + -6.204843521118164e-05, + 0.0008867718279361725 + ] + ], + "center": { + "x": 10.691904067993164, + "y": 0.1266889125108719, + "z": 0.038671452552080154 + }, + "size": { + "x": 0.14502716064453125, + "y": 0.25350192189216614, + "z": 0.07556936144828796 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 10.729532241821289, + -6.209220737218857e-05, + 0.04432873800396919 + ], + [ + 10.730386734008789, + 0.006759175099432468, + 0.07645617425441742 + ], + [ + 10.620244026184082, + 0.029423771426081657, + 0.0745721086859703 + ], + [ + 10.619389533996582, + 0.022602504119277, + 0.04244467616081238 + ], + [ + 10.778764724731445, + 0.234935462474823, + -0.006874546408653259 + ], + [ + 10.779619216918945, + 0.24175673723220825, + 0.02525288611650467 + ], + [ + 10.669476509094238, + 0.26442134380340576, + 0.023368824273347855 + ], + [ + 10.668622016906738, + 0.2576000690460205, + -0.008758611977100372 + ] + ] + } + } + }, + { + "objectId": "door|4|5", + "object_info": { + "name": "door|4|5", + "position": { + "x": 6.489999771118164, + "y": -0.0021260976791381836, + "z": 0.10284990072250366 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 4.4392242431640625, + "objectType": "Doorway", + "objectId": "door|4|5", + "assetId": "Doorway_Double_7", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.5596208572387695, + 2.09407377243042, + 2.072422742843628 + ], + [ + 6.5596208572387695, + 2.09407377243042, + 0.06777405738830566 + ], + [ + 6.5596208572387695, + -0.0015277862548828125, + 2.072422742843628 + ], + [ + 6.5596208572387695, + -0.0015277862548828125, + 0.06777405738830566 + ], + [ + 5.575068473815918, + 2.09407377243042, + 2.072422742843628 + ], + [ + 5.575068473815918, + 2.09407377243042, + 0.06777405738830566 + ], + [ + 5.575068473815918, + -0.0015277862548828125, + 2.072422742843628 + ], + [ + 5.575068473815918, + -0.0015277862548828125, + 0.06777405738830566 + ] + ], + "center": { + "x": 6.067344665527344, + "y": 1.0462729930877686, + "z": 1.0700984001159668 + }, + "size": { + "x": 0.9845523834228516, + "y": 2.0956015586853027, + "z": 2.0046486854553223 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|4|5", + "object_info": { + "name": "Painting|4|5", + "position": { + "x": 6.484127044677734, + "y": 1.353273868560791, + "z": 3.6542410850524902 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 3.3304896354675293, + "objectType": "Painting", + "objectId": "Painting|4|5", + "assetId": "Wall_Decor_Painting_10", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.485000133514404, + 1.7266273498535156, + 4.032639980316162 + ], + [ + 6.485000133514404, + 1.7266273498535156, + 3.275930404663086 + ], + [ + 6.485000133514404, + 0.980820894241333, + 4.032639980316162 + ], + [ + 6.485000133514404, + 0.980820894241333, + 3.275930404663086 + ], + [ + 6.469000339508057, + 1.7266273498535156, + 4.032639980316162 + ], + [ + 6.469000339508057, + 1.7266273498535156, + 3.275930404663086 + ], + [ + 6.469000339508057, + 0.980820894241333, + 4.032639980316162 + ], + [ + 6.469000339508057, + 0.980820894241333, + 3.275930404663086 + ] + ], + "center": { + "x": 6.4770002365112305, + "y": 1.3537241220474243, + "z": 3.654285192489624 + }, + "size": { + "x": 0.015999794006347656, + "y": 0.7458064556121826, + "z": 0.7567095756530762 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ShelvingUnit|8|4", + "object_info": { + "name": "ShelvingUnit|8|4", + "position": { + "x": 10.672673225402832, + "y": 0.005734920501708984, + "z": 8.530108451843262 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 22.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": null, + "distance": 9.299445152282715, + "objectType": "ShelvingUnit", + "objectId": "ShelvingUnit|8|4", + "assetId": "Shelving_Unit_307_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.792000770568848, + 1.1554696559906006, + 8.982051849365234 + ], + [ + 10.792000770568848, + 1.1554696559906006, + 8.079710006713867 + ], + [ + 10.792000770568848, + 7.152557373046875e-07, + 8.982051849365234 + ], + [ + 10.792000770568848, + 7.152557373046875e-07, + 8.079710006713867 + ], + [ + 10.553923606872559, + 1.1554696559906006, + 8.982051849365234 + ], + [ + 10.553923606872559, + 1.1554696559906006, + 8.079710006713867 + ], + [ + 10.553923606872559, + 7.152557373046875e-07, + 8.982051849365234 + ], + [ + 10.553923606872559, + 7.152557373046875e-07, + 8.079710006713867 + ] + ], + "center": { + "x": 10.672962188720703, + "y": 0.577735185623169, + "z": 8.53088092803955 + }, + "size": { + "x": 0.23807716369628906, + "y": 1.1554689407348633, + "z": 0.9023418426513672 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 10.553923606872559, + 5.960464477539062e-07, + 8.982051849365234 + ], + [ + 10.553923606872559, + 5.960464477539062e-07, + 8.079710006713867 + ], + [ + 10.791999816894531, + 5.960464477539062e-07, + 8.079710006713867 + ], + [ + 10.791999816894531, + 5.960464477539062e-07, + 8.982051849365234 + ], + [ + 10.553923606872559, + 1.155469298362732, + 8.982051849365234 + ], + [ + 10.553923606872559, + 1.155469298362732, + 8.079710006713867 + ], + [ + 10.791999816894531, + 1.155469298362732, + 8.079710006713867 + ], + [ + 10.791999816894531, + 1.155469298362732, + 8.982051849365234 + ] + ] + } + } + }, + { + "objectId": "ToiletPaper|surface|5|3", + "object_info": { + "name": "ToiletPaper|surface|5|3", + "position": { + "x": 10.330947875976562, + "y": 0.9332754611968994, + "z": 0.09068553149700165 + }, + "rotation": { + "x": 359.1903381347656, + "y": 91.78569030761719, + "z": 319.525634765625 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.20000000298023224, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 7.655388832092285, + "objectType": "ToiletPaper", + "objectId": "ToiletPaper|surface|5|3", + "assetId": "Toilet_Paper_Used_Up", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.349592208862305, + 1.0353326797485352, + 0.10119205713272095 + ], + [ + 10.349592208862305, + 1.0353326797485352, + 0.000615924596786499 + ], + [ + 10.349592208862305, + 0.9245436191558838, + 0.10119205713272095 + ], + [ + 10.349592208862305, + 0.9245436191558838, + 0.000615924596786499 + ], + [ + 10.308504104614258, + 1.0353326797485352, + 0.10119205713272095 + ], + [ + 10.308504104614258, + 1.0353326797485352, + 0.000615924596786499 + ], + [ + 10.308504104614258, + 0.9245436191558838, + 0.10119205713272095 + ], + [ + 10.308504104614258, + 0.9245436191558838, + 0.000615924596786499 + ] + ], + "center": { + "x": 10.329048156738281, + "y": 0.9799381494522095, + "z": 0.05090399086475372 + }, + "size": { + "x": 0.041088104248046875, + "y": 0.11078906059265137, + "z": 0.10057613253593445 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 10.349910736083984, + 0.9212824702262878, + 0.07522989809513092 + ], + [ + 10.350471496582031, + 0.9462890625, + 0.1045350730419159 + ], + [ + 10.311964988708496, + 0.9457446336746216, + 0.10573554784059525 + ], + [ + 10.311405181884766, + 0.9207380414009094, + 0.07643036544322968 + ], + [ + 10.34613037109375, + 1.0141316652297974, + -0.003927558660507202 + ], + [ + 10.34669017791748, + 1.0391381978988647, + 0.02537761628627777 + ], + [ + 10.308184623718262, + 1.0385937690734863, + 0.026578091084957123 + ], + [ + 10.307624816894531, + 1.013587236404419, + -0.0027270913124084473 + ] + ] + } + } + }, + { + "objectId": "window|4|1", + "object_info": { + "name": "window|4|1", + "position": { + "x": 6.441731929779053, + "y": 1.0430444478988647, + "z": 5.327165126800537e-07 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 4.3826165199279785, + "objectType": "Window", + "objectId": "window|4|1", + "assetId": "Window_Slider_36x36", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.4417548179626465, + 1.957451343536377, + 0.04119918867945671 + ], + [ + 6.4417548179626465, + 1.957451343536377, + -0.04119918867945671 + ], + [ + 6.4417548179626465, + 1.0409610271453857, + 0.04119918867945671 + ], + [ + 6.4417548179626465, + 1.0409610271453857, + -0.04119918867945671 + ], + [ + 5.527308940887451, + 1.957451343536377, + 0.04119918867945671 + ], + [ + 5.527308940887451, + 1.957451343536377, + -0.04119918867945671 + ], + [ + 5.527308940887451, + 1.0409610271453857, + 0.04119918867945671 + ], + [ + 5.527308940887451, + 1.0409610271453857, + -0.04119918867945671 + ] + ], + "center": { + "x": 5.984531879425049, + "y": 1.4992061853408813, + "z": 0.0 + }, + "size": { + "x": 0.9144458770751953, + "y": 0.9164903163909912, + "z": 0.08239837735891342 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bed|4|4|0", + "object_info": { + "name": "Bed|4|4|0", + "position": { + "x": 3.4979326725006104, + "y": 0.00913289189338684, + "z": 1.0374341011047363 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": true, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "Pillow|4|4|1", + "Pillow|4|4|2" + ], + "distance": 2.169922113418579, + "objectType": "Bed", + "objectId": "Bed|4|4|0", + "assetId": "Bed_20", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.080060958862305, + 0.6742458939552307, + 2.044003486633301 + ], + [ + 4.080060958862305, + 0.6742458939552307, + 0.02499997615814209 + ], + [ + 4.080060958862305, + 0.0, + 2.044003486633301 + ], + [ + 4.080060958862305, + 0.0, + 0.02499997615814209 + ], + [ + 2.915804862976074, + 0.6742458939552307, + 2.044003486633301 + ], + [ + 2.915804862976074, + 0.6742458939552307, + 0.02499997615814209 + ], + [ + 2.915804862976074, + 0.0, + 2.044003486633301 + ], + [ + 2.915804862976074, + 0.0, + 0.02499997615814209 + ] + ], + "center": { + "x": 3.4979329109191895, + "y": 0.33712294697761536, + "z": 1.0345016717910767 + }, + "size": { + "x": 1.1642560958862305, + "y": 0.6742458939552307, + "z": 2.019003391265869 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.080060958862305, + 2.9802322387695312e-08, + 2.044003486633301 + ], + [ + 2.915804624557495, + 2.9802322387695312e-08, + 2.044003486633301 + ], + [ + 2.915804624557495, + 2.9802322387695312e-08, + 0.02499997615814209 + ], + [ + 4.080060958862305, + 2.9802322387695312e-08, + 0.02499997615814209 + ], + [ + 4.080060958862305, + 0.6742458343505859, + 2.044003486633301 + ], + [ + 2.915804624557495, + 0.6742458343505859, + 2.044003486633301 + ], + [ + 2.915804624557495, + 0.6742458343505859, + 0.02499997615814209 + ], + [ + 4.080060958862305, + 0.6742458343505859, + 0.02499997615814209 + ] + ] + } + } + }, + { + "objectId": "SprayBottle|surface|8|19", + "object_info": { + "name": "SprayBottle|surface|8|19", + "position": { + "x": 10.666067123413086, + "y": 0.5888528823852539, + "z": 8.801416397094727 + }, + "rotation": { + "x": 0.09053172916173935, + "y": 270.00189208984375, + "z": 359.8223571777344 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.10999999940395355, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 9.42082405090332, + "objectType": "SprayBottle", + "objectId": "SprayBottle|surface|8|19", + "assetId": "Spray_Bottle_2", + "parentReceptacles": [ + "Floor", + "ShelvingUnit|8|4___3" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.718411445617676, + 0.8348205089569092, + 8.81846809387207 + ], + [ + 10.718411445617676, + 0.8348205089569092, + 8.784990310668945 + ], + [ + 10.718411445617676, + 0.5892257690429688, + 8.81846809387207 + ], + [ + 10.718411445617676, + 0.5892257690429688, + 8.784990310668945 + ], + [ + 10.605761528015137, + 0.8348205089569092, + 8.81846809387207 + ], + [ + 10.605761528015137, + 0.8348205089569092, + 8.784990310668945 + ], + [ + 10.605761528015137, + 0.5892257690429688, + 8.81846809387207 + ], + [ + 10.605761528015137, + 0.5892257690429688, + 8.784990310668945 + ] + ], + "center": { + "x": 10.662086486816406, + "y": 0.712023138999939, + "z": 8.801729202270508 + }, + "size": { + "x": 0.11264991760253906, + "y": 0.24559473991394043, + "z": 0.033477783203125 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 10.605944633483887, + 0.589225709438324, + 8.81784725189209 + ], + [ + 10.60594367980957, + 0.5893275737762451, + 8.784993171691895 + ], + [ + 10.718409538269043, + 0.5895052552223206, + 8.784989356994629 + ], + [ + 10.718411445617676, + 0.5894034504890442, + 8.817843437194824 + ], + [ + 10.605557441711426, + 0.834722638130188, + 8.818608283996582 + ], + [ + 10.605555534362793, + 0.8348245024681091, + 8.785754203796387 + ], + [ + 10.718022346496582, + 0.8350021839141846, + 8.785750389099121 + ], + [ + 10.718023300170898, + 0.8349003195762634, + 8.818604469299316 + ] + ] + } + } + }, + { + "objectId": "DiningTable|8|2|0", + "object_info": { + "name": "DiningTable|8|2|0", + "position": { + "x": 7.46051025390625, + "y": 0.0008696913719177246, + "z": 6.76495361328125 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Plate|surface|8|22" + ], + "distance": 5.719572067260742, + "objectType": "DiningTable", + "objectId": "DiningTable|8|2|0", + "assetId": "Dining_Table_223_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.346189498901367, + 0.7813858985900879, + 7.26495361328125 + ], + [ + 8.346189498901367, + 0.7813858985900879, + 6.26495361328125 + ], + [ + 8.346189498901367, + 3.516674041748047e-06, + 7.26495361328125 + ], + [ + 8.346189498901367, + 3.516674041748047e-06, + 6.26495361328125 + ], + [ + 6.574831008911133, + 0.7813858985900879, + 7.26495361328125 + ], + [ + 6.574831008911133, + 0.7813858985900879, + 6.26495361328125 + ], + [ + 6.574831008911133, + 3.516674041748047e-06, + 7.26495361328125 + ], + [ + 6.574831008911133, + 3.516674041748047e-06, + 6.26495361328125 + ] + ], + "center": { + "x": 7.46051025390625, + "y": 0.3906947076320648, + "z": 6.76495361328125 + }, + "size": { + "x": 1.7713584899902344, + "y": 0.7813823819160461, + "z": 1.0 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.574831008911133, + 3.6954879760742188e-06, + 6.26495361328125 + ], + [ + 8.346189498901367, + 3.6954879760742188e-06, + 6.26495361328125 + ], + [ + 8.346189498901367, + 3.6954879760742188e-06, + 7.26495361328125 + ], + [ + 6.574831008911133, + 3.6954879760742188e-06, + 7.26495361328125 + ], + [ + 6.574831008911133, + 0.7813860774040222, + 6.26495361328125 + ], + [ + 8.346189498901367, + 0.7813860774040222, + 6.26495361328125 + ], + [ + 8.346189498901367, + 0.7813860774040222, + 7.26495361328125 + ], + [ + 6.574831008911133, + 0.7813860774040222, + 7.26495361328125 + ] + ] + } + } + }, + { + "objectId": "Plunger|5|2", + "object_info": { + "name": "Plunger|5|2", + "position": { + "x": 8.455744743347168, + "y": -0.00046312808990478516, + "z": 0.0990728959441185 + }, + "rotation": { + "x": 0.00023641133157070726, + "y": 0.000145224534207955, + "z": 0.0007984972908161581 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Rubber", + "Wood" + ], + "receptacleObjectIds": null, + "distance": 6.027254104614258, + "objectType": "Plunger", + "objectId": "Plunger|5|2", + "assetId": "Plunger_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.529892921447754, + 0.539339542388916, + 0.17300668358802795 + ], + [ + 8.529892921447754, + 0.539339542388916, + 0.024999350309371948 + ], + [ + 8.529892921447754, + -5.066394805908203e-07, + 0.17300668358802795 + ], + [ + 8.529892921447754, + -5.066394805908203e-07, + 0.024999350309371948 + ], + [ + 8.38159465789795, + 0.539339542388916, + 0.17300668358802795 + ], + [ + 8.38159465789795, + 0.539339542388916, + 0.024999350309371948 + ], + [ + 8.38159465789795, + -5.066394805908203e-07, + 0.17300668358802795 + ], + [ + 8.38159465789795, + -5.066394805908203e-07, + 0.024999350309371948 + ] + ], + "center": { + "x": 8.455743789672852, + "y": 0.2696695029735565, + "z": 0.09900301694869995 + }, + "size": { + "x": 0.1482982635498047, + "y": 0.5393400192260742, + "z": 0.148007333278656 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 8.52989387512207, + 1.562759280204773e-06, + 0.1730058342218399 + ], + [ + 8.381596565246582, + -5.039619281888008e-07, + 0.17300620675086975 + ], + [ + 8.381595611572266, + 1.0675285011529922e-07, + 0.024999767541885376 + ], + [ + 8.529892921447754, + 2.173474058508873e-06, + 0.02499939501285553 + ], + [ + 8.529886245727539, + 0.5393397808074951, + 0.1730080544948578 + ], + [ + 8.38158893585205, + 0.5393377542495728, + 0.17300844192504883 + ], + [ + 8.38158893585205, + 0.5393383502960205, + 0.025001995265483856 + ], + [ + 8.529885292053223, + 0.5393403768539429, + 0.02500162273645401 + ] + ] + } + } + }, + { + "objectId": "ShelvingUnit|8|4___1", + "object_info": { + "name": "Shelf (2)", + "position": { + "x": 10.666072845458984, + "y": 1.0064349174499512, + "z": 8.748308181762695 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 9.383618354797363, + "objectType": "Shelf", + "objectId": "ShelvingUnit|8|4___1", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.775839805603027, + 1.1370608806610107, + 8.95882797241211 + ], + [ + 10.775839805603027, + 1.1370608806610107, + 8.537788391113281 + ], + [ + 10.775839805603027, + 0.8758089542388916, + 8.95882797241211 + ], + [ + 10.775839805603027, + 0.8758089542388916, + 8.537788391113281 + ], + [ + 10.556305885314941, + 1.1370608806610107, + 8.95882797241211 + ], + [ + 10.556305885314941, + 1.1370608806610107, + 8.537788391113281 + ], + [ + 10.556305885314941, + 0.8758089542388916, + 8.95882797241211 + ], + [ + 10.556305885314941, + 0.8758089542388916, + 8.537788391113281 + ] + ], + "center": { + "x": 10.666072845458984, + "y": 1.0064349174499512, + "z": 8.748308181762695 + }, + "size": { + "x": 0.21953392028808594, + "y": 0.26125192642211914, + "z": 0.4210395812988281 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ShelvingUnit|8|4___5", + "object_info": { + "name": "Shelf (6)", + "position": { + "x": 10.666072845458984, + "y": 0.4357345700263977, + "z": 8.748308181762695 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 9.394554138183594, + "objectType": "Shelf", + "objectId": "ShelvingUnit|8|4___5", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.775839805603027, + 0.566360592842102, + 8.95882797241211 + ], + [ + 10.775839805603027, + 0.566360592842102, + 8.537788391113281 + ], + [ + 10.775839805603027, + 0.30510854721069336, + 8.95882797241211 + ], + [ + 10.775839805603027, + 0.30510854721069336, + 8.537788391113281 + ], + [ + 10.556305885314941, + 0.566360592842102, + 8.95882797241211 + ], + [ + 10.556305885314941, + 0.566360592842102, + 8.537788391113281 + ], + [ + 10.556305885314941, + 0.30510854721069336, + 8.95882797241211 + ], + [ + 10.556305885314941, + 0.30510854721069336, + 8.537788391113281 + ] + ], + "center": { + "x": 10.666072845458984, + "y": 0.4357345700263977, + "z": 8.748308181762695 + }, + "size": { + "x": 0.21953392028808594, + "y": 0.2612520456314087, + "z": 0.4210395812988281 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Chair|8|2|2", + "object_info": { + "name": "Chair|8|2|2", + "position": { + "x": 8.505985260009766, + "y": 0.0017909407615661621, + "z": 6.764944553375244 + }, + "rotation": { + "x": 0.0, + "y": 264.7749328613281, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Metal", + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 6.527538776397705, + "objectType": "Chair", + "objectId": "Chair|8|2|2", + "assetId": "RoboTHOR_chair_mella", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.790141105651855, + 0.7626224160194397, + 7.04664421081543 + ], + [ + 8.790141105651855, + 0.7626224160194397, + 6.479944229125977 + ], + [ + 8.790141105651855, + 3.3974647521972656e-06, + 7.04664421081543 + ], + [ + 8.790141105651855, + 3.3974647521972656e-06, + 6.479944229125977 + ], + [ + 8.222235679626465, + 0.7626224160194397, + 7.04664421081543 + ], + [ + 8.222235679626465, + 0.7626224160194397, + 6.479944229125977 + ], + [ + 8.222235679626465, + 3.3974647521972656e-06, + 7.04664421081543 + ], + [ + 8.222235679626465, + 3.3974647521972656e-06, + 6.479944229125977 + ] + ], + "center": { + "x": 8.50618839263916, + "y": 0.38131290674209595, + "z": 6.763294219970703 + }, + "size": { + "x": 0.5679054260253906, + "y": 0.7626190185546875, + "z": 0.5666999816894531 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 8.222235679626465, + 3.516674041748047e-06, + 7.002398490905762 + ], + [ + 8.270012855529785, + 3.516674041748047e-06, + 6.479944229125977 + ], + [ + 8.790141105651855, + 3.516674041748047e-06, + 6.527508735656738 + ], + [ + 8.742363929748535, + 3.516674041748047e-06, + 7.049962997436523 + ], + [ + 8.222235679626465, + 0.7626225352287292, + 7.002398490905762 + ], + [ + 8.270012855529785, + 0.7626225352287292, + 6.479944229125977 + ], + [ + 8.790141105651855, + 0.7626225352287292, + 6.527508735656738 + ], + [ + 8.742363929748535, + 0.7626225352287292, + 7.049962997436523 + ] + ] + } + } + }, + { + "objectId": "ShelvingUnit|8|4___8", + "object_info": { + "name": "Shelf (9)", + "position": { + "x": 10.666072845458984, + "y": 0.1487349271774292, + "z": 8.312108039855957 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 9.153279304504395, + "objectType": "Shelf", + "objectId": "ShelvingUnit|8|4___8", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.775839805603027, + 0.27968817949295044, + 8.517709732055664 + ], + [ + 10.775839805603027, + 0.27968817949295044, + 8.106103897094727 + ], + [ + 10.775839805603027, + 0.01778167486190796, + 8.517709732055664 + ], + [ + 10.775839805603027, + 0.01778167486190796, + 8.106103897094727 + ], + [ + 10.556305885314941, + 0.27968817949295044, + 8.517709732055664 + ], + [ + 10.556305885314941, + 0.27968817949295044, + 8.106103897094727 + ], + [ + 10.556305885314941, + 0.01778167486190796, + 8.517709732055664 + ], + [ + 10.556305885314941, + 0.01778167486190796, + 8.106103897094727 + ] + ], + "center": { + "x": 10.666072845458984, + "y": 0.1487349271774292, + "z": 8.311906814575195 + }, + "size": { + "x": 0.21953392028808594, + "y": 0.2619065046310425, + "z": 0.4116058349609375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ShelvingUnit|8|4___4", + "object_info": { + "name": "Shelf (5)", + "position": { + "x": 10.666072845458984, + "y": 0.7197349071502686, + "z": 8.312108039855957 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 9.124115943908691, + "objectType": "Shelf", + "objectId": "ShelvingUnit|8|4___4", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.775839805603027, + 0.8503603339195251, + 8.517709732055664 + ], + [ + 10.775839805603027, + 0.8503603339195251, + 8.106103897094727 + ], + [ + 10.775839805603027, + 0.589109480381012, + 8.517709732055664 + ], + [ + 10.775839805603027, + 0.589109480381012, + 8.106103897094727 + ], + [ + 10.556305885314941, + 0.8503603339195251, + 8.517709732055664 + ], + [ + 10.556305885314941, + 0.8503603339195251, + 8.106103897094727 + ], + [ + 10.556305885314941, + 0.589109480381012, + 8.517709732055664 + ], + [ + 10.556305885314941, + 0.589109480381012, + 8.106103897094727 + ] + ], + "center": { + "x": 10.666072845458984, + "y": 0.7197349071502686, + "z": 8.311906814575195 + }, + "size": { + "x": 0.21953392028808594, + "y": 0.2612508535385132, + "z": 0.4116058349609375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "SoapBottle|surface|5|5", + "object_info": { + "name": "SoapBottle|surface|5|5", + "position": { + "x": 10.455648422241211, + "y": 0.9453773498535156, + "z": 0.1595512181520462 + }, + "rotation": { + "x": 359.9921569824219, + "y": 89.9986572265625, + "z": 0.055001091212034225 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4000000059604645, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 7.74541711807251, + "objectType": "SoapBottle", + "objectId": "SoapBottle|surface|5|5", + "assetId": "Soap_Bottle_11", + "parentReceptacles": [ + "Toilet|5|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.500338554382324, + 1.1353096961975098, + 0.20281018316745758 + ], + [ + 10.500338554382324, + 1.1353096961975098, + 0.11641542613506317 + ], + [ + 10.500338554382324, + 0.9454121589660645, + 0.20281018316745758 + ], + [ + 10.500338554382324, + 0.9454121589660645, + 0.11641542613506317 + ], + [ + 10.412665367126465, + 1.1353096961975098, + 0.20281018316745758 + ], + [ + 10.412665367126465, + 1.1353096961975098, + 0.11641542613506317 + ], + [ + 10.412665367126465, + 0.9454121589660645, + 0.20281018316745758 + ], + [ + 10.412665367126465, + 0.9454121589660645, + 0.11641542613506317 + ] + ], + "center": { + "x": 10.456501960754395, + "y": 1.040360927581787, + "z": 0.15961280465126038 + }, + "size": { + "x": 0.08767318725585938, + "y": 0.1898975372314453, + "z": 0.08639475703239441 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 10.500365257263184, + 0.9455066919326782, + 0.11641743779182434 + ], + [ + 10.50036334991455, + 0.9454239010810852, + 0.20268723368644714 + ], + [ + 10.41268253326416, + 0.9454118609428406, + 0.2026851922273636 + ], + [ + 10.412684440612793, + 0.9454946517944336, + 0.11641539633274078 + ], + [ + 10.500338554382324, + 1.135342001914978, + 0.1165996715426445 + ], + [ + 10.500336647033691, + 1.1352591514587402, + 0.2028694748878479 + ], + [ + 10.412656784057617, + 1.1352472305297852, + 0.20286743342876434 + ], + [ + 10.41265869140625, + 1.1353299617767334, + 0.11659762263298035 + ] + ] + } + } + }, + { + "objectId": "Chair|8|2|3", + "object_info": { + "name": "Chair|8|2|3", + "position": { + "x": 7.87695837020874, + "y": 0.0017909407615661621, + "z": 7.364753723144531 + }, + "rotation": { + "x": 0.0, + "y": 188.8024139404297, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Metal", + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 6.42404842376709, + "objectType": "Chair", + "objectId": "Chair|8|2|3", + "assetId": "RoboTHOR_chair_mella", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.176189422607422, + 0.7626227140426636, + 7.66265869140625 + ], + [ + 8.176189422607422, + 0.7626227140426636, + 7.066738128662109 + ], + [ + 8.176189422607422, + 3.427267074584961e-06, + 7.66265869140625 + ], + [ + 8.176189422607422, + 3.427267074584961e-06, + 7.066738128662109 + ], + [ + 7.577808380126953, + 0.7626227140426636, + 7.66265869140625 + ], + [ + 7.577808380126953, + 0.7626227140426636, + 7.066738128662109 + ], + [ + 7.577808380126953, + 3.427267074584961e-06, + 7.66265869140625 + ], + [ + 7.577808380126953, + 3.427267074584961e-06, + 7.066738128662109 + ] + ], + "center": { + "x": 7.8769989013671875, + "y": 0.3813130557537079, + "z": 7.36469841003418 + }, + "size": { + "x": 0.5983810424804688, + "y": 0.7626192569732666, + "z": 0.5959205627441406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.577808380126953, + 3.516674041748047e-06, + 7.147021293640137 + ], + [ + 8.096263885498047, + 3.516674041748047e-06, + 7.066737651824951 + ], + [ + 8.176189422607422, + 3.516674041748047e-06, + 7.582884788513184 + ], + [ + 7.657734394073486, + 3.516674041748047e-06, + 7.663168430328369 + ], + [ + 7.577808380126953, + 0.7626225352287292, + 7.147021293640137 + ], + [ + 8.096263885498047, + 0.7626225352287292, + 7.066737651824951 + ], + [ + 8.176189422607422, + 0.7626225352287292, + 7.582884788513184 + ], + [ + 7.657734394073486, + 0.7626225352287292, + 7.663168430328369 + ] + ] + } + } + }, + { + "objectId": "ShelvingUnit|8|4___7", + "object_info": { + "name": "Shelf (8)", + "position": { + "x": 10.666072845458984, + "y": 0.14973479509353638, + "z": 8.748308181762695 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 9.413053512573242, + "objectType": "Shelf", + "objectId": "ShelvingUnit|8|4___7", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.775839805603027, + 0.2803608775138855, + 8.95882797241211 + ], + [ + 10.775839805603027, + 0.2803608775138855, + 8.537788391113281 + ], + [ + 10.775839805603027, + 0.019108712673187256, + 8.95882797241211 + ], + [ + 10.775839805603027, + 0.019108712673187256, + 8.537788391113281 + ], + [ + 10.556305885314941, + 0.2803608775138855, + 8.95882797241211 + ], + [ + 10.556305885314941, + 0.2803608775138855, + 8.537788391113281 + ], + [ + 10.556305885314941, + 0.019108712673187256, + 8.95882797241211 + ], + [ + 10.556305885314941, + 0.019108712673187256, + 8.537788391113281 + ] + ], + "center": { + "x": 10.666072845458984, + "y": 0.14973479509353638, + "z": 8.748308181762695 + }, + "size": { + "x": 0.21953392028808594, + "y": 0.26125216484069824, + "z": 0.4210395812988281 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ShelvingUnit|8|4___2", + "object_info": { + "name": "Shelf (3)", + "position": { + "x": 10.666072845458984, + "y": 1.0064349174499512, + "z": 8.312108039855957 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 9.122923851013184, + "objectType": "Shelf", + "objectId": "ShelvingUnit|8|4___2", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.775839805603027, + 1.137060284614563, + 8.517709732055664 + ], + [ + 10.775839805603027, + 1.137060284614563, + 8.106103897094727 + ], + [ + 10.775839805603027, + 0.8758095502853394, + 8.517709732055664 + ], + [ + 10.775839805603027, + 0.8758095502853394, + 8.106103897094727 + ], + [ + 10.556305885314941, + 1.137060284614563, + 8.517709732055664 + ], + [ + 10.556305885314941, + 1.137060284614563, + 8.106103897094727 + ], + [ + 10.556305885314941, + 0.8758095502853394, + 8.517709732055664 + ], + [ + 10.556305885314941, + 0.8758095502853394, + 8.106103897094727 + ] + ], + "center": { + "x": 10.666072845458984, + "y": 1.0064349174499512, + "z": 8.311906814575195 + }, + "size": { + "x": 0.21953392028808594, + "y": 0.26125073432922363, + "z": 0.4116058349609375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ShelvingUnit|8|4___0", + "object_info": { + "name": "Shelf (1)", + "position": { + "x": 10.674673080444336, + "y": 1.1547349691390991, + "z": 8.530108451843262 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "HousePlant|surface|8|21" + ], + "distance": 9.261330604553223, + "objectType": "Shelf", + "objectId": "ShelvingUnit|8|4___0", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.792377471923828, + 1.3001704216003418, + 8.976180076599121 + ], + [ + 10.792377471923828, + 1.3001704216003418, + 8.084036827087402 + ], + [ + 10.792377471923828, + 1.1546261310577393, + 8.976180076599121 + ], + [ + 10.792377471923828, + 1.1546261310577393, + 8.084036827087402 + ], + [ + 10.556968688964844, + 1.3001704216003418, + 8.976180076599121 + ], + [ + 10.556968688964844, + 1.3001704216003418, + 8.084036827087402 + ], + [ + 10.556968688964844, + 1.1546261310577393, + 8.976180076599121 + ], + [ + 10.556968688964844, + 1.1546261310577393, + 8.084036827087402 + ] + ], + "center": { + "x": 10.674673080444336, + "y": 1.2273982763290405, + "z": 8.530108451843262 + }, + "size": { + "x": 0.23540878295898438, + "y": 0.14554429054260254, + "z": 0.8921432495117188 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Toilet|5|0", + "object_info": { + "name": "Toilet|5|0", + "position": { + "x": 10.552766799926758, + "y": 2.086162567138672e-07, + "z": 0.6639474630355835 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|surface|5|5" + ], + "distance": 7.720061302185059, + "objectType": "Toilet", + "objectId": "Toilet|5|0", + "assetId": "Toilet_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.081795692443848, + 0.945518970489502, + 1.0386031866073608 + ], + [ + 11.081795692443848, + 0.945518970489502, + -0.12619376182556152 + ], + [ + 11.081795692443848, + 0.0, + 1.0386031866073608 + ], + [ + 11.081795692443848, + 0.0, + -0.12619376182556152 + ], + [ + 9.962498664855957, + 0.945518970489502, + 1.0386031866073608 + ], + [ + 9.962498664855957, + 0.945518970489502, + -0.12619376182556152 + ], + [ + 9.962498664855957, + 0.0, + 1.0386031866073608 + ], + [ + 9.962498664855957, + 0.0, + -0.12619376182556152 + ] + ], + "center": { + "x": 10.522147178649902, + "y": 0.472759485244751, + "z": 0.45620471239089966 + }, + "size": { + "x": 1.1192970275878906, + "y": 0.945518970489502, + "z": 1.1647969484329224 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ShelvingUnit|8|4___6", + "object_info": { + "name": "Shelf (7)", + "position": { + "x": 10.666072845458984, + "y": 0.43573492765426636, + "z": 8.312108039855957 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 9.134172439575195, + "objectType": "Shelf", + "objectId": "ShelvingUnit|8|4___6", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.775839805603027, + 0.5663604736328125, + 8.517709732055664 + ], + [ + 10.775839805603027, + 0.5663604736328125, + 8.106103897094727 + ], + [ + 10.775839805603027, + 0.3051093816757202, + 8.517709732055664 + ], + [ + 10.775839805603027, + 0.3051093816757202, + 8.106103897094727 + ], + [ + 10.556305885314941, + 0.5663604736328125, + 8.517709732055664 + ], + [ + 10.556305885314941, + 0.5663604736328125, + 8.106103897094727 + ], + [ + 10.556305885314941, + 0.3051093816757202, + 8.517709732055664 + ], + [ + 10.556305885314941, + 0.3051093816757202, + 8.106103897094727 + ] + ], + "center": { + "x": 10.666072845458984, + "y": 0.43573492765426636, + "z": 8.311906814575195 + }, + "size": { + "x": 0.21953392028808594, + "y": 0.2612510919570923, + "z": 0.4116058349609375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "BaseballBat|4|3", + "object_info": { + "name": "BaseballBat|4|3", + "position": { + "x": 3.4558966159820557, + "y": 0.2735336124897003, + "z": 4.256573677062988 + }, + "rotation": { + "x": 0.14369982481002808, + "y": 180.0022430419922, + "z": 359.9489440917969 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.8999999761581421, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 1.419536828994751, + "objectType": "BaseballBat", + "objectId": "BaseballBat|4|3", + "assetId": "BaseballBat_4", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.4971671104431152, + 0.9590680599212646, + 4.301998615264893 + ], + [ + 3.4971671104431152, + 0.9590680599212646, + 4.2101149559021 + ], + [ + 3.4971671104431152, + -4.76837158203125e-07, + 4.301998615264893 + ], + [ + 3.4971671104431152, + -4.76837158203125e-07, + 4.2101149559021 + ], + [ + 3.415523052215576, + 0.9590680599212646, + 4.301998615264893 + ], + [ + 3.415523052215576, + 0.9590680599212646, + 4.2101149559021 + ], + [ + 3.415523052215576, + -4.76837158203125e-07, + 4.301998615264893 + ], + [ + 3.415523052215576, + -4.76837158203125e-07, + 4.2101149559021 + ] + ], + "center": { + "x": 3.4563450813293457, + "y": 0.4795337915420532, + "z": 4.256056785583496 + }, + "size": { + "x": 0.08164405822753906, + "y": 0.9590685367584229, + "z": 0.09188365936279297 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.416377067565918, + -4.76837158203125e-07, + 4.212523460388184 + ], + [ + 3.4971635341644287, + 7.149577140808105e-05, + 4.212520122528076 + ], + [ + 3.4971671104431152, + 0.00029587745666503906, + 4.301995277404785 + ], + [ + 3.4163806438446045, + 0.00022390484809875488, + 4.301998615264893 + ], + [ + 3.415522813796997, + 0.9587717056274414, + 4.210118770599365 + ], + [ + 3.496309280395508, + 0.9588435888290405, + 4.210115432739258 + ], + [ + 3.4963128566741943, + 0.9590680599212646, + 4.299590587615967 + ], + [ + 3.4155263900756836, + 0.958996057510376, + 4.299593925476074 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 3.0, + "y": 0.9009997844696045, + "z": 2.799999952316284 + }, + "agent_rotation": { + "x": -0.0, + "y": 90.00000762939453, + "z": 0.0 + }, + "agent_cameraHorizon": 30.00000762939453, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 3.0, + "y": 1.5759997367858887, + "z": 2.799999952316284 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Chair|8|2|2", + "DiningTable|8|2|0", + "Chair|8|2|3", + "HousePlant|surface|8|21", + "window|4|1", + "Toilet|5|0", + "Painting|8|6", + "SprayBottle|surface|5|4", + "door|4|8", + "Plunger|5|2", + "SprayBottle|surface|8|19", + "ToiletPaper|surface|5|3", + "ShelvingUnit|8|4___0", + "ShelvingUnit|8|4___7", + "SoapBottle|surface|5|5", + "door|4|5", + "ShelvingUnit|8|4___5", + "Plate|surface|8|22", + "ShelvingUnit|8|4___3", + "ShelvingUnit|8|4", + "ShelvingUnit|8|4___1", + "Painting|4|5" + ], + "different_object": [ + "ShelvingUnit|8|4___8", + "ShelvingUnit|8|4___2", + "BaseballBat|4|3", + "ShelvingUnit|8|4___6", + "ShelvingUnit|8|4___4", + "Bed|4|4|0" + ] +} \ No newline at end of file diff --git a/train/train1316/2/0_depth_npy.npy b/train/train1316/2/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..e7d73add79a4d8741648493782e72cf022bfe7c1 --- /dev/null +++ b/train/train1316/2/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2003d15590f87aa7aa38b57b8392800b2cc33201a09790548a9524082323c061 +size 3145856 diff --git a/train/train1316/2/0_semantic_sensor_npy.npy b/train/train1316/2/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..fa0f0bd56fa31d2f01df84f7614f30482cfb0e92 --- /dev/null +++ b/train/train1316/2/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cccc5f56008d104b0c4edcc6f5018575ddf2e7cf3b0f4240b636fe18f93b6450 +size 2359424 diff --git a/train/train1316/2/1.json b/train/train1316/2/1.json new file mode 100644 index 0000000000000000000000000000000000000000..6b23c7406c11d293986a0eea1a7e7858c4f127ab --- /dev/null +++ b/train/train1316/2/1.json @@ -0,0 +1,3446 @@ +{ + "object": [ + { + "objectId": "Painting|8|6", + "object_info": { + "name": "Painting|8|6", + "position": { + "x": 10.810393333435059, + "y": 1.7489491701126099, + "z": 9.954865455627441 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 10.30770206451416, + "objectType": "Painting", + "objectId": "Painting|8|6", + "assetId": "Wall_Decor_Photo_7", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.812000274658203, + 2.070725917816162, + 10.422999382019043 + ], + [ + 10.812000274658203, + 2.070725917816162, + 9.48673152923584 + ], + [ + 10.812000274658203, + 1.430199146270752, + 10.422999382019043 + ], + [ + 10.812000274658203, + 1.430199146270752, + 9.48673152923584 + ], + [ + 10.78457260131836, + 2.070725917816162, + 10.422999382019043 + ], + [ + 10.78457260131836, + 2.070725917816162, + 9.48673152923584 + ], + [ + 10.78457260131836, + 1.430199146270752, + 10.422999382019043 + ], + [ + 10.78457260131836, + 1.430199146270752, + 9.48673152923584 + ] + ], + "center": { + "x": 10.798286437988281, + "y": 1.750462532043457, + "z": 9.954865455627441 + }, + "size": { + "x": 0.02742767333984375, + "y": 0.6405267715454102, + "z": 0.9362678527832031 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ShelvingUnit|8|4___3", + "object_info": { + "name": "Shelf (4)", + "position": { + "x": 10.666072845458984, + "y": 0.7197344899177551, + "z": 8.748308181762695 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SprayBottle|surface|8|19" + ], + "distance": 9.384777069091797, + "objectType": "Shelf", + "objectId": "ShelvingUnit|8|4___3", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.775839805603027, + 0.8503605127334595, + 8.95882797241211 + ], + [ + 10.775839805603027, + 0.8503605127334595, + 8.537788391113281 + ], + [ + 10.775839805603027, + 0.5891084671020508, + 8.95882797241211 + ], + [ + 10.775839805603027, + 0.5891084671020508, + 8.537788391113281 + ], + [ + 10.556305885314941, + 0.8503605127334595, + 8.95882797241211 + ], + [ + 10.556305885314941, + 0.8503605127334595, + 8.537788391113281 + ], + [ + 10.556305885314941, + 0.5891084671020508, + 8.95882797241211 + ], + [ + 10.556305885314941, + 0.5891084671020508, + 8.537788391113281 + ] + ], + "center": { + "x": 10.666072845458984, + "y": 0.7197344899177551, + "z": 8.748308181762695 + }, + "size": { + "x": 0.21953392028808594, + "y": 0.2612520456314087, + "z": 0.4210395812988281 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "HousePlant|surface|8|21", + "object_info": { + "name": "HousePlant|surface|8|21", + "position": { + "x": 10.672377586364746, + "y": 1.1573187112808228, + "z": 8.531096458435059 + }, + "rotation": { + "x": 0.2098698765039444, + "y": 270.01934814453125, + "z": 0.01799631491303444 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.0, + "salientMaterials": [ + "Ceramic", + "Organic" + ], + "receptacleObjectIds": null, + "distance": 9.260151863098145, + "objectType": "HousePlant", + "objectId": "HousePlant|surface|8|21", + "assetId": "Houseplant_20", + "parentReceptacles": [ + "ShelvingUnit|8|4___0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.759166717529297, + 1.799793004989624, + 8.620718002319336 + ], + [ + 10.759166717529297, + 1.799793004989624, + 8.420431137084961 + ], + [ + 10.759166717529297, + 1.1548223495483398, + 8.620718002319336 + ], + [ + 10.759166717529297, + 1.1548223495483398, + 8.420431137084961 + ], + [ + 10.568635940551758, + 1.799793004989624, + 8.620718002319336 + ], + [ + 10.568635940551758, + 1.799793004989624, + 8.420431137084961 + ], + [ + 10.568635940551758, + 1.1548223495483398, + 8.620718002319336 + ], + [ + 10.568635940551758, + 1.1548223495483398, + 8.420431137084961 + ] + ], + "center": { + "x": 10.663901329040527, + "y": 1.477307677268982, + "z": 8.520574569702148 + }, + "size": { + "x": 0.19053077697753906, + "y": 0.6449706554412842, + "z": 0.200286865234375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 10.570816993713379, + 1.1546283960342407, + 8.620931625366211 + ], + [ + 10.570749282836914, + 1.154565453529358, + 8.420631408691406 + ], + [ + 10.761248588562012, + 1.1552633047103882, + 8.420567512512207 + ], + [ + 10.761316299438477, + 1.155326247215271, + 8.620866775512695 + ], + [ + 10.568455696105957, + 1.7993704080581665, + 8.620729446411133 + ], + [ + 10.568387985229492, + 1.7993075847625732, + 8.420430183410645 + ], + [ + 10.758886337280273, + 1.800005316734314, + 8.420365333557129 + ], + [ + 10.758954048156738, + 1.8000681400299072, + 8.620665550231934 + ] + ] + } + } + }, + { + "objectId": "Plate|surface|8|22", + "object_info": { + "name": "Plate|surface|8|22", + "position": { + "x": 7.238898754119873, + "y": 0.781857430934906, + "z": 6.395248889923096 + }, + "rotation": { + "x": 0.005719710607081652, + "y": 180.00010681152344, + "z": 0.009062936529517174 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 5.239582538604736, + "objectType": "Plate", + "objectId": "Plate|surface|8|22", + "assetId": "Plate_4", + "parentReceptacles": [ + "DiningTable|8|2|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.335898399353027, + 0.8000904321670532, + 6.494068145751953 + ], + [ + 7.335898399353027, + 0.8000904321670532, + 6.297903060913086 + ], + [ + 7.335898399353027, + 0.7813748121261597, + 6.494068145751953 + ], + [ + 7.335898399353027, + 0.7813748121261597, + 6.297903060913086 + ], + [ + 7.140985488891602, + 0.8000904321670532, + 6.494068145751953 + ], + [ + 7.140985488891602, + 0.8000904321670532, + 6.297903060913086 + ], + [ + 7.140985488891602, + 0.7813748121261597, + 6.494068145751953 + ], + [ + 7.140985488891602, + 0.7813748121261597, + 6.297903060913086 + ] + ], + "center": { + "x": 7.2384419441223145, + "y": 0.7907326221466064, + "z": 6.3959856033325195 + }, + "size": { + "x": 0.19491291046142578, + "y": 0.018715620040893555, + "z": 0.1961650848388672 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.140983581542969, + 0.7813949584960938, + 6.297904968261719 + ], + [ + 7.335896015167236, + 0.7813641428947449, + 6.2979044914245605 + ], + [ + 7.335896015167236, + 0.7813836932182312, + 6.494068622589111 + ], + [ + 7.140984058380127, + 0.7814145088195801, + 6.4940690994262695 + ], + [ + 7.140986442565918, + 0.800077497959137, + 6.297903060913086 + ], + [ + 7.3358988761901855, + 0.8000466823577881, + 6.297902584075928 + ], + [ + 7.335899353027344, + 0.8000662326812744, + 6.4940667152404785 + ], + [ + 7.140986919403076, + 0.8000970482826233, + 6.494067192077637 + ] + ] + } + } + }, + { + "objectId": "door|4|8", + "object_info": { + "name": "door|4|8", + "position": { + "x": 4.4892144203186035, + "y": -0.0006060600280761719, + "z": 4.330454349517822 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.029446840286255, + "objectType": "Doorway", + "objectId": "door|4|8", + "assetId": "Doorway_Double_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.426213264465332, + 2.0728206634521484, + 5.2253947257995605 + ], + [ + 6.426213264465332, + 2.0728206634521484, + 4.253799915313721 + ], + [ + 6.426213264465332, + -2.384185791015625e-07, + 5.2253947257995605 + ], + [ + 6.426213264465332, + -2.384185791015625e-07, + 4.253799915313721 + ], + [ + 4.468653678894043, + 2.0728206634521484, + 5.2253947257995605 + ], + [ + 4.468653678894043, + 2.0728206634521484, + 4.253799915313721 + ], + [ + 4.468653678894043, + -2.384185791015625e-07, + 5.2253947257995605 + ], + [ + 4.468653678894043, + -2.384185791015625e-07, + 4.253799915313721 + ] + ], + "center": { + "x": 5.4474334716796875, + "y": 1.0364102125167847, + "z": 4.739597320556641 + }, + "size": { + "x": 1.957559585571289, + "y": 2.0728209018707275, + "z": 0.9715948104858398 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "GarbageCan|8|3", + "object_info": { + "name": "GarbageCan|8|3", + "position": { + "x": 10.564180374145508, + "y": 0.003328099846839905, + "z": 10.458260536193848 + }, + "rotation": { + "x": 0.9106015563011169, + "y": 270.0016784667969, + "z": 5.961158967693336e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.699999988079071, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": [], + "distance": 10.484688758850098, + "objectType": "GarbageCan", + "objectId": "GarbageCan|8|3", + "assetId": "bin_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.784147262573242, + 0.5102102160453796, + 10.791997909545898 + ], + [ + 10.784147262573242, + 0.5102102160453796, + 10.113439559936523 + ], + [ + 10.784147262573242, + -1.1920928955078125e-07, + 10.791997909545898 + ], + [ + 10.784147262573242, + -1.1920928955078125e-07, + 10.113439559936523 + ], + [ + 10.312273025512695, + 0.5102102160453796, + 10.791997909545898 + ], + [ + 10.312273025512695, + 0.5102102160453796, + 10.113439559936523 + ], + [ + 10.312273025512695, + -1.1920928955078125e-07, + 10.791997909545898 + ], + [ + 10.312273025512695, + -1.1920928955078125e-07, + 10.113439559936523 + ] + ], + "center": { + "x": 10.548210144042969, + "y": 0.25510504841804504, + "z": 10.452718734741211 + }, + "size": { + "x": 0.4718742370605469, + "y": 0.5102103352546692, + "z": 0.678558349609375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 10.320077896118164, + -0.005756761878728867, + 10.79200267791748 + ], + [ + 10.320058822631836, + -0.005757467821240425, + 10.113441467285156 + ], + [ + 10.791954040527344, + 0.0017430002335458994, + 10.113428115844727 + ], + [ + 10.791974067687988, + 0.001743706176057458, + 10.791988372802734 + ], + [ + 10.311985969543457, + 0.5033739805221558, + 10.79200267791748 + ], + [ + 10.311965942382812, + 0.5033732652664185, + 10.113441467285156 + ], + [ + 10.783862113952637, + 0.5108737349510193, + 10.113428115844727 + ], + [ + 10.783882141113281, + 0.5108744502067566, + 10.791988372802734 + ] + ] + } + } + }, + { + "objectId": "SprayBottle|surface|5|4", + "object_info": { + "name": "SprayBottle|surface|5|4", + "position": { + "x": 10.670975685119629, + "y": 0.014967948198318481, + "z": 0.059493474662303925 + }, + "rotation": { + "x": 11.626057624816895, + "y": 89.02001190185547, + "z": 347.7622985839844 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.10999999940395355, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 8.03134536743164, + "objectType": "SprayBottle", + "objectId": "SprayBottle|surface|5|4", + "assetId": "Spray_Bottle_8", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.76441764831543, + 0.25343987345695496, + 0.07645612955093384 + ], + [ + 10.76441764831543, + 0.25343987345695496, + 0.0008867718279361725 + ], + [ + 10.76441764831543, + -6.204843521118164e-05, + 0.07645612955093384 + ], + [ + 10.76441764831543, + -6.204843521118164e-05, + 0.0008867718279361725 + ], + [ + 10.619390487670898, + 0.25343987345695496, + 0.07645612955093384 + ], + [ + 10.619390487670898, + 0.25343987345695496, + 0.0008867718279361725 + ], + [ + 10.619390487670898, + -6.204843521118164e-05, + 0.07645612955093384 + ], + [ + 10.619390487670898, + -6.204843521118164e-05, + 0.0008867718279361725 + ] + ], + "center": { + "x": 10.691904067993164, + "y": 0.1266889125108719, + "z": 0.038671452552080154 + }, + "size": { + "x": 0.14502716064453125, + "y": 0.25350192189216614, + "z": 0.07556936144828796 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 10.729532241821289, + -6.209220737218857e-05, + 0.04432873800396919 + ], + [ + 10.730386734008789, + 0.006759175099432468, + 0.07645617425441742 + ], + [ + 10.620244026184082, + 0.029423771426081657, + 0.0745721086859703 + ], + [ + 10.619389533996582, + 0.022602504119277, + 0.04244467616081238 + ], + [ + 10.778764724731445, + 0.234935462474823, + -0.006874546408653259 + ], + [ + 10.779619216918945, + 0.24175673723220825, + 0.02525288611650467 + ], + [ + 10.669476509094238, + 0.26442134380340576, + 0.023368824273347855 + ], + [ + 10.668622016906738, + 0.2576000690460205, + -0.008758611977100372 + ] + ] + } + } + }, + { + "objectId": "door|4|5", + "object_info": { + "name": "door|4|5", + "position": { + "x": 6.489999771118164, + "y": -0.0021260976791381836, + "z": 0.10284990072250366 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 4.4392242431640625, + "objectType": "Doorway", + "objectId": "door|4|5", + "assetId": "Doorway_Double_7", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.5596208572387695, + 2.09407377243042, + 2.072422742843628 + ], + [ + 6.5596208572387695, + 2.09407377243042, + 0.06777405738830566 + ], + [ + 6.5596208572387695, + -0.0015277862548828125, + 2.072422742843628 + ], + [ + 6.5596208572387695, + -0.0015277862548828125, + 0.06777405738830566 + ], + [ + 5.575068473815918, + 2.09407377243042, + 2.072422742843628 + ], + [ + 5.575068473815918, + 2.09407377243042, + 0.06777405738830566 + ], + [ + 5.575068473815918, + -0.0015277862548828125, + 2.072422742843628 + ], + [ + 5.575068473815918, + -0.0015277862548828125, + 0.06777405738830566 + ] + ], + "center": { + "x": 6.067344665527344, + "y": 1.0462729930877686, + "z": 1.0700984001159668 + }, + "size": { + "x": 0.9845523834228516, + "y": 2.0956015586853027, + "z": 2.0046486854553223 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|4|5", + "object_info": { + "name": "Painting|4|5", + "position": { + "x": 6.484127044677734, + "y": 1.353273868560791, + "z": 3.6542410850524902 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 3.3304896354675293, + "objectType": "Painting", + "objectId": "Painting|4|5", + "assetId": "Wall_Decor_Painting_10", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.485000133514404, + 1.7266273498535156, + 4.032639980316162 + ], + [ + 6.485000133514404, + 1.7266273498535156, + 3.275930404663086 + ], + [ + 6.485000133514404, + 0.980820894241333, + 4.032639980316162 + ], + [ + 6.485000133514404, + 0.980820894241333, + 3.275930404663086 + ], + [ + 6.469000339508057, + 1.7266273498535156, + 4.032639980316162 + ], + [ + 6.469000339508057, + 1.7266273498535156, + 3.275930404663086 + ], + [ + 6.469000339508057, + 0.980820894241333, + 4.032639980316162 + ], + [ + 6.469000339508057, + 0.980820894241333, + 3.275930404663086 + ] + ], + "center": { + "x": 6.4770002365112305, + "y": 1.3537241220474243, + "z": 3.654285192489624 + }, + "size": { + "x": 0.015999794006347656, + "y": 0.7458064556121826, + "z": 0.7567095756530762 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ShelvingUnit|8|4", + "object_info": { + "name": "ShelvingUnit|8|4", + "position": { + "x": 10.672673225402832, + "y": 0.005734920501708984, + "z": 8.530108451843262 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 22.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": null, + "distance": 9.299445152282715, + "objectType": "ShelvingUnit", + "objectId": "ShelvingUnit|8|4", + "assetId": "Shelving_Unit_307_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.792000770568848, + 1.1554696559906006, + 8.982051849365234 + ], + [ + 10.792000770568848, + 1.1554696559906006, + 8.079710006713867 + ], + [ + 10.792000770568848, + 7.152557373046875e-07, + 8.982051849365234 + ], + [ + 10.792000770568848, + 7.152557373046875e-07, + 8.079710006713867 + ], + [ + 10.553923606872559, + 1.1554696559906006, + 8.982051849365234 + ], + [ + 10.553923606872559, + 1.1554696559906006, + 8.079710006713867 + ], + [ + 10.553923606872559, + 7.152557373046875e-07, + 8.982051849365234 + ], + [ + 10.553923606872559, + 7.152557373046875e-07, + 8.079710006713867 + ] + ], + "center": { + "x": 10.672962188720703, + "y": 0.577735185623169, + "z": 8.53088092803955 + }, + "size": { + "x": 0.23807716369628906, + "y": 1.1554689407348633, + "z": 0.9023418426513672 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 10.553923606872559, + 5.960464477539062e-07, + 8.982051849365234 + ], + [ + 10.553923606872559, + 5.960464477539062e-07, + 8.079710006713867 + ], + [ + 10.791999816894531, + 5.960464477539062e-07, + 8.079710006713867 + ], + [ + 10.791999816894531, + 5.960464477539062e-07, + 8.982051849365234 + ], + [ + 10.553923606872559, + 1.155469298362732, + 8.982051849365234 + ], + [ + 10.553923606872559, + 1.155469298362732, + 8.079710006713867 + ], + [ + 10.791999816894531, + 1.155469298362732, + 8.079710006713867 + ], + [ + 10.791999816894531, + 1.155469298362732, + 8.982051849365234 + ] + ] + } + } + }, + { + "objectId": "ToiletPaper|surface|5|3", + "object_info": { + "name": "ToiletPaper|surface|5|3", + "position": { + "x": 10.330947875976562, + "y": 0.9332754611968994, + "z": 0.09068553149700165 + }, + "rotation": { + "x": 359.1903381347656, + "y": 91.78569030761719, + "z": 319.525634765625 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.20000000298023224, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 7.655388832092285, + "objectType": "ToiletPaper", + "objectId": "ToiletPaper|surface|5|3", + "assetId": "Toilet_Paper_Used_Up", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.349592208862305, + 1.0353326797485352, + 0.10119205713272095 + ], + [ + 10.349592208862305, + 1.0353326797485352, + 0.000615924596786499 + ], + [ + 10.349592208862305, + 0.9245436191558838, + 0.10119205713272095 + ], + [ + 10.349592208862305, + 0.9245436191558838, + 0.000615924596786499 + ], + [ + 10.308504104614258, + 1.0353326797485352, + 0.10119205713272095 + ], + [ + 10.308504104614258, + 1.0353326797485352, + 0.000615924596786499 + ], + [ + 10.308504104614258, + 0.9245436191558838, + 0.10119205713272095 + ], + [ + 10.308504104614258, + 0.9245436191558838, + 0.000615924596786499 + ] + ], + "center": { + "x": 10.329048156738281, + "y": 0.9799381494522095, + "z": 0.05090399086475372 + }, + "size": { + "x": 0.041088104248046875, + "y": 0.11078906059265137, + "z": 0.10057613253593445 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 10.349910736083984, + 0.9212824702262878, + 0.07522989809513092 + ], + [ + 10.350471496582031, + 0.9462890625, + 0.1045350730419159 + ], + [ + 10.311964988708496, + 0.9457446336746216, + 0.10573554784059525 + ], + [ + 10.311405181884766, + 0.9207380414009094, + 0.07643036544322968 + ], + [ + 10.34613037109375, + 1.0141316652297974, + -0.003927558660507202 + ], + [ + 10.34669017791748, + 1.0391381978988647, + 0.02537761628627777 + ], + [ + 10.308184623718262, + 1.0385937690734863, + 0.026578091084957123 + ], + [ + 10.307624816894531, + 1.013587236404419, + -0.0027270913124084473 + ] + ] + } + } + }, + { + "objectId": "window|4|1", + "object_info": { + "name": "window|4|1", + "position": { + "x": 6.441731929779053, + "y": 1.0430444478988647, + "z": 5.327165126800537e-07 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 4.3826165199279785, + "objectType": "Window", + "objectId": "window|4|1", + "assetId": "Window_Slider_36x36", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.4417548179626465, + 1.957451343536377, + 0.04119918867945671 + ], + [ + 6.4417548179626465, + 1.957451343536377, + -0.04119918867945671 + ], + [ + 6.4417548179626465, + 1.0409610271453857, + 0.04119918867945671 + ], + [ + 6.4417548179626465, + 1.0409610271453857, + -0.04119918867945671 + ], + [ + 5.527308940887451, + 1.957451343536377, + 0.04119918867945671 + ], + [ + 5.527308940887451, + 1.957451343536377, + -0.04119918867945671 + ], + [ + 5.527308940887451, + 1.0409610271453857, + 0.04119918867945671 + ], + [ + 5.527308940887451, + 1.0409610271453857, + -0.04119918867945671 + ] + ], + "center": { + "x": 5.984531879425049, + "y": 1.4992061853408813, + "z": 0.0 + }, + "size": { + "x": 0.9144458770751953, + "y": 0.9164903163909912, + "z": 0.08239837735891342 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "SprayBottle|surface|8|19", + "object_info": { + "name": "SprayBottle|surface|8|19", + "position": { + "x": 10.666067123413086, + "y": 0.5888528823852539, + "z": 8.801416397094727 + }, + "rotation": { + "x": 0.09053172916173935, + "y": 270.00189208984375, + "z": 359.8223571777344 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.10999999940395355, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 9.42082405090332, + "objectType": "SprayBottle", + "objectId": "SprayBottle|surface|8|19", + "assetId": "Spray_Bottle_2", + "parentReceptacles": [ + "Floor", + "ShelvingUnit|8|4___3" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.718411445617676, + 0.8348205089569092, + 8.81846809387207 + ], + [ + 10.718411445617676, + 0.8348205089569092, + 8.784990310668945 + ], + [ + 10.718411445617676, + 0.5892257690429688, + 8.81846809387207 + ], + [ + 10.718411445617676, + 0.5892257690429688, + 8.784990310668945 + ], + [ + 10.605761528015137, + 0.8348205089569092, + 8.81846809387207 + ], + [ + 10.605761528015137, + 0.8348205089569092, + 8.784990310668945 + ], + [ + 10.605761528015137, + 0.5892257690429688, + 8.81846809387207 + ], + [ + 10.605761528015137, + 0.5892257690429688, + 8.784990310668945 + ] + ], + "center": { + "x": 10.662086486816406, + "y": 0.712023138999939, + "z": 8.801729202270508 + }, + "size": { + "x": 0.11264991760253906, + "y": 0.24559473991394043, + "z": 0.033477783203125 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 10.605944633483887, + 0.589225709438324, + 8.81784725189209 + ], + [ + 10.60594367980957, + 0.5893275737762451, + 8.784993171691895 + ], + [ + 10.718409538269043, + 0.5895052552223206, + 8.784989356994629 + ], + [ + 10.718411445617676, + 0.5894034504890442, + 8.817843437194824 + ], + [ + 10.605557441711426, + 0.834722638130188, + 8.818608283996582 + ], + [ + 10.605555534362793, + 0.8348245024681091, + 8.785754203796387 + ], + [ + 10.718022346496582, + 0.8350021839141846, + 8.785750389099121 + ], + [ + 10.718023300170898, + 0.8349003195762634, + 8.818604469299316 + ] + ] + } + } + }, + { + "objectId": "DiningTable|8|2|0", + "object_info": { + "name": "DiningTable|8|2|0", + "position": { + "x": 7.46051025390625, + "y": 0.0008696913719177246, + "z": 6.76495361328125 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Plate|surface|8|22" + ], + "distance": 5.719572067260742, + "objectType": "DiningTable", + "objectId": "DiningTable|8|2|0", + "assetId": "Dining_Table_223_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.346189498901367, + 0.7813858985900879, + 7.26495361328125 + ], + [ + 8.346189498901367, + 0.7813858985900879, + 6.26495361328125 + ], + [ + 8.346189498901367, + 3.516674041748047e-06, + 7.26495361328125 + ], + [ + 8.346189498901367, + 3.516674041748047e-06, + 6.26495361328125 + ], + [ + 6.574831008911133, + 0.7813858985900879, + 7.26495361328125 + ], + [ + 6.574831008911133, + 0.7813858985900879, + 6.26495361328125 + ], + [ + 6.574831008911133, + 3.516674041748047e-06, + 7.26495361328125 + ], + [ + 6.574831008911133, + 3.516674041748047e-06, + 6.26495361328125 + ] + ], + "center": { + "x": 7.46051025390625, + "y": 0.3906947076320648, + "z": 6.76495361328125 + }, + "size": { + "x": 1.7713584899902344, + "y": 0.7813823819160461, + "z": 1.0 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.574831008911133, + 3.6954879760742188e-06, + 6.26495361328125 + ], + [ + 8.346189498901367, + 3.6954879760742188e-06, + 6.26495361328125 + ], + [ + 8.346189498901367, + 3.6954879760742188e-06, + 7.26495361328125 + ], + [ + 6.574831008911133, + 3.6954879760742188e-06, + 7.26495361328125 + ], + [ + 6.574831008911133, + 0.7813860774040222, + 6.26495361328125 + ], + [ + 8.346189498901367, + 0.7813860774040222, + 6.26495361328125 + ], + [ + 8.346189498901367, + 0.7813860774040222, + 7.26495361328125 + ], + [ + 6.574831008911133, + 0.7813860774040222, + 7.26495361328125 + ] + ] + } + } + }, + { + "objectId": "Chair|8|2|4", + "object_info": { + "name": "Chair|8|2|4", + "position": { + "x": 7.030877113342285, + "y": 0.0017909407615661621, + "z": 7.364749908447266 + }, + "rotation": { + "x": -0.0, + "y": 174.52520751953125, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Metal", + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 5.844197750091553, + "objectType": "Chair", + "objectId": "Chair|8|2|4", + "assetId": "RoboTHOR_chair_mella", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.316904067993164, + 0.7626227736473083, + 7.649937629699707 + ], + [ + 7.316904067993164, + 0.7626227736473083, + 7.079967498779297 + ], + [ + 7.316904067993164, + 3.337860107421875e-06, + 7.649937629699707 + ], + [ + 7.316904067993164, + 3.337860107421875e-06, + 7.079967498779297 + ], + [ + 6.7481489181518555, + 0.7626227736473083, + 7.649937629699707 + ], + [ + 6.7481489181518555, + 0.7626227736473083, + 7.079967498779297 + ], + [ + 6.7481489181518555, + 3.337860107421875e-06, + 7.649937629699707 + ], + [ + 6.7481489181518555, + 3.337860107421875e-06, + 7.079967498779297 + ] + ], + "center": { + "x": 7.03252649307251, + "y": 0.3813130557537079, + "z": 7.364952564239502 + }, + "size": { + "x": 0.5687551498413086, + "y": 0.7626194357872009, + "z": 0.5699701309204102 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.7946624755859375, + 3.516674041748047e-06, + 7.079967975616455 + ], + [ + 7.316903591156006, + 3.516674041748047e-06, + 7.130022048950195 + ], + [ + 7.2670722007751465, + 3.516674041748047e-06, + 7.649938106536865 + ], + [ + 6.744831085205078, + 3.516674041748047e-06, + 7.599884033203125 + ], + [ + 6.7946624755859375, + 0.7626225352287292, + 7.079967975616455 + ], + [ + 7.316903591156006, + 0.7626225352287292, + 7.130022048950195 + ], + [ + 7.2670722007751465, + 0.7626225352287292, + 7.649938106536865 + ], + [ + 6.744831085205078, + 0.7626225352287292, + 7.599884033203125 + ] + ] + } + } + }, + { + "objectId": "Plunger|5|2", + "object_info": { + "name": "Plunger|5|2", + "position": { + "x": 8.455744743347168, + "y": -0.00046312808990478516, + "z": 0.0990728959441185 + }, + "rotation": { + "x": 0.00023641133157070726, + "y": 0.000145224534207955, + "z": 0.0007984972908161581 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Rubber", + "Wood" + ], + "receptacleObjectIds": null, + "distance": 6.027254104614258, + "objectType": "Plunger", + "objectId": "Plunger|5|2", + "assetId": "Plunger_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.529892921447754, + 0.539339542388916, + 0.17300668358802795 + ], + [ + 8.529892921447754, + 0.539339542388916, + 0.024999350309371948 + ], + [ + 8.529892921447754, + -5.066394805908203e-07, + 0.17300668358802795 + ], + [ + 8.529892921447754, + -5.066394805908203e-07, + 0.024999350309371948 + ], + [ + 8.38159465789795, + 0.539339542388916, + 0.17300668358802795 + ], + [ + 8.38159465789795, + 0.539339542388916, + 0.024999350309371948 + ], + [ + 8.38159465789795, + -5.066394805908203e-07, + 0.17300668358802795 + ], + [ + 8.38159465789795, + -5.066394805908203e-07, + 0.024999350309371948 + ] + ], + "center": { + "x": 8.455743789672852, + "y": 0.2696695029735565, + "z": 0.09900301694869995 + }, + "size": { + "x": 0.1482982635498047, + "y": 0.5393400192260742, + "z": 0.148007333278656 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 8.52989387512207, + 1.562759280204773e-06, + 0.1730058342218399 + ], + [ + 8.381596565246582, + -5.039619281888008e-07, + 0.17300620675086975 + ], + [ + 8.381595611572266, + 1.0675285011529922e-07, + 0.024999767541885376 + ], + [ + 8.529892921447754, + 2.173474058508873e-06, + 0.02499939501285553 + ], + [ + 8.529886245727539, + 0.5393397808074951, + 0.1730080544948578 + ], + [ + 8.38158893585205, + 0.5393377542495728, + 0.17300844192504883 + ], + [ + 8.38158893585205, + 0.5393383502960205, + 0.025001995265483856 + ], + [ + 8.529885292053223, + 0.5393403768539429, + 0.02500162273645401 + ] + ] + } + } + }, + { + "objectId": "ShelvingUnit|8|4___1", + "object_info": { + "name": "Shelf (2)", + "position": { + "x": 10.666072845458984, + "y": 1.0064349174499512, + "z": 8.748308181762695 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 9.383618354797363, + "objectType": "Shelf", + "objectId": "ShelvingUnit|8|4___1", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.775839805603027, + 1.1370608806610107, + 8.95882797241211 + ], + [ + 10.775839805603027, + 1.1370608806610107, + 8.537788391113281 + ], + [ + 10.775839805603027, + 0.8758089542388916, + 8.95882797241211 + ], + [ + 10.775839805603027, + 0.8758089542388916, + 8.537788391113281 + ], + [ + 10.556305885314941, + 1.1370608806610107, + 8.95882797241211 + ], + [ + 10.556305885314941, + 1.1370608806610107, + 8.537788391113281 + ], + [ + 10.556305885314941, + 0.8758089542388916, + 8.95882797241211 + ], + [ + 10.556305885314941, + 0.8758089542388916, + 8.537788391113281 + ] + ], + "center": { + "x": 10.666072845458984, + "y": 1.0064349174499512, + "z": 8.748308181762695 + }, + "size": { + "x": 0.21953392028808594, + "y": 0.26125192642211914, + "z": 0.4210395812988281 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ShelvingUnit|8|4___5", + "object_info": { + "name": "Shelf (6)", + "position": { + "x": 10.666072845458984, + "y": 0.4357345700263977, + "z": 8.748308181762695 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 9.394554138183594, + "objectType": "Shelf", + "objectId": "ShelvingUnit|8|4___5", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.775839805603027, + 0.566360592842102, + 8.95882797241211 + ], + [ + 10.775839805603027, + 0.566360592842102, + 8.537788391113281 + ], + [ + 10.775839805603027, + 0.30510854721069336, + 8.95882797241211 + ], + [ + 10.775839805603027, + 0.30510854721069336, + 8.537788391113281 + ], + [ + 10.556305885314941, + 0.566360592842102, + 8.95882797241211 + ], + [ + 10.556305885314941, + 0.566360592842102, + 8.537788391113281 + ], + [ + 10.556305885314941, + 0.30510854721069336, + 8.95882797241211 + ], + [ + 10.556305885314941, + 0.30510854721069336, + 8.537788391113281 + ] + ], + "center": { + "x": 10.666072845458984, + "y": 0.4357345700263977, + "z": 8.748308181762695 + }, + "size": { + "x": 0.21953392028808594, + "y": 0.2612520456314087, + "z": 0.4210395812988281 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Chair|8|2|2", + "object_info": { + "name": "Chair|8|2|2", + "position": { + "x": 8.505985260009766, + "y": 0.0017909407615661621, + "z": 6.764944553375244 + }, + "rotation": { + "x": 0.0, + "y": 264.7749328613281, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Metal", + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 6.527538776397705, + "objectType": "Chair", + "objectId": "Chair|8|2|2", + "assetId": "RoboTHOR_chair_mella", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.790141105651855, + 0.7626224160194397, + 7.04664421081543 + ], + [ + 8.790141105651855, + 0.7626224160194397, + 6.479944229125977 + ], + [ + 8.790141105651855, + 3.3974647521972656e-06, + 7.04664421081543 + ], + [ + 8.790141105651855, + 3.3974647521972656e-06, + 6.479944229125977 + ], + [ + 8.222235679626465, + 0.7626224160194397, + 7.04664421081543 + ], + [ + 8.222235679626465, + 0.7626224160194397, + 6.479944229125977 + ], + [ + 8.222235679626465, + 3.3974647521972656e-06, + 7.04664421081543 + ], + [ + 8.222235679626465, + 3.3974647521972656e-06, + 6.479944229125977 + ] + ], + "center": { + "x": 8.50618839263916, + "y": 0.38131290674209595, + "z": 6.763294219970703 + }, + "size": { + "x": 0.5679054260253906, + "y": 0.7626190185546875, + "z": 0.5666999816894531 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 8.222235679626465, + 3.516674041748047e-06, + 7.002398490905762 + ], + [ + 8.270012855529785, + 3.516674041748047e-06, + 6.479944229125977 + ], + [ + 8.790141105651855, + 3.516674041748047e-06, + 6.527508735656738 + ], + [ + 8.742363929748535, + 3.516674041748047e-06, + 7.049962997436523 + ], + [ + 8.222235679626465, + 0.7626225352287292, + 7.002398490905762 + ], + [ + 8.270012855529785, + 0.7626225352287292, + 6.479944229125977 + ], + [ + 8.790141105651855, + 0.7626225352287292, + 6.527508735656738 + ], + [ + 8.742363929748535, + 0.7626225352287292, + 7.049962997436523 + ] + ] + } + } + }, + { + "objectId": "SoapBottle|surface|5|5", + "object_info": { + "name": "SoapBottle|surface|5|5", + "position": { + "x": 10.455648422241211, + "y": 0.9453773498535156, + "z": 0.1595512181520462 + }, + "rotation": { + "x": 359.9921569824219, + "y": 89.9986572265625, + "z": 0.055001091212034225 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4000000059604645, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 7.74541711807251, + "objectType": "SoapBottle", + "objectId": "SoapBottle|surface|5|5", + "assetId": "Soap_Bottle_11", + "parentReceptacles": [ + "Toilet|5|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.500338554382324, + 1.1353096961975098, + 0.20281018316745758 + ], + [ + 10.500338554382324, + 1.1353096961975098, + 0.11641542613506317 + ], + [ + 10.500338554382324, + 0.9454121589660645, + 0.20281018316745758 + ], + [ + 10.500338554382324, + 0.9454121589660645, + 0.11641542613506317 + ], + [ + 10.412665367126465, + 1.1353096961975098, + 0.20281018316745758 + ], + [ + 10.412665367126465, + 1.1353096961975098, + 0.11641542613506317 + ], + [ + 10.412665367126465, + 0.9454121589660645, + 0.20281018316745758 + ], + [ + 10.412665367126465, + 0.9454121589660645, + 0.11641542613506317 + ] + ], + "center": { + "x": 10.456501960754395, + "y": 1.040360927581787, + "z": 0.15961280465126038 + }, + "size": { + "x": 0.08767318725585938, + "y": 0.1898975372314453, + "z": 0.08639475703239441 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 10.500365257263184, + 0.9455066919326782, + 0.11641743779182434 + ], + [ + 10.50036334991455, + 0.9454239010810852, + 0.20268723368644714 + ], + [ + 10.41268253326416, + 0.9454118609428406, + 0.2026851922273636 + ], + [ + 10.412684440612793, + 0.9454946517944336, + 0.11641539633274078 + ], + [ + 10.500338554382324, + 1.135342001914978, + 0.1165996715426445 + ], + [ + 10.500336647033691, + 1.1352591514587402, + 0.2028694748878479 + ], + [ + 10.412656784057617, + 1.1352472305297852, + 0.20286743342876434 + ], + [ + 10.41265869140625, + 1.1353299617767334, + 0.11659762263298035 + ] + ] + } + } + }, + { + "objectId": "Chair|8|2|3", + "object_info": { + "name": "Chair|8|2|3", + "position": { + "x": 7.87695837020874, + "y": 0.0017909407615661621, + "z": 7.364753723144531 + }, + "rotation": { + "x": 0.0, + "y": 188.8024139404297, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Metal", + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 6.42404842376709, + "objectType": "Chair", + "objectId": "Chair|8|2|3", + "assetId": "RoboTHOR_chair_mella", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.176189422607422, + 0.7626227140426636, + 7.66265869140625 + ], + [ + 8.176189422607422, + 0.7626227140426636, + 7.066738128662109 + ], + [ + 8.176189422607422, + 3.427267074584961e-06, + 7.66265869140625 + ], + [ + 8.176189422607422, + 3.427267074584961e-06, + 7.066738128662109 + ], + [ + 7.577808380126953, + 0.7626227140426636, + 7.66265869140625 + ], + [ + 7.577808380126953, + 0.7626227140426636, + 7.066738128662109 + ], + [ + 7.577808380126953, + 3.427267074584961e-06, + 7.66265869140625 + ], + [ + 7.577808380126953, + 3.427267074584961e-06, + 7.066738128662109 + ] + ], + "center": { + "x": 7.8769989013671875, + "y": 0.3813130557537079, + "z": 7.36469841003418 + }, + "size": { + "x": 0.5983810424804688, + "y": 0.7626192569732666, + "z": 0.5959205627441406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.577808380126953, + 3.516674041748047e-06, + 7.147021293640137 + ], + [ + 8.096263885498047, + 3.516674041748047e-06, + 7.066737651824951 + ], + [ + 8.176189422607422, + 3.516674041748047e-06, + 7.582884788513184 + ], + [ + 7.657734394073486, + 3.516674041748047e-06, + 7.663168430328369 + ], + [ + 7.577808380126953, + 0.7626225352287292, + 7.147021293640137 + ], + [ + 8.096263885498047, + 0.7626225352287292, + 7.066737651824951 + ], + [ + 8.176189422607422, + 0.7626225352287292, + 7.582884788513184 + ], + [ + 7.657734394073486, + 0.7626225352287292, + 7.663168430328369 + ] + ] + } + } + }, + { + "objectId": "ShelvingUnit|8|4___7", + "object_info": { + "name": "Shelf (8)", + "position": { + "x": 10.666072845458984, + "y": 0.14973479509353638, + "z": 8.748308181762695 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 9.413053512573242, + "objectType": "Shelf", + "objectId": "ShelvingUnit|8|4___7", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.775839805603027, + 0.2803608775138855, + 8.95882797241211 + ], + [ + 10.775839805603027, + 0.2803608775138855, + 8.537788391113281 + ], + [ + 10.775839805603027, + 0.019108712673187256, + 8.95882797241211 + ], + [ + 10.775839805603027, + 0.019108712673187256, + 8.537788391113281 + ], + [ + 10.556305885314941, + 0.2803608775138855, + 8.95882797241211 + ], + [ + 10.556305885314941, + 0.2803608775138855, + 8.537788391113281 + ], + [ + 10.556305885314941, + 0.019108712673187256, + 8.95882797241211 + ], + [ + 10.556305885314941, + 0.019108712673187256, + 8.537788391113281 + ] + ], + "center": { + "x": 10.666072845458984, + "y": 0.14973479509353638, + "z": 8.748308181762695 + }, + "size": { + "x": 0.21953392028808594, + "y": 0.26125216484069824, + "z": 0.4210395812988281 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Chair|8|2|1", + "object_info": { + "name": "Chair|8|2|1", + "position": { + "x": 6.415034294128418, + "y": 0.0017909407615661621, + "z": 6.7649431228637695 + }, + "rotation": { + "x": -0.0, + "y": 90.27063751220703, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Metal", + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 5.000081539154053, + "objectType": "Chair", + "objectId": "Chair|8|2|1", + "assetId": "RoboTHOR_chair_mella", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.677217483520508, + 0.762622594833374, + 7.028500556945801 + ], + [ + 6.677217483520508, + 0.762622594833374, + 6.501406669616699 + ], + [ + 6.677217483520508, + 3.4868717193603516e-06, + 7.028500556945801 + ], + [ + 6.677217483520508, + 3.4868717193603516e-06, + 6.501406669616699 + ], + [ + 6.152462005615234, + 0.762622594833374, + 7.028500556945801 + ], + [ + 6.152462005615234, + 0.762622594833374, + 6.501406669616699 + ], + [ + 6.152462005615234, + 3.4868717193603516e-06, + 7.028500556945801 + ], + [ + 6.152462005615234, + 3.4868717193603516e-06, + 6.501406669616699 + ] + ], + "center": { + "x": 6.414839744567871, + "y": 0.3813130557537079, + "z": 6.76495361328125 + }, + "size": { + "x": 0.5247554779052734, + "y": 0.762619137763977, + "z": 0.5270938873291016 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.674738883972168, + 3.516674041748047e-06, + 6.501405715942383 + ], + [ + 6.677216529846191, + 3.516674041748047e-06, + 7.026034355163574 + ], + [ + 6.154923915863037, + 3.516674041748047e-06, + 7.028501510620117 + ], + [ + 6.1524457931518555, + 3.516674041748047e-06, + 6.503872871398926 + ], + [ + 6.674738883972168, + 0.7626225352287292, + 6.501405715942383 + ], + [ + 6.677216529846191, + 0.7626225352287292, + 7.026034355163574 + ], + [ + 6.154923915863037, + 0.7626225352287292, + 7.028501510620117 + ], + [ + 6.1524457931518555, + 0.7626225352287292, + 6.503872871398926 + ] + ] + } + } + }, + { + "objectId": "ShelvingUnit|8|4___0", + "object_info": { + "name": "Shelf (1)", + "position": { + "x": 10.674673080444336, + "y": 1.1547349691390991, + "z": 8.530108451843262 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "HousePlant|surface|8|21" + ], + "distance": 9.261330604553223, + "objectType": "Shelf", + "objectId": "ShelvingUnit|8|4___0", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.792377471923828, + 1.3001704216003418, + 8.976180076599121 + ], + [ + 10.792377471923828, + 1.3001704216003418, + 8.084036827087402 + ], + [ + 10.792377471923828, + 1.1546261310577393, + 8.976180076599121 + ], + [ + 10.792377471923828, + 1.1546261310577393, + 8.084036827087402 + ], + [ + 10.556968688964844, + 1.3001704216003418, + 8.976180076599121 + ], + [ + 10.556968688964844, + 1.3001704216003418, + 8.084036827087402 + ], + [ + 10.556968688964844, + 1.1546261310577393, + 8.976180076599121 + ], + [ + 10.556968688964844, + 1.1546261310577393, + 8.084036827087402 + ] + ], + "center": { + "x": 10.674673080444336, + "y": 1.2273982763290405, + "z": 8.530108451843262 + }, + "size": { + "x": 0.23540878295898438, + "y": 0.14554429054260254, + "z": 0.8921432495117188 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Toilet|5|0", + "object_info": { + "name": "Toilet|5|0", + "position": { + "x": 10.552766799926758, + "y": 2.086162567138672e-07, + "z": 0.6639474630355835 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|surface|5|5" + ], + "distance": 7.720061302185059, + "objectType": "Toilet", + "objectId": "Toilet|5|0", + "assetId": "Toilet_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.081795692443848, + 0.945518970489502, + 1.0386031866073608 + ], + [ + 11.081795692443848, + 0.945518970489502, + -0.12619376182556152 + ], + [ + 11.081795692443848, + 0.0, + 1.0386031866073608 + ], + [ + 11.081795692443848, + 0.0, + -0.12619376182556152 + ], + [ + 9.962498664855957, + 0.945518970489502, + 1.0386031866073608 + ], + [ + 9.962498664855957, + 0.945518970489502, + -0.12619376182556152 + ], + [ + 9.962498664855957, + 0.0, + 1.0386031866073608 + ], + [ + 9.962498664855957, + 0.0, + -0.12619376182556152 + ] + ], + "center": { + "x": 10.522147178649902, + "y": 0.472759485244751, + "z": 0.45620471239089966 + }, + "size": { + "x": 1.1192970275878906, + "y": 0.945518970489502, + "z": 1.1647969484329224 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 3.200000047683716, + "y": 0.9009997844696045, + "z": 2.799999952316284 + }, + "agent_rotation": { + "x": -0.0, + "y": 90.00000762939453, + "z": 0.0 + }, + "agent_cameraHorizon": 1.5309449281630805e-06, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 3.200000047683716, + "y": 1.5759997367858887, + "z": 2.799999952316284 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Chair|8|2|2", + "DiningTable|8|2|0", + "Chair|8|2|3", + "HousePlant|surface|8|21", + "window|4|1", + "Toilet|5|0", + "Painting|8|6", + "SprayBottle|surface|5|4", + "door|4|8", + "Plunger|5|2", + "SprayBottle|surface|8|19", + "ToiletPaper|surface|5|3", + "ShelvingUnit|8|4___0", + "ShelvingUnit|8|4___7", + "SoapBottle|surface|5|5", + "door|4|5", + "ShelvingUnit|8|4___5", + "Plate|surface|8|22", + "ShelvingUnit|8|4___3", + "ShelvingUnit|8|4", + "ShelvingUnit|8|4___1", + "Painting|4|5" + ], + "different_object": [ + "Chair|8|2|4", + "Chair|8|2|1", + "GarbageCan|8|3" + ] +} \ No newline at end of file diff --git a/train/train1316/2/1_depth_npy.npy b/train/train1316/2/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..dec76347b5db996a313f51e8d24f7cee9738deb4 --- /dev/null +++ b/train/train1316/2/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f1246caccda2b82a1c49d52cd0df667bc1dd1662c3cdf9e763f8d0c068fc613c +size 3145856 diff --git a/train/train1316/2/1_semantic_sensor_npy.npy b/train/train1316/2/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..aa371746436e757252adf98f3d9240aef2a3ce1a --- /dev/null +++ b/train/train1316/2/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6d725fbfba59852c666ea7cc6128d77e8f0fd02beb420de2c73f616986d4a599 +size 2359424 diff --git a/train/train1316/2/depth_0.png b/train/train1316/2/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..3e89329c3b8f4a5f6bd8dbe2ba3eb7b4b9388cd8 Binary files /dev/null and b/train/train1316/2/depth_0.png differ diff --git a/train/train1316/2/depth_1.png b/train/train1316/2/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..96f4a2d0ad68f0bcbfc80bfab27296d1ef7f871a Binary files /dev/null and b/train/train1316/2/depth_1.png differ diff --git a/train/train1316/2/mask_questions.jsonl b/train/train1316/2/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..06799c872782b3246f33462f1a9ad5b1c503afb2 --- /dev/null +++ b/train/train1316/2/mask_questions.jsonl @@ -0,0 +1,6 @@ +{"id": 2654, "folder_dir": "train1316/2", "pair_name": "0-1:window|4|1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Chair\nB. Window\nC. Shelf\nD. Bed", "answer": "B", "object_name": "Window", "image_1": "train1316/2/rgb_0.png", "image_2": "train1316/2/rgb_1.png", "mask_image": "train1316/2/rgb_1_mask_window|4|1.png", "options": ["Chair", "Window", "Shelf", "Bed"]} +{"id": 2655, "folder_dir": "train1316/2", "pair_name": "0-1:Painting|8|6", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. BaseballBat\nB. Painting\nC. Shelf\nD. Chair", "answer": "B", "object_name": "Painting", "image_1": "train1316/2/rgb_0.png", "image_2": "train1316/2/rgb_1.png", "mask_image": "train1316/2/rgb_1_mask_Painting|8|6.png", "options": ["BaseballBat", "Painting", "Shelf", "Chair"]} +{"id": 2656, "folder_dir": "train1316/2", "pair_name": "0-1:Painting|4|5", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Chair\nB. Shelf\nC. Shelf\nD. Painting", "answer": "D", "object_name": "Painting", "image_1": "train1316/2/rgb_0.png", "image_2": "train1316/2/rgb_1.png", "mask_image": "train1316/2/rgb_1_mask_Painting|4|5.png", "options": ["Chair", "Shelf", "Shelf", "Painting"]} +{"id": 2657, "folder_dir": "train1316/2", "pair_name": "1-0:window|4|1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. None\nB. GarbageCan\nC. Chair\nD. Window", "answer": "D", "object_name": "Window", "image_1": "train1316/2/rgb_1.png", "image_2": "train1316/2/rgb_0.png", "mask_image": "train1316/2/rgb_0_mask_window|4|1.png", "options": ["None", "GarbageCan", "Chair", "Window"]} +{"id": 2658, "folder_dir": "train1316/2", "pair_name": "1-0:Painting|8|6", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Chair\nB. Painting\nC. None\nD. GarbageCan", "answer": "B", "object_name": "Painting", "image_1": "train1316/2/rgb_1.png", "image_2": "train1316/2/rgb_0.png", "mask_image": "train1316/2/rgb_0_mask_Painting|8|6.png", "options": ["Chair", "Painting", "None", "GarbageCan"]} +{"id": 2659, "folder_dir": "train1316/2", "pair_name": "1-0:Painting|4|5", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. GarbageCan\nB. Chair\nC. Painting\nD. None", "answer": "C", "object_name": "Painting", "image_1": "train1316/2/rgb_1.png", "image_2": "train1316/2/rgb_0.png", "mask_image": "train1316/2/rgb_0_mask_Painting|4|5.png", "options": ["GarbageCan", "Chair", "Painting", "None"]} diff --git a/train/train1316/2/questions_distance.jsonl b/train/train1316/2/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7717e0cbdd1c1ee73e86aab7d79e58d5ee365142 --- /dev/null +++ b/train/train1316/2/questions_distance.jsonl @@ -0,0 +1,2 @@ +{"id": 1071, "folder_dir": "train1316/2", "query": "Which of the following objects is closest to DiningTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. BaseballBat\nB. Plate\nC. HousePlant\nD. Other\n", "answer": "B", "src_object": "DiningTable", "target_object": "Plate", "question": "Which of the following objects is closest to DiningTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "BaseballBat", "semantic_id": "BaseballBat|4|3", "distance": 4.726076004905089, "com": {"x": 3.4563450813293457, "y": 0.4795337915420532, "z": 4.256056785583496}}, {"text": "Plate", "semantic_id": "Plate|surface|8|22", "distance": 0.5877772193824495, "com": {"x": 7.2384419441223145, "y": 0.7907326221466064, "z": 6.3959856033325195}}, {"text": "HousePlant", "semantic_id": "HousePlant|surface|8|21", "distance": 3.8111214974935304, "com": {"x": 10.663901329040527, "y": 1.477307677268982, "z": 8.520574569702148}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1316/2/rgb_0.png", "image_2": "train1316/2/rgb_1.png"} +{"id": 1072, "folder_dir": "train1316/2", "query": "Which of the following objects is closest to Window in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. ToiletPaper\nB. Plunger\nC. Bed\nD. Other\n", "answer": "B", "src_object": "Window", "target_object": "Plunger", "question": "Which of the following objects is closest to Window in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "ToiletPaper", "semantic_id": "ToiletPaper|surface|5|3", "distance": 4.375734474716361, "com": {"x": 10.329048156738281, "y": 0.9799381494522095, "z": 0.05090399086475372}}, {"text": "Plunger", "semantic_id": "Plunger|5|2", "distance": 2.7619649447453867, "com": {"x": 8.455743789672852, "y": 0.2696695029735565, "z": 0.09900301694869995}}, {"text": "Bed", "semantic_id": "Bed|4|4|0", "distance": 2.9332244360085693, "com": {"x": 3.4979329109191895, "y": 0.33712294697761536, "z": 1.0345016717910767}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1316/2/rgb_0.png", "image_2": "train1316/2/rgb_1.png"} diff --git a/train/train1316/2/rgb_0.png b/train/train1316/2/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..3647248410e7d8cb15fc5947ca34cdbf8afe9ca7 --- /dev/null +++ b/train/train1316/2/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:65a5ef8e26d7152fd45deee65bc54208fc058435a20f56c9f4ea1ffa18e32212 +size 655521 diff --git a/train/train1316/2/rgb_0_mask_Painting|4|5.png b/train/train1316/2/rgb_0_mask_Painting|4|5.png new file mode 100644 index 0000000000000000000000000000000000000000..e96c53701ecde40c9d675fdf25470d853e337486 --- /dev/null +++ b/train/train1316/2/rgb_0_mask_Painting|4|5.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:40e5b39140fb3ec3adad73f68370ee760d606a2fae2e8dd356e84e39b214b6bb +size 558509 diff --git a/train/train1316/2/rgb_0_mask_Painting|8|6.png b/train/train1316/2/rgb_0_mask_Painting|8|6.png new file mode 100644 index 0000000000000000000000000000000000000000..fc05b2b19b5bc79233a1a7155fac538df531299a --- /dev/null +++ b/train/train1316/2/rgb_0_mask_Painting|8|6.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:67c0bc6145789a3fc81d87ac379624511227b2840dc6020c73203ca3ab46f56b +size 573204 diff --git a/train/train1316/2/rgb_0_mask_window|4|1.png b/train/train1316/2/rgb_0_mask_window|4|1.png new file mode 100644 index 0000000000000000000000000000000000000000..1005863d142ef609168fe165eaca23e54600aeb4 --- /dev/null +++ b/train/train1316/2/rgb_0_mask_window|4|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:934a877855ff2c0d582c7158c4dced6cbd135942070d6138404574824ed1153b +size 560781 diff --git a/train/train1316/2/rgb_1.png b/train/train1316/2/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..0e7da3aa86418a7a4d2e59eaa934bf2ae7bf9c5e --- /dev/null +++ b/train/train1316/2/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d7795c648c8aacbb4a2220747c464518471f120e19d70a0fb9f66650e8c8e5f6 +size 466740 diff --git a/train/train1316/2/rgb_1_mask_Painting|4|5.png b/train/train1316/2/rgb_1_mask_Painting|4|5.png new file mode 100644 index 0000000000000000000000000000000000000000..3ae50541fddc226114aacfd8d9864677ac68f800 --- /dev/null +++ b/train/train1316/2/rgb_1_mask_Painting|4|5.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8ec941e25c57bb6b41fdf2c336a2f889b4cc3c56f777aad1e15ca6963b2145d4 +size 398253 diff --git a/train/train1316/2/rgb_1_mask_Painting|8|6.png b/train/train1316/2/rgb_1_mask_Painting|8|6.png new file mode 100644 index 0000000000000000000000000000000000000000..3c9a32f1fa26d0357053ca415e78fae544397bf6 --- /dev/null +++ b/train/train1316/2/rgb_1_mask_Painting|8|6.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:269315f3fd288a41156293ef12a52444968842148104cb735e907878e52be1de +size 408499 diff --git a/train/train1316/2/rgb_1_mask_window|4|1.png b/train/train1316/2/rgb_1_mask_window|4|1.png new file mode 100644 index 0000000000000000000000000000000000000000..3abe10d1a5c28353f077d97ae0a8f6dab1e70409 --- /dev/null +++ b/train/train1316/2/rgb_1_mask_window|4|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:626630b4d01c853fc8e6501e356378a0d0d97194582f824f4160402a25d5f768 +size 406089 diff --git a/train/train1316/2/semantic_0.png b/train/train1316/2/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..b890c704b78e997469cb71389aaacc3626e86781 Binary files /dev/null and b/train/train1316/2/semantic_0.png differ diff --git a/train/train1316/2/semantic_1.png b/train/train1316/2/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..de6a31610c7388b5e4e20f6b1685e134a9c34bc9 Binary files /dev/null and b/train/train1316/2/semantic_1.png differ diff --git a/train/train1316/3/0.json b/train/train1316/3/0.json new file mode 100644 index 0000000000000000000000000000000000000000..a8e5d75d708cfa71724bd51512f5e0807d5fca15 --- /dev/null +++ b/train/train1316/3/0.json @@ -0,0 +1,1424 @@ +{ + "object": [ + { + "objectId": "HousePlant|4|2|0", + "object_info": { + "name": "HousePlant|4|2|0", + "position": { + "x": 0.30994442105293274, + "y": -0.011004626750946045, + "z": 1.6419564485549927 + }, + "rotation": { + "x": 0.014700928702950478, + "y": 319.5398254394531, + "z": -0.0010689004557207227 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.0, + "salientMaterials": [ + "Ceramic", + "Organic" + ], + "receptacleObjectIds": null, + "distance": 3.3645150661468506, + "objectType": "HousePlant", + "objectId": "HousePlant|4|2|0", + "assetId": "Houseplant_7", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.5120116472244263, + 0.8549591302871704, + 1.8441842794418335 + ], + [ + 0.5120116472244263, + 0.8549591302871704, + 1.3857589960098267 + ], + [ + 0.5120116472244263, + 4.470348358154297e-07, + 1.8441842794418335 + ], + [ + 0.5120116472244263, + 4.470348358154297e-07, + 1.3857589960098267 + ], + [ + 0.07821935415267944, + 0.8549591302871704, + 1.8441842794418335 + ], + [ + 0.07821935415267944, + 0.8549591302871704, + 1.3857589960098267 + ], + [ + 0.07821935415267944, + 4.470348358154297e-07, + 1.8441842794418335 + ], + [ + 0.07821935415267944, + 4.470348358154297e-07, + 1.3857589960098267 + ] + ], + "center": { + "x": 0.29511550068855286, + "y": 0.4274797737598419, + "z": 1.61497163772583 + }, + "size": { + "x": 0.4337922930717468, + "y": 0.8549586534500122, + "z": 0.45842528343200684 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.3325675129890442, + -3.080535680055618e-05, + 1.9269013404846191 + ], + [ + 0.025000065565109253, + -2.3263506591320038e-05, + 1.664583444595337 + ], + [ + 0.3163772225379944, + 9.194575250148773e-05, + 1.322944164276123 + ], + [ + 0.6239446401596069, + 8.440390229225159e-05, + 1.5852620601654053 + ], + [ + 0.33243730664253235, + 0.8548397421836853, + 1.9270786046981812 + ], + [ + 0.024869859218597412, + 0.854847252368927, + 1.664760708808899 + ], + [ + 0.31624704599380493, + 0.8549624681472778, + 1.3231213092803955 + ], + [ + 0.6238144636154175, + 0.8549549579620361, + 1.5854393243789673 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|1", + "object_info": { + "name": "Dresser|4|1", + "position": { + "x": 1.1732268333435059, + "y": 0.0015782415866851807, + "z": 4.117611408233643 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "CD|surface|4|0", + "RemoteControl|surface|4|2" + ], + "distance": 2.5240843296051025, + "objectType": "Dresser", + "objectId": "Dresser|4|1", + "assetId": "Dresser_209_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.312486410140991, + 0.6974328756332397, + 4.302001953125 + ], + [ + 2.312486410140991, + 0.6974328756332397, + 3.921083450317383 + ], + [ + 2.312486410140991, + 1.6689300537109375e-06, + 4.302001953125 + ], + [ + 2.312486410140991, + 1.6689300537109375e-06, + 3.921083450317383 + ], + [ + 0.02500319480895996, + 0.6974328756332397, + 4.302001953125 + ], + [ + 0.02500319480895996, + 0.6974328756332397, + 3.921083450317383 + ], + [ + 0.02500319480895996, + 1.6689300537109375e-06, + 4.302001953125 + ], + [ + 0.02500319480895996, + 1.6689300537109375e-06, + 3.921083450317383 + ] + ], + "center": { + "x": 1.1687448024749756, + "y": 0.34871727228164673, + "z": 4.111542701721191 + }, + "size": { + "x": 2.2874832153320312, + "y": 0.697431206703186, + "z": 0.3809185028076172 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.02500319480895996, + 1.9371509552001953e-06, + 3.921083927154541 + ], + [ + 2.312486410140991, + 1.9371509552001953e-06, + 3.921083927154541 + ], + [ + 2.312486410140991, + 1.9371509552001953e-06, + 4.302001953125 + ], + [ + 0.02500319480895996, + 1.9371509552001953e-06, + 4.302002429962158 + ], + [ + 0.02500319480895996, + 0.6974328756332397, + 3.921083927154541 + ], + [ + 2.312486410140991, + 0.6974328756332397, + 3.921083927154541 + ], + [ + 2.312486410140991, + 0.6974328756332397, + 4.302001953125 + ], + [ + 0.02500319480895996, + 0.6974328756332397, + 4.302002429962158 + ] + ] + } + } + }, + { + "objectId": "Bed|4|4|0", + "object_info": { + "name": "Bed|4|4|0", + "position": { + "x": 3.4979326725006104, + "y": 0.00913289189338684, + "z": 1.0374341011047363 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": true, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "Pillow|4|4|1", + "Pillow|4|4|2" + ], + "distance": 2.169922113418579, + "objectType": "Bed", + "objectId": "Bed|4|4|0", + "assetId": "Bed_20", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.080060958862305, + 0.6742458939552307, + 2.044003486633301 + ], + [ + 4.080060958862305, + 0.6742458939552307, + 0.02499997615814209 + ], + [ + 4.080060958862305, + 0.0, + 2.044003486633301 + ], + [ + 4.080060958862305, + 0.0, + 0.02499997615814209 + ], + [ + 2.915804862976074, + 0.6742458939552307, + 2.044003486633301 + ], + [ + 2.915804862976074, + 0.6742458939552307, + 0.02499997615814209 + ], + [ + 2.915804862976074, + 0.0, + 2.044003486633301 + ], + [ + 2.915804862976074, + 0.0, + 0.02499997615814209 + ] + ], + "center": { + "x": 3.4979329109191895, + "y": 0.33712294697761536, + "z": 1.0345016717910767 + }, + "size": { + "x": 1.1642560958862305, + "y": 0.6742458939552307, + "z": 2.019003391265869 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.080060958862305, + 2.9802322387695312e-08, + 2.044003486633301 + ], + [ + 2.915804624557495, + 2.9802322387695312e-08, + 2.044003486633301 + ], + [ + 2.915804624557495, + 2.9802322387695312e-08, + 0.02499997615814209 + ], + [ + 4.080060958862305, + 2.9802322387695312e-08, + 0.02499997615814209 + ], + [ + 4.080060958862305, + 0.6742458343505859, + 2.044003486633301 + ], + [ + 2.915804624557495, + 0.6742458343505859, + 2.044003486633301 + ], + [ + 2.915804624557495, + 0.6742458343505859, + 0.02499997615814209 + ], + [ + 4.080060958862305, + 0.6742458343505859, + 0.02499997615814209 + ] + ] + } + } + }, + { + "objectId": "RemoteControl|surface|4|2", + "object_info": { + "name": "RemoteControl|surface|4|2", + "position": { + "x": 1.1707401275634766, + "y": 0.6975149512290955, + "z": 4.251361846923828 + }, + "rotation": { + "x": -3.632873631431721e-05, + "y": 269.9999694824219, + "z": 359.9389953613281 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.15000000596046448, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.4352893829345703, + "objectType": "RemoteControl", + "objectId": "RemoteControl|surface|4|2", + "assetId": "RoboTHOR_remote_coolux_v", + "parentReceptacles": [ + "Dresser|4|1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.2680222988128662, + 0.7153843641281128, + 4.271951675415039 + ], + [ + 1.2680222988128662, + 0.7153843641281128, + 4.230802536010742 + ], + [ + 1.2680222988128662, + 0.6974300146102905, + 4.271951675415039 + ], + [ + 1.2680222988128662, + 0.6974300146102905, + 4.230802536010742 + ], + [ + 1.073457956314087, + 0.7153843641281128, + 4.271951675415039 + ], + [ + 1.073457956314087, + 0.7153843641281128, + 4.230802536010742 + ], + [ + 1.073457956314087, + 0.6974300146102905, + 4.271951675415039 + ], + [ + 1.073457956314087, + 0.6974300146102905, + 4.230802536010742 + ] + ], + "center": { + "x": 1.1707401275634766, + "y": 0.7064071893692017, + "z": 4.251377105712891 + }, + "size": { + "x": 0.1945643424987793, + "y": 0.017954349517822266, + "z": 0.041149139404296875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.0734577178955078, + 0.6974148750305176, + 4.271932125091553 + ], + [ + 1.0734577178955078, + 0.6974586844444275, + 4.230791091918945 + ], + [ + 1.2680226564407349, + 0.6974585652351379, + 4.230791091918945 + ], + [ + 1.2680225372314453, + 0.697414755821228, + 4.271932601928711 + ], + [ + 1.0734577178955078, + 0.7153557538986206, + 4.271951198577881 + ], + [ + 1.0734577178955078, + 0.7153995633125305, + 4.230810165405273 + ], + [ + 1.2680226564407349, + 0.715399444103241, + 4.230810642242432 + ], + [ + 1.2680225372314453, + 0.715355634689331, + 4.271951675415039 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|1___3", + "object_info": { + "name": "Drawer (3)", + "position": { + "x": 0.6491994857788086, + "y": 0.47976580262184143, + "z": 4.047611236572266 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "CD|surface|4|1" + ], + "distance": 2.835329055786133, + "objectType": "Drawer", + "objectId": "Dresser|4|1___3", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.1660950183868408, + 0.6543091535568237, + 4.179344177246094 + ], + [ + 1.1660950183868408, + 0.6543091535568237, + 3.918689727783203 + ], + [ + 1.1660950183868408, + 0.34582221508026123, + 4.179344177246094 + ], + [ + 1.1660950183868408, + 0.34582221508026123, + 3.918689727783203 + ], + [ + 0.13230395317077637, + 0.6543091535568237, + 4.179344177246094 + ], + [ + 0.13230395317077637, + 0.6543091535568237, + 3.918689727783203 + ], + [ + 0.13230395317077637, + 0.34582221508026123, + 4.179344177246094 + ], + [ + 0.13230395317077637, + 0.34582221508026123, + 3.918689727783203 + ] + ], + "center": { + "x": 0.6491994857788086, + "y": 0.5000656843185425, + "z": 4.049016952514648 + }, + "size": { + "x": 1.0337910652160645, + "y": 0.3084869384765625, + "z": 0.2606544494628906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|4|1___1", + "object_info": { + "name": "Drawer (1)", + "position": { + "x": 1.68937349319458, + "y": 0.47607824206352234, + "z": 4.047611236572266 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 1.92707097530365, + "objectType": "Drawer", + "objectId": "Dresser|4|1___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.2062690258026123, + 0.6506216526031494, + 4.179344177246094 + ], + [ + 2.2062690258026123, + 0.6506216526031494, + 3.918689727783203 + ], + [ + 2.2062690258026123, + 0.3421347141265869, + 4.179344177246094 + ], + [ + 2.2062690258026123, + 0.3421347141265869, + 3.918689727783203 + ], + [ + 1.1724779605865479, + 0.6506216526031494, + 4.179344177246094 + ], + [ + 1.1724779605865479, + 0.6506216526031494, + 3.918689727783203 + ], + [ + 1.1724779605865479, + 0.3421347141265869, + 4.179344177246094 + ], + [ + 1.1724779605865479, + 0.3421347141265869, + 3.918689727783203 + ] + ], + "center": { + "x": 1.68937349319458, + "y": 0.49637818336486816, + "z": 4.049016952514648 + }, + "size": { + "x": 1.0337910652160645, + "y": 0.3084869384765625, + "z": 0.2606544494628906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bed|4|0", + "object_info": { + "name": "Bed|4|0", + "position": { + "x": 1.0386308431625366, + "y": 7.62939453125e-06, + "z": 0.5922693610191345 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Fabric", + "Wood" + ], + "receptacleObjectIds": [], + "distance": 3.391033172607422, + "objectType": "Bed", + "objectId": "Bed|4|0", + "assetId": "RoboTHOR_bed_tarva_v", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.0666112899780273, + 0.9211342334747314, + 1.159531593322754 + ], + [ + 2.0666112899780273, + 0.9211342334747314, + 0.025007009506225586 + ], + [ + 2.0666112899780273, + 7.68899917602539e-06, + 1.159531593322754 + ], + [ + 2.0666112899780273, + 7.68899917602539e-06, + 0.025007009506225586 + ], + [ + 0.025006651878356934, + 0.9211342334747314, + 1.159531593322754 + ], + [ + 0.025006651878356934, + 0.9211342334747314, + 0.025007009506225586 + ], + [ + 0.025006651878356934, + 7.68899917602539e-06, + 1.159531593322754 + ], + [ + 0.025006651878356934, + 7.68899917602539e-06, + 0.025007009506225586 + ] + ], + "center": { + "x": 1.0458089113235474, + "y": 0.46057096123695374, + "z": 0.5922693014144897 + }, + "size": { + "x": 2.041604518890381, + "y": 0.9211265444755554, + "z": 1.1345245838165283 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.0666117668151855, + 7.62939453125e-06, + 0.025006890296936035 + ], + [ + 2.0666117668151855, + 7.62939453125e-06, + 1.159531593322754 + ], + [ + 0.025006651878356934, + 7.62939453125e-06, + 1.159531831741333 + ], + [ + 0.025006413459777832, + 7.62939453125e-06, + 0.02500706911087036 + ], + [ + 2.0666117668151855, + 0.9211342334747314, + 0.025006890296936035 + ], + [ + 2.0666117668151855, + 0.9211342334747314, + 1.159531593322754 + ], + [ + 0.025006651878356934, + 0.9211342334747314, + 1.159531831741333 + ], + [ + 0.025006413459777832, + 0.9211342334747314, + 0.02500706911087036 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|1___0", + "object_info": { + "name": "Drawer", + "position": { + "x": 1.68937349319458, + "y": 0.16780176758766174, + "z": 4.047611236572266 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.017578601837158, + "objectType": "Drawer", + "objectId": "Dresser|4|1___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.2062690258026123, + 0.3403380513191223, + 4.179344177246094 + ], + [ + 2.2062690258026123, + 0.3403380513191223, + 3.918689727783203 + ], + [ + 2.2062690258026123, + 0.03385818004608154, + 4.179344177246094 + ], + [ + 2.2062690258026123, + 0.03385818004608154, + 3.918689727783203 + ], + [ + 1.1724779605865479, + 0.3403380513191223, + 4.179344177246094 + ], + [ + 1.1724779605865479, + 0.3403380513191223, + 3.918689727783203 + ], + [ + 1.1724779605865479, + 0.03385818004608154, + 4.179344177246094 + ], + [ + 1.1724779605865479, + 0.03385818004608154, + 3.918689727783203 + ] + ], + "center": { + "x": 1.68937349319458, + "y": 0.18709811568260193, + "z": 4.049016952514648 + }, + "size": { + "x": 1.0337910652160645, + "y": 0.30647987127304077, + "z": 0.2606544494628906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|4|1___2", + "object_info": { + "name": "Drawer (2)", + "position": { + "x": 0.6452269554138184, + "y": 0.16780176758766174, + "z": 4.047611236572266 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.9017083644866943, + "objectType": "Drawer", + "objectId": "Dresser|4|1___2", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.1621224880218506, + 0.34234514832496643, + 4.179344177246094 + ], + [ + 1.1621224880218506, + 0.34234514832496643, + 3.918689727783203 + ], + [ + 1.1621224880218506, + 0.03385820984840393, + 4.179344177246094 + ], + [ + 1.1621224880218506, + 0.03385820984840393, + 3.918689727783203 + ], + [ + 0.12833142280578613, + 0.34234514832496643, + 4.179344177246094 + ], + [ + 0.12833142280578613, + 0.34234514832496643, + 3.918689727783203 + ], + [ + 0.12833142280578613, + 0.03385820984840393, + 4.179344177246094 + ], + [ + 0.12833142280578613, + 0.03385820984840393, + 3.918689727783203 + ] + ], + "center": { + "x": 0.6452269554138184, + "y": 0.18810167908668518, + "z": 4.049016952514648 + }, + "size": { + "x": 1.0337910652160645, + "y": 0.3084869384765625, + "z": 0.2606544494628906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "BaseballBat|4|3", + "object_info": { + "name": "BaseballBat|4|3", + "position": { + "x": 3.4558966159820557, + "y": 0.2735336124897003, + "z": 4.256573677062988 + }, + "rotation": { + "x": 0.14369982481002808, + "y": 180.0022430419922, + "z": 359.9489440917969 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.8999999761581421, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 1.419536828994751, + "objectType": "BaseballBat", + "objectId": "BaseballBat|4|3", + "assetId": "BaseballBat_4", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.4971671104431152, + 0.9590680599212646, + 4.301998615264893 + ], + [ + 3.4971671104431152, + 0.9590680599212646, + 4.2101149559021 + ], + [ + 3.4971671104431152, + -4.76837158203125e-07, + 4.301998615264893 + ], + [ + 3.4971671104431152, + -4.76837158203125e-07, + 4.2101149559021 + ], + [ + 3.415523052215576, + 0.9590680599212646, + 4.301998615264893 + ], + [ + 3.415523052215576, + 0.9590680599212646, + 4.2101149559021 + ], + [ + 3.415523052215576, + -4.76837158203125e-07, + 4.301998615264893 + ], + [ + 3.415523052215576, + -4.76837158203125e-07, + 4.2101149559021 + ] + ], + "center": { + "x": 3.4563450813293457, + "y": 0.4795337915420532, + "z": 4.256056785583496 + }, + "size": { + "x": 0.08164405822753906, + "y": 0.9590685367584229, + "z": 0.09188365936279297 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.416377067565918, + -4.76837158203125e-07, + 4.212523460388184 + ], + [ + 3.4971635341644287, + 7.149577140808105e-05, + 4.212520122528076 + ], + [ + 3.4971671104431152, + 0.00029587745666503906, + 4.301995277404785 + ], + [ + 3.4163806438446045, + 0.00022390484809875488, + 4.301998615264893 + ], + [ + 3.415522813796997, + 0.9587717056274414, + 4.210118770599365 + ], + [ + 3.496309280395508, + 0.9588435888290405, + 4.210115432739258 + ], + [ + 3.4963128566741943, + 0.9590680599212646, + 4.299590587615967 + ], + [ + 3.4155263900756836, + 0.958996057510376, + 4.299593925476074 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 3.0999999046325684, + "y": 0.9009997844696045, + "z": 3.0 + }, + "agent_rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "agent_cameraHorizon": 60.000003814697266, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 3.0999999046325684, + "y": 1.5759997367858887, + "z": 3.0 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Dresser|4|1___2", + "RemoteControl|surface|4|2", + "BaseballBat|4|3", + "Dresser|4|1___0", + "Dresser|4|1___1", + "Dresser|4|1" + ], + "different_object": [ + "Bed|4|4|0", + "Dresser|4|1___3", + "Bed|4|0", + "HousePlant|4|2|0" + ] +} \ No newline at end of file diff --git a/train/train1316/3/0_depth_npy.npy b/train/train1316/3/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..9e493a7ed2be2a57056604e41921366e104d75b9 --- /dev/null +++ b/train/train1316/3/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ea83dd3483d2da1f8f91b7043f34a669940751516c58b272c2ffe6ffd1aa43f0 +size 3145856 diff --git a/train/train1316/3/0_semantic_sensor_npy.npy b/train/train1316/3/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..5128fcdf208084bfc7050d6d5062a5b40a0d0fde --- /dev/null +++ b/train/train1316/3/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a1a1a24492df08be1e3897061f31ee121296d70b65da4fa678d3c257aae86115 +size 2359424 diff --git a/train/train1316/3/1.json b/train/train1316/3/1.json new file mode 100644 index 0000000000000000000000000000000000000000..45d77379f0164932fb3a25131dcd8f35c9b0d132 --- /dev/null +++ b/train/train1316/3/1.json @@ -0,0 +1,2402 @@ +{ + "object": [ + { + "objectId": "Painting|8|6", + "object_info": { + "name": "Painting|8|6", + "position": { + "x": 10.810393333435059, + "y": 1.7489491701126099, + "z": 9.954865455627441 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 10.30770206451416, + "objectType": "Painting", + "objectId": "Painting|8|6", + "assetId": "Wall_Decor_Photo_7", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.812000274658203, + 2.070725917816162, + 10.422999382019043 + ], + [ + 10.812000274658203, + 2.070725917816162, + 9.48673152923584 + ], + [ + 10.812000274658203, + 1.430199146270752, + 10.422999382019043 + ], + [ + 10.812000274658203, + 1.430199146270752, + 9.48673152923584 + ], + [ + 10.78457260131836, + 2.070725917816162, + 10.422999382019043 + ], + [ + 10.78457260131836, + 2.070725917816162, + 9.48673152923584 + ], + [ + 10.78457260131836, + 1.430199146270752, + 10.422999382019043 + ], + [ + 10.78457260131836, + 1.430199146270752, + 9.48673152923584 + ] + ], + "center": { + "x": 10.798286437988281, + "y": 1.750462532043457, + "z": 9.954865455627441 + }, + "size": { + "x": 0.02742767333984375, + "y": 0.6405267715454102, + "z": 0.9362678527832031 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ShelvingUnit|8|4___3", + "object_info": { + "name": "Shelf (4)", + "position": { + "x": 10.666072845458984, + "y": 0.7197344899177551, + "z": 8.748308181762695 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SprayBottle|surface|8|19" + ], + "distance": 9.384777069091797, + "objectType": "Shelf", + "objectId": "ShelvingUnit|8|4___3", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.775839805603027, + 0.8503605127334595, + 8.95882797241211 + ], + [ + 10.775839805603027, + 0.8503605127334595, + 8.537788391113281 + ], + [ + 10.775839805603027, + 0.5891084671020508, + 8.95882797241211 + ], + [ + 10.775839805603027, + 0.5891084671020508, + 8.537788391113281 + ], + [ + 10.556305885314941, + 0.8503605127334595, + 8.95882797241211 + ], + [ + 10.556305885314941, + 0.8503605127334595, + 8.537788391113281 + ], + [ + 10.556305885314941, + 0.5891084671020508, + 8.95882797241211 + ], + [ + 10.556305885314941, + 0.5891084671020508, + 8.537788391113281 + ] + ], + "center": { + "x": 10.666072845458984, + "y": 0.7197344899177551, + "z": 8.748308181762695 + }, + "size": { + "x": 0.21953392028808594, + "y": 0.2612520456314087, + "z": 0.4210395812988281 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Plate|surface|8|22", + "object_info": { + "name": "Plate|surface|8|22", + "position": { + "x": 7.238898754119873, + "y": 0.781857430934906, + "z": 6.395248889923096 + }, + "rotation": { + "x": 0.005719710607081652, + "y": 180.00010681152344, + "z": 0.009062936529517174 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 5.239582538604736, + "objectType": "Plate", + "objectId": "Plate|surface|8|22", + "assetId": "Plate_4", + "parentReceptacles": [ + "DiningTable|8|2|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.335898399353027, + 0.8000904321670532, + 6.494068145751953 + ], + [ + 7.335898399353027, + 0.8000904321670532, + 6.297903060913086 + ], + [ + 7.335898399353027, + 0.7813748121261597, + 6.494068145751953 + ], + [ + 7.335898399353027, + 0.7813748121261597, + 6.297903060913086 + ], + [ + 7.140985488891602, + 0.8000904321670532, + 6.494068145751953 + ], + [ + 7.140985488891602, + 0.8000904321670532, + 6.297903060913086 + ], + [ + 7.140985488891602, + 0.7813748121261597, + 6.494068145751953 + ], + [ + 7.140985488891602, + 0.7813748121261597, + 6.297903060913086 + ] + ], + "center": { + "x": 7.2384419441223145, + "y": 0.7907326221466064, + "z": 6.3959856033325195 + }, + "size": { + "x": 0.19491291046142578, + "y": 0.018715620040893555, + "z": 0.1961650848388672 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.140983581542969, + 0.7813949584960938, + 6.297904968261719 + ], + [ + 7.335896015167236, + 0.7813641428947449, + 6.2979044914245605 + ], + [ + 7.335896015167236, + 0.7813836932182312, + 6.494068622589111 + ], + [ + 7.140984058380127, + 0.7814145088195801, + 6.4940690994262695 + ], + [ + 7.140986442565918, + 0.800077497959137, + 6.297903060913086 + ], + [ + 7.3358988761901855, + 0.8000466823577881, + 6.297902584075928 + ], + [ + 7.335899353027344, + 0.8000662326812744, + 6.4940667152404785 + ], + [ + 7.140986919403076, + 0.8000970482826233, + 6.494067192077637 + ] + ] + } + } + }, + { + "objectId": "door|4|8", + "object_info": { + "name": "door|4|8", + "position": { + "x": 4.4892144203186035, + "y": -0.0006060600280761719, + "z": 4.330454349517822 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.029446840286255, + "objectType": "Doorway", + "objectId": "door|4|8", + "assetId": "Doorway_Double_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.426213264465332, + 2.0728206634521484, + 5.2253947257995605 + ], + [ + 6.426213264465332, + 2.0728206634521484, + 4.253799915313721 + ], + [ + 6.426213264465332, + -2.384185791015625e-07, + 5.2253947257995605 + ], + [ + 6.426213264465332, + -2.384185791015625e-07, + 4.253799915313721 + ], + [ + 4.468653678894043, + 2.0728206634521484, + 5.2253947257995605 + ], + [ + 4.468653678894043, + 2.0728206634521484, + 4.253799915313721 + ], + [ + 4.468653678894043, + -2.384185791015625e-07, + 5.2253947257995605 + ], + [ + 4.468653678894043, + -2.384185791015625e-07, + 4.253799915313721 + ] + ], + "center": { + "x": 5.4474334716796875, + "y": 1.0364102125167847, + "z": 4.739597320556641 + }, + "size": { + "x": 1.957559585571289, + "y": 2.0728209018707275, + "z": 0.9715948104858398 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|4|1", + "object_info": { + "name": "Dresser|4|1", + "position": { + "x": 1.1732268333435059, + "y": 0.0015782415866851807, + "z": 4.117611408233643 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "CD|surface|4|0", + "RemoteControl|surface|4|2" + ], + "distance": 2.5240843296051025, + "objectType": "Dresser", + "objectId": "Dresser|4|1", + "assetId": "Dresser_209_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.312486410140991, + 0.6974328756332397, + 4.302001953125 + ], + [ + 2.312486410140991, + 0.6974328756332397, + 3.921083450317383 + ], + [ + 2.312486410140991, + 1.6689300537109375e-06, + 4.302001953125 + ], + [ + 2.312486410140991, + 1.6689300537109375e-06, + 3.921083450317383 + ], + [ + 0.02500319480895996, + 0.6974328756332397, + 4.302001953125 + ], + [ + 0.02500319480895996, + 0.6974328756332397, + 3.921083450317383 + ], + [ + 0.02500319480895996, + 1.6689300537109375e-06, + 4.302001953125 + ], + [ + 0.02500319480895996, + 1.6689300537109375e-06, + 3.921083450317383 + ] + ], + "center": { + "x": 1.1687448024749756, + "y": 0.34871727228164673, + "z": 4.111542701721191 + }, + "size": { + "x": 2.2874832153320312, + "y": 0.697431206703186, + "z": 0.3809185028076172 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.02500319480895996, + 1.9371509552001953e-06, + 3.921083927154541 + ], + [ + 2.312486410140991, + 1.9371509552001953e-06, + 3.921083927154541 + ], + [ + 2.312486410140991, + 1.9371509552001953e-06, + 4.302001953125 + ], + [ + 0.02500319480895996, + 1.9371509552001953e-06, + 4.302002429962158 + ], + [ + 0.02500319480895996, + 0.6974328756332397, + 3.921083927154541 + ], + [ + 2.312486410140991, + 0.6974328756332397, + 3.921083927154541 + ], + [ + 2.312486410140991, + 0.6974328756332397, + 4.302001953125 + ], + [ + 0.02500319480895996, + 0.6974328756332397, + 4.302002429962158 + ] + ] + } + } + }, + { + "objectId": "ShelvingUnit|8|4", + "object_info": { + "name": "ShelvingUnit|8|4", + "position": { + "x": 10.672673225402832, + "y": 0.005734920501708984, + "z": 8.530108451843262 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 22.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": null, + "distance": 9.299445152282715, + "objectType": "ShelvingUnit", + "objectId": "ShelvingUnit|8|4", + "assetId": "Shelving_Unit_307_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.792000770568848, + 1.1554696559906006, + 8.982051849365234 + ], + [ + 10.792000770568848, + 1.1554696559906006, + 8.079710006713867 + ], + [ + 10.792000770568848, + 7.152557373046875e-07, + 8.982051849365234 + ], + [ + 10.792000770568848, + 7.152557373046875e-07, + 8.079710006713867 + ], + [ + 10.553923606872559, + 1.1554696559906006, + 8.982051849365234 + ], + [ + 10.553923606872559, + 1.1554696559906006, + 8.079710006713867 + ], + [ + 10.553923606872559, + 7.152557373046875e-07, + 8.982051849365234 + ], + [ + 10.553923606872559, + 7.152557373046875e-07, + 8.079710006713867 + ] + ], + "center": { + "x": 10.672962188720703, + "y": 0.577735185623169, + "z": 8.53088092803955 + }, + "size": { + "x": 0.23807716369628906, + "y": 1.1554689407348633, + "z": 0.9023418426513672 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 10.553923606872559, + 5.960464477539062e-07, + 8.982051849365234 + ], + [ + 10.553923606872559, + 5.960464477539062e-07, + 8.079710006713867 + ], + [ + 10.791999816894531, + 5.960464477539062e-07, + 8.079710006713867 + ], + [ + 10.791999816894531, + 5.960464477539062e-07, + 8.982051849365234 + ], + [ + 10.553923606872559, + 1.155469298362732, + 8.982051849365234 + ], + [ + 10.553923606872559, + 1.155469298362732, + 8.079710006713867 + ], + [ + 10.791999816894531, + 1.155469298362732, + 8.079710006713867 + ], + [ + 10.791999816894531, + 1.155469298362732, + 8.982051849365234 + ] + ] + } + } + }, + { + "objectId": "Painting|4|7", + "object_info": { + "name": "Painting|4|7", + "position": { + "x": 2.3404338359832764, + "y": 1.525604009628296, + "z": 4.320870399475098 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 1.7210867404937744, + "objectType": "Painting", + "objectId": "Painting|4|7", + "assetId": "Wall_Decor_Painting_9", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.5686919689178467, + 1.830007791519165, + 4.322000026702881 + ], + [ + 2.5686919689178467, + 1.830007791519165, + 4.302850246429443 + ], + [ + 2.5686919689178467, + 1.2221059799194336, + 4.322000026702881 + ], + [ + 2.5686919689178467, + 1.2221059799194336, + 4.302850246429443 + ], + [ + 2.110889196395874, + 1.830007791519165, + 4.322000026702881 + ], + [ + 2.110889196395874, + 1.830007791519165, + 4.302850246429443 + ], + [ + 2.110889196395874, + 1.2221059799194336, + 4.322000026702881 + ], + [ + 2.110889196395874, + 1.2221059799194336, + 4.302850246429443 + ] + ], + "center": { + "x": 2.3397905826568604, + "y": 1.5260568857192993, + "z": 4.312425136566162 + }, + "size": { + "x": 0.45780277252197266, + "y": 0.6079018115997314, + "z": 0.0191497802734375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DiningTable|8|2|0", + "object_info": { + "name": "DiningTable|8|2|0", + "position": { + "x": 7.46051025390625, + "y": 0.0008696913719177246, + "z": 6.76495361328125 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Plate|surface|8|22" + ], + "distance": 5.719572067260742, + "objectType": "DiningTable", + "objectId": "DiningTable|8|2|0", + "assetId": "Dining_Table_223_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.346189498901367, + 0.7813858985900879, + 7.26495361328125 + ], + [ + 8.346189498901367, + 0.7813858985900879, + 6.26495361328125 + ], + [ + 8.346189498901367, + 3.516674041748047e-06, + 7.26495361328125 + ], + [ + 8.346189498901367, + 3.516674041748047e-06, + 6.26495361328125 + ], + [ + 6.574831008911133, + 0.7813858985900879, + 7.26495361328125 + ], + [ + 6.574831008911133, + 0.7813858985900879, + 6.26495361328125 + ], + [ + 6.574831008911133, + 3.516674041748047e-06, + 7.26495361328125 + ], + [ + 6.574831008911133, + 3.516674041748047e-06, + 6.26495361328125 + ] + ], + "center": { + "x": 7.46051025390625, + "y": 0.3906947076320648, + "z": 6.76495361328125 + }, + "size": { + "x": 1.7713584899902344, + "y": 0.7813823819160461, + "z": 1.0 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.574831008911133, + 3.6954879760742188e-06, + 6.26495361328125 + ], + [ + 8.346189498901367, + 3.6954879760742188e-06, + 6.26495361328125 + ], + [ + 8.346189498901367, + 3.6954879760742188e-06, + 7.26495361328125 + ], + [ + 6.574831008911133, + 3.6954879760742188e-06, + 7.26495361328125 + ], + [ + 6.574831008911133, + 0.7813860774040222, + 6.26495361328125 + ], + [ + 8.346189498901367, + 0.7813860774040222, + 6.26495361328125 + ], + [ + 8.346189498901367, + 0.7813860774040222, + 7.26495361328125 + ], + [ + 6.574831008911133, + 0.7813860774040222, + 7.26495361328125 + ] + ] + } + } + }, + { + "objectId": "RemoteControl|surface|4|2", + "object_info": { + "name": "RemoteControl|surface|4|2", + "position": { + "x": 1.1707401275634766, + "y": 0.6975149512290955, + "z": 4.251361846923828 + }, + "rotation": { + "x": -3.632873631431721e-05, + "y": 269.9999694824219, + "z": 359.9389953613281 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.15000000596046448, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.4352893829345703, + "objectType": "RemoteControl", + "objectId": "RemoteControl|surface|4|2", + "assetId": "RoboTHOR_remote_coolux_v", + "parentReceptacles": [ + "Dresser|4|1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.2680222988128662, + 0.7153843641281128, + 4.271951675415039 + ], + [ + 1.2680222988128662, + 0.7153843641281128, + 4.230802536010742 + ], + [ + 1.2680222988128662, + 0.6974300146102905, + 4.271951675415039 + ], + [ + 1.2680222988128662, + 0.6974300146102905, + 4.230802536010742 + ], + [ + 1.073457956314087, + 0.7153843641281128, + 4.271951675415039 + ], + [ + 1.073457956314087, + 0.7153843641281128, + 4.230802536010742 + ], + [ + 1.073457956314087, + 0.6974300146102905, + 4.271951675415039 + ], + [ + 1.073457956314087, + 0.6974300146102905, + 4.230802536010742 + ] + ], + "center": { + "x": 1.1707401275634766, + "y": 0.7064071893692017, + "z": 4.251377105712891 + }, + "size": { + "x": 0.1945643424987793, + "y": 0.017954349517822266, + "z": 0.041149139404296875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.0734577178955078, + 0.6974148750305176, + 4.271932125091553 + ], + [ + 1.0734577178955078, + 0.6974586844444275, + 4.230791091918945 + ], + [ + 1.2680226564407349, + 0.6974585652351379, + 4.230791091918945 + ], + [ + 1.2680225372314453, + 0.697414755821228, + 4.271932601928711 + ], + [ + 1.0734577178955078, + 0.7153557538986206, + 4.271951198577881 + ], + [ + 1.0734577178955078, + 0.7153995633125305, + 4.230810165405273 + ], + [ + 1.2680226564407349, + 0.715399444103241, + 4.230810642242432 + ], + [ + 1.2680225372314453, + 0.715355634689331, + 4.271951675415039 + ] + ] + } + } + }, + { + "objectId": "ShelvingUnit|8|4___5", + "object_info": { + "name": "Shelf (6)", + "position": { + "x": 10.666072845458984, + "y": 0.4357345700263977, + "z": 8.748308181762695 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 9.394554138183594, + "objectType": "Shelf", + "objectId": "ShelvingUnit|8|4___5", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.775839805603027, + 0.566360592842102, + 8.95882797241211 + ], + [ + 10.775839805603027, + 0.566360592842102, + 8.537788391113281 + ], + [ + 10.775839805603027, + 0.30510854721069336, + 8.95882797241211 + ], + [ + 10.775839805603027, + 0.30510854721069336, + 8.537788391113281 + ], + [ + 10.556305885314941, + 0.566360592842102, + 8.95882797241211 + ], + [ + 10.556305885314941, + 0.566360592842102, + 8.537788391113281 + ], + [ + 10.556305885314941, + 0.30510854721069336, + 8.95882797241211 + ], + [ + 10.556305885314941, + 0.30510854721069336, + 8.537788391113281 + ] + ], + "center": { + "x": 10.666072845458984, + "y": 0.4357345700263977, + "z": 8.748308181762695 + }, + "size": { + "x": 0.21953392028808594, + "y": 0.2612520456314087, + "z": 0.4210395812988281 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Chair|8|2|2", + "object_info": { + "name": "Chair|8|2|2", + "position": { + "x": 8.505985260009766, + "y": 0.0017909407615661621, + "z": 6.764944553375244 + }, + "rotation": { + "x": 0.0, + "y": 264.7749328613281, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Metal", + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 6.527538776397705, + "objectType": "Chair", + "objectId": "Chair|8|2|2", + "assetId": "RoboTHOR_chair_mella", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.790141105651855, + 0.7626224160194397, + 7.04664421081543 + ], + [ + 8.790141105651855, + 0.7626224160194397, + 6.479944229125977 + ], + [ + 8.790141105651855, + 3.3974647521972656e-06, + 7.04664421081543 + ], + [ + 8.790141105651855, + 3.3974647521972656e-06, + 6.479944229125977 + ], + [ + 8.222235679626465, + 0.7626224160194397, + 7.04664421081543 + ], + [ + 8.222235679626465, + 0.7626224160194397, + 6.479944229125977 + ], + [ + 8.222235679626465, + 3.3974647521972656e-06, + 7.04664421081543 + ], + [ + 8.222235679626465, + 3.3974647521972656e-06, + 6.479944229125977 + ] + ], + "center": { + "x": 8.50618839263916, + "y": 0.38131290674209595, + "z": 6.763294219970703 + }, + "size": { + "x": 0.5679054260253906, + "y": 0.7626190185546875, + "z": 0.5666999816894531 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 8.222235679626465, + 3.516674041748047e-06, + 7.002398490905762 + ], + [ + 8.270012855529785, + 3.516674041748047e-06, + 6.479944229125977 + ], + [ + 8.790141105651855, + 3.516674041748047e-06, + 6.527508735656738 + ], + [ + 8.742363929748535, + 3.516674041748047e-06, + 7.049962997436523 + ], + [ + 8.222235679626465, + 0.7626225352287292, + 7.002398490905762 + ], + [ + 8.270012855529785, + 0.7626225352287292, + 6.479944229125977 + ], + [ + 8.790141105651855, + 0.7626225352287292, + 6.527508735656738 + ], + [ + 8.742363929748535, + 0.7626225352287292, + 7.049962997436523 + ] + ] + } + } + }, + { + "objectId": "ShelvingUnit|8|4___8", + "object_info": { + "name": "Shelf (9)", + "position": { + "x": 10.666072845458984, + "y": 0.1487349271774292, + "z": 8.312108039855957 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 9.153279304504395, + "objectType": "Shelf", + "objectId": "ShelvingUnit|8|4___8", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.775839805603027, + 0.27968817949295044, + 8.517709732055664 + ], + [ + 10.775839805603027, + 0.27968817949295044, + 8.106103897094727 + ], + [ + 10.775839805603027, + 0.01778167486190796, + 8.517709732055664 + ], + [ + 10.775839805603027, + 0.01778167486190796, + 8.106103897094727 + ], + [ + 10.556305885314941, + 0.27968817949295044, + 8.517709732055664 + ], + [ + 10.556305885314941, + 0.27968817949295044, + 8.106103897094727 + ], + [ + 10.556305885314941, + 0.01778167486190796, + 8.517709732055664 + ], + [ + 10.556305885314941, + 0.01778167486190796, + 8.106103897094727 + ] + ], + "center": { + "x": 10.666072845458984, + "y": 0.1487349271774292, + "z": 8.311906814575195 + }, + "size": { + "x": 0.21953392028808594, + "y": 0.2619065046310425, + "z": 0.4116058349609375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Chair|8|2|3", + "object_info": { + "name": "Chair|8|2|3", + "position": { + "x": 7.87695837020874, + "y": 0.0017909407615661621, + "z": 7.364753723144531 + }, + "rotation": { + "x": 0.0, + "y": 188.8024139404297, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Metal", + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 6.42404842376709, + "objectType": "Chair", + "objectId": "Chair|8|2|3", + "assetId": "RoboTHOR_chair_mella", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.176189422607422, + 0.7626227140426636, + 7.66265869140625 + ], + [ + 8.176189422607422, + 0.7626227140426636, + 7.066738128662109 + ], + [ + 8.176189422607422, + 3.427267074584961e-06, + 7.66265869140625 + ], + [ + 8.176189422607422, + 3.427267074584961e-06, + 7.066738128662109 + ], + [ + 7.577808380126953, + 0.7626227140426636, + 7.66265869140625 + ], + [ + 7.577808380126953, + 0.7626227140426636, + 7.066738128662109 + ], + [ + 7.577808380126953, + 3.427267074584961e-06, + 7.66265869140625 + ], + [ + 7.577808380126953, + 3.427267074584961e-06, + 7.066738128662109 + ] + ], + "center": { + "x": 7.8769989013671875, + "y": 0.3813130557537079, + "z": 7.36469841003418 + }, + "size": { + "x": 0.5983810424804688, + "y": 0.7626192569732666, + "z": 0.5959205627441406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.577808380126953, + 3.516674041748047e-06, + 7.147021293640137 + ], + [ + 8.096263885498047, + 3.516674041748047e-06, + 7.066737651824951 + ], + [ + 8.176189422607422, + 3.516674041748047e-06, + 7.582884788513184 + ], + [ + 7.657734394073486, + 3.516674041748047e-06, + 7.663168430328369 + ], + [ + 7.577808380126953, + 0.7626225352287292, + 7.147021293640137 + ], + [ + 8.096263885498047, + 0.7626225352287292, + 7.066737651824951 + ], + [ + 8.176189422607422, + 0.7626225352287292, + 7.582884788513184 + ], + [ + 7.657734394073486, + 0.7626225352287292, + 7.663168430328369 + ] + ] + } + } + }, + { + "objectId": "ShelvingUnit|8|4___7", + "object_info": { + "name": "Shelf (8)", + "position": { + "x": 10.666072845458984, + "y": 0.14973479509353638, + "z": 8.748308181762695 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 9.413053512573242, + "objectType": "Shelf", + "objectId": "ShelvingUnit|8|4___7", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.775839805603027, + 0.2803608775138855, + 8.95882797241211 + ], + [ + 10.775839805603027, + 0.2803608775138855, + 8.537788391113281 + ], + [ + 10.775839805603027, + 0.019108712673187256, + 8.95882797241211 + ], + [ + 10.775839805603027, + 0.019108712673187256, + 8.537788391113281 + ], + [ + 10.556305885314941, + 0.2803608775138855, + 8.95882797241211 + ], + [ + 10.556305885314941, + 0.2803608775138855, + 8.537788391113281 + ], + [ + 10.556305885314941, + 0.019108712673187256, + 8.95882797241211 + ], + [ + 10.556305885314941, + 0.019108712673187256, + 8.537788391113281 + ] + ], + "center": { + "x": 10.666072845458984, + "y": 0.14973479509353638, + "z": 8.748308181762695 + }, + "size": { + "x": 0.21953392028808594, + "y": 0.26125216484069824, + "z": 0.4210395812988281 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|4|1___1", + "object_info": { + "name": "Drawer (1)", + "position": { + "x": 1.68937349319458, + "y": 0.47607824206352234, + "z": 4.047611236572266 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 1.92707097530365, + "objectType": "Drawer", + "objectId": "Dresser|4|1___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.2062690258026123, + 0.6506216526031494, + 4.179344177246094 + ], + [ + 2.2062690258026123, + 0.6506216526031494, + 3.918689727783203 + ], + [ + 2.2062690258026123, + 0.3421347141265869, + 4.179344177246094 + ], + [ + 2.2062690258026123, + 0.3421347141265869, + 3.918689727783203 + ], + [ + 1.1724779605865479, + 0.6506216526031494, + 4.179344177246094 + ], + [ + 1.1724779605865479, + 0.6506216526031494, + 3.918689727783203 + ], + [ + 1.1724779605865479, + 0.3421347141265869, + 4.179344177246094 + ], + [ + 1.1724779605865479, + 0.3421347141265869, + 3.918689727783203 + ] + ], + "center": { + "x": 1.68937349319458, + "y": 0.49637818336486816, + "z": 4.049016952514648 + }, + "size": { + "x": 1.0337910652160645, + "y": 0.3084869384765625, + "z": 0.2606544494628906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|4|1___0", + "object_info": { + "name": "Drawer", + "position": { + "x": 1.68937349319458, + "y": 0.16780176758766174, + "z": 4.047611236572266 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.017578601837158, + "objectType": "Drawer", + "objectId": "Dresser|4|1___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.2062690258026123, + 0.3403380513191223, + 4.179344177246094 + ], + [ + 2.2062690258026123, + 0.3403380513191223, + 3.918689727783203 + ], + [ + 2.2062690258026123, + 0.03385818004608154, + 4.179344177246094 + ], + [ + 2.2062690258026123, + 0.03385818004608154, + 3.918689727783203 + ], + [ + 1.1724779605865479, + 0.3403380513191223, + 4.179344177246094 + ], + [ + 1.1724779605865479, + 0.3403380513191223, + 3.918689727783203 + ], + [ + 1.1724779605865479, + 0.03385818004608154, + 4.179344177246094 + ], + [ + 1.1724779605865479, + 0.03385818004608154, + 3.918689727783203 + ] + ], + "center": { + "x": 1.68937349319458, + "y": 0.18709811568260193, + "z": 4.049016952514648 + }, + "size": { + "x": 1.0337910652160645, + "y": 0.30647987127304077, + "z": 0.2606544494628906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|4|1___2", + "object_info": { + "name": "Drawer (2)", + "position": { + "x": 0.6452269554138184, + "y": 0.16780176758766174, + "z": 4.047611236572266 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.9017083644866943, + "objectType": "Drawer", + "objectId": "Dresser|4|1___2", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.1621224880218506, + 0.34234514832496643, + 4.179344177246094 + ], + [ + 1.1621224880218506, + 0.34234514832496643, + 3.918689727783203 + ], + [ + 1.1621224880218506, + 0.03385820984840393, + 4.179344177246094 + ], + [ + 1.1621224880218506, + 0.03385820984840393, + 3.918689727783203 + ], + [ + 0.12833142280578613, + 0.34234514832496643, + 4.179344177246094 + ], + [ + 0.12833142280578613, + 0.34234514832496643, + 3.918689727783203 + ], + [ + 0.12833142280578613, + 0.03385820984840393, + 4.179344177246094 + ], + [ + 0.12833142280578613, + 0.03385820984840393, + 3.918689727783203 + ] + ], + "center": { + "x": 0.6452269554138184, + "y": 0.18810167908668518, + "z": 4.049016952514648 + }, + "size": { + "x": 1.0337910652160645, + "y": 0.3084869384765625, + "z": 0.2606544494628906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "BaseballBat|4|3", + "object_info": { + "name": "BaseballBat|4|3", + "position": { + "x": 3.4558966159820557, + "y": 0.2735336124897003, + "z": 4.256573677062988 + }, + "rotation": { + "x": 0.14369982481002808, + "y": 180.0022430419922, + "z": 359.9489440917969 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.8999999761581421, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 1.419536828994751, + "objectType": "BaseballBat", + "objectId": "BaseballBat|4|3", + "assetId": "BaseballBat_4", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.4971671104431152, + 0.9590680599212646, + 4.301998615264893 + ], + [ + 3.4971671104431152, + 0.9590680599212646, + 4.2101149559021 + ], + [ + 3.4971671104431152, + -4.76837158203125e-07, + 4.301998615264893 + ], + [ + 3.4971671104431152, + -4.76837158203125e-07, + 4.2101149559021 + ], + [ + 3.415523052215576, + 0.9590680599212646, + 4.301998615264893 + ], + [ + 3.415523052215576, + 0.9590680599212646, + 4.2101149559021 + ], + [ + 3.415523052215576, + -4.76837158203125e-07, + 4.301998615264893 + ], + [ + 3.415523052215576, + -4.76837158203125e-07, + 4.2101149559021 + ] + ], + "center": { + "x": 3.4563450813293457, + "y": 0.4795337915420532, + "z": 4.256056785583496 + }, + "size": { + "x": 0.08164405822753906, + "y": 0.9590685367584229, + "z": 0.09188365936279297 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.416377067565918, + -4.76837158203125e-07, + 4.212523460388184 + ], + [ + 3.4971635341644287, + 7.149577140808105e-05, + 4.212520122528076 + ], + [ + 3.4971671104431152, + 0.00029587745666503906, + 4.301995277404785 + ], + [ + 3.4163806438446045, + 0.00022390484809875488, + 4.301998615264893 + ], + [ + 3.415522813796997, + 0.9587717056274414, + 4.210118770599365 + ], + [ + 3.496309280395508, + 0.9588435888290405, + 4.210115432739258 + ], + [ + 3.4963128566741943, + 0.9590680599212646, + 4.299590587615967 + ], + [ + 3.4155263900756836, + 0.958996057510376, + 4.299593925476074 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 3.200000047683716, + "y": 0.9009997844696045, + "z": 3.0 + }, + "agent_rotation": { + "x": -0.0, + "y": 9.659346687840298e-06, + "z": 0.0 + }, + "agent_cameraHorizon": 30.000003814697266, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 3.200000047683716, + "y": 1.5759997367858887, + "z": 3.0 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Dresser|4|1___2", + "RemoteControl|surface|4|2", + "BaseballBat|4|3", + "Dresser|4|1___0", + "Dresser|4|1___1", + "Dresser|4|1" + ], + "different_object": [ + "ShelvingUnit|8|4___8", + "Painting|4|7", + "ShelvingUnit|8|4___7", + "Painting|8|6", + "ShelvingUnit|8|4___3", + "ShelvingUnit|8|4", + "ShelvingUnit|8|4___5", + "Chair|8|2|2", + "DiningTable|8|2|0", + "Chair|8|2|3", + "Plate|surface|8|22", + "door|4|8" + ] +} \ No newline at end of file diff --git a/train/train1316/3/1_depth_npy.npy b/train/train1316/3/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..949eda3c494a27538b92571d998f51fa94b6e23f --- /dev/null +++ b/train/train1316/3/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1a4085daed15f4c1e9396dfae2da18bc386159cc9b25bc69587b0d726cb466be +size 3145856 diff --git a/train/train1316/3/1_semantic_sensor_npy.npy b/train/train1316/3/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..42c57fa0e3b0ca9eb71de2d49b5cbaed14215529 --- /dev/null +++ b/train/train1316/3/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1a174f235d1bd89939e7111ca8e08525d152259da5e80886a94c1f8ece26a1ad +size 2359424 diff --git a/train/train1316/3/depth_0.png b/train/train1316/3/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..3290001b6ae64cf1738a109708b312291027e975 Binary files /dev/null and b/train/train1316/3/depth_0.png differ diff --git a/train/train1316/3/depth_1.png b/train/train1316/3/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..27f08d81c56c6c53a31cbbe1236f1d756247d2d1 Binary files /dev/null and b/train/train1316/3/depth_1.png differ diff --git a/train/train1316/3/mask_questions.jsonl b/train/train1316/3/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bee165b5df3d4f39a07a70837ca9950b93f4cf42 --- /dev/null +++ b/train/train1316/3/mask_questions.jsonl @@ -0,0 +1,3 @@ +{"id": 2645, "folder_dir": "train1316/3", "pair_name": "0-1:BaseballBat|4|3", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. BaseballBat\nB. Bed\nC. Bed\nD. Drawer", "answer": "A", "object_name": "BaseballBat", "image_1": "train1316/3/rgb_0.png", "image_2": "train1316/3/rgb_1.png", "mask_image": "train1316/3/rgb_1_mask_BaseballBat|4|3.png", "options": ["BaseballBat", "Bed", "Bed", "Drawer"]} +{"id": 2646, "folder_dir": "train1316/3", "pair_name": "0-1:Dresser|4|1___1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Drawer\nB. Bed\nC. Bed\nD. Drawer", "answer": "A", "object_name": "Drawer", "image_1": "train1316/3/rgb_0.png", "image_2": "train1316/3/rgb_1.png", "mask_image": "train1316/3/rgb_1_mask_Dresser|4|1___1.png", "options": ["Drawer", "Bed", "Bed", "Drawer"]} +{"id": 2647, "folder_dir": "train1316/3", "pair_name": "1-0:Dresser|4|1___0", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Doorway\nB. Drawer\nC. ShelvingUnit\nD. Drawer", "answer": "B", "object_name": "Drawer", "image_1": "train1316/3/rgb_1.png", "image_2": "train1316/3/rgb_0.png", "mask_image": "train1316/3/rgb_0_mask_Dresser|4|1___0.png", "options": ["Doorway", "Drawer", "ShelvingUnit", "Drawer"]} diff --git a/train/train1316/3/questions_direction.jsonl b/train/train1316/3/questions_direction.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d0895e91311c331d9a80df990e739f8473a15927 --- /dev/null +++ b/train/train1316/3/questions_direction.jsonl @@ -0,0 +1 @@ +{"id": 4448, "folder_dir": "train1316/3", "pair_name": "DiningTable-HousePlant", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of DiningTable. Where is the centroid position of HousePlant in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "DiningTable", "tgt_object": "HousePlant", "src_com": {"x": 7.46051025390625, "y": 0.3906947076320648, "z": 6.76495361328125}, "tgt_com": {"x": 0.29511550068855286, "y": 0.4274797737598419, "z": 1.61497163772583}, "agent_pos": {"x": 3.200000047683716, "y": 1.5759997367858887, "z": 3.0}, "image_1": "train1316/3/rgb_1.png", "image_2": "train1316/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} diff --git a/train/train1316/3/questions_distance.jsonl b/train/train1316/3/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dd4781ff4ec3b91ae91398285eda24ebd08e2026 --- /dev/null +++ b/train/train1316/3/questions_distance.jsonl @@ -0,0 +1 @@ +{"id": 1069, "folder_dir": "train1316/3", "query": "Which of the following objects is closest to BaseballBat in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. HousePlant\nB. RemoteControl\nC. Doorway\nD. Other\n", "answer": "C", "src_object": "BaseballBat", "target_object": "Doorway", "question": "Which of the following objects is closest to BaseballBat in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "HousePlant", "semantic_id": "HousePlant|4|2|0", "distance": 4.119637464695162, "com": {"x": 0.29511550068855286, "y": 0.4274797737598419, "z": 1.61497163772583}}, {"text": "RemoteControl", "semantic_id": "RemoteControl|surface|4|2", "distance": 2.296842058724197, "com": {"x": 1.1707401275634766, "y": 0.7064071893692017, "z": 4.251377105712891}}, {"text": "Doorway", "semantic_id": "door|4|8", "distance": 2.1232889053041406, "com": {"x": 5.4474334716796875, "y": 1.0364102125167847, "z": 4.739597320556641}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1316/3/rgb_0.png", "image_2": "train1316/3/rgb_1.png"} diff --git a/train/train1316/3/rgb_0.png b/train/train1316/3/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..6dd6bca61a5a456ba442550751fe3651d10b575b --- /dev/null +++ b/train/train1316/3/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9ab6fabd0c552c6a128c666ec77f4fe74f87b6303e6c54559f165d61a8184870 +size 788754 diff --git a/train/train1316/3/rgb_0_mask_Dresser|4|1___0.png b/train/train1316/3/rgb_0_mask_Dresser|4|1___0.png new file mode 100644 index 0000000000000000000000000000000000000000..324e44f6c303d4fbba23c3db035f6d4dd5e41d4e --- /dev/null +++ b/train/train1316/3/rgb_0_mask_Dresser|4|1___0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e567ed2834e4454c5ace4473320da2685243636d791db0371506c060aff45097 +size 684357 diff --git a/train/train1316/3/rgb_1.png b/train/train1316/3/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..ec0750372d5e14f00a6eb6acd274691b4a81cf88 --- /dev/null +++ b/train/train1316/3/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f3b93077409465bb7f754aac3f512d17ba6f07a7d1b93321945c289d634b2643 +size 492453 diff --git a/train/train1316/3/rgb_1_mask_BaseballBat|4|3.png b/train/train1316/3/rgb_1_mask_BaseballBat|4|3.png new file mode 100644 index 0000000000000000000000000000000000000000..da9710d577dfef0f4b0d0d67c52927fd9e8eef6a --- /dev/null +++ b/train/train1316/3/rgb_1_mask_BaseballBat|4|3.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f405bcd02082b75b9ae5011c041da4f97e82e1cb3748f414ed3aa771aa795317 +size 430866 diff --git a/train/train1316/3/rgb_1_mask_Dresser|4|1___1.png b/train/train1316/3/rgb_1_mask_Dresser|4|1___1.png new file mode 100644 index 0000000000000000000000000000000000000000..0952f04e3552a1ccfca9266bfd193827fdad27d9 --- /dev/null +++ b/train/train1316/3/rgb_1_mask_Dresser|4|1___1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bc2e75afe6ba4fa8bf59b4f5053297538f00ee37c28a8f453d435a347ecef9b3 +size 426596 diff --git a/train/train1316/3/semantic_0.png b/train/train1316/3/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..e1da7746989b3d0f06dd509e6e23ee9eca39d696 Binary files /dev/null and b/train/train1316/3/semantic_0.png differ diff --git a/train/train1316/3/semantic_1.png b/train/train1316/3/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..1082307d02cfa3b559dfab800ed3c62932edd285 Binary files /dev/null and b/train/train1316/3/semantic_1.png differ diff --git a/train/train1316/4/0.json b/train/train1316/4/0.json new file mode 100644 index 0000000000000000000000000000000000000000..54063c3d72fb5703fe0aa14975f31c27b69120a7 --- /dev/null +++ b/train/train1316/4/0.json @@ -0,0 +1,1798 @@ +{ + "object": [ + { + "objectId": "ShelvingUnit|8|4___3", + "object_info": { + "name": "Shelf (4)", + "position": { + "x": 10.666072845458984, + "y": 0.7197344899177551, + "z": 8.748308181762695 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SprayBottle|surface|8|19" + ], + "distance": 9.384777069091797, + "objectType": "Shelf", + "objectId": "ShelvingUnit|8|4___3", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.775839805603027, + 0.8503605127334595, + 8.95882797241211 + ], + [ + 10.775839805603027, + 0.8503605127334595, + 8.537788391113281 + ], + [ + 10.775839805603027, + 0.5891084671020508, + 8.95882797241211 + ], + [ + 10.775839805603027, + 0.5891084671020508, + 8.537788391113281 + ], + [ + 10.556305885314941, + 0.8503605127334595, + 8.95882797241211 + ], + [ + 10.556305885314941, + 0.8503605127334595, + 8.537788391113281 + ], + [ + 10.556305885314941, + 0.5891084671020508, + 8.95882797241211 + ], + [ + 10.556305885314941, + 0.5891084671020508, + 8.537788391113281 + ] + ], + "center": { + "x": 10.666072845458984, + "y": 0.7197344899177551, + "z": 8.748308181762695 + }, + "size": { + "x": 0.21953392028808594, + "y": 0.2612520456314087, + "z": 0.4210395812988281 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Plate|surface|8|22", + "object_info": { + "name": "Plate|surface|8|22", + "position": { + "x": 7.238898754119873, + "y": 0.781857430934906, + "z": 6.395248889923096 + }, + "rotation": { + "x": 0.005719710607081652, + "y": 180.00010681152344, + "z": 0.009062936529517174 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 5.239582538604736, + "objectType": "Plate", + "objectId": "Plate|surface|8|22", + "assetId": "Plate_4", + "parentReceptacles": [ + "DiningTable|8|2|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.335898399353027, + 0.8000904321670532, + 6.494068145751953 + ], + [ + 7.335898399353027, + 0.8000904321670532, + 6.297903060913086 + ], + [ + 7.335898399353027, + 0.7813748121261597, + 6.494068145751953 + ], + [ + 7.335898399353027, + 0.7813748121261597, + 6.297903060913086 + ], + [ + 7.140985488891602, + 0.8000904321670532, + 6.494068145751953 + ], + [ + 7.140985488891602, + 0.8000904321670532, + 6.297903060913086 + ], + [ + 7.140985488891602, + 0.7813748121261597, + 6.494068145751953 + ], + [ + 7.140985488891602, + 0.7813748121261597, + 6.297903060913086 + ] + ], + "center": { + "x": 7.2384419441223145, + "y": 0.7907326221466064, + "z": 6.3959856033325195 + }, + "size": { + "x": 0.19491291046142578, + "y": 0.018715620040893555, + "z": 0.1961650848388672 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.140983581542969, + 0.7813949584960938, + 6.297904968261719 + ], + [ + 7.335896015167236, + 0.7813641428947449, + 6.2979044914245605 + ], + [ + 7.335896015167236, + 0.7813836932182312, + 6.494068622589111 + ], + [ + 7.140984058380127, + 0.7814145088195801, + 6.4940690994262695 + ], + [ + 7.140986442565918, + 0.800077497959137, + 6.297903060913086 + ], + [ + 7.3358988761901855, + 0.8000466823577881, + 6.297902584075928 + ], + [ + 7.335899353027344, + 0.8000662326812744, + 6.4940667152404785 + ], + [ + 7.140986919403076, + 0.8000970482826233, + 6.494067192077637 + ] + ] + } + } + }, + { + "objectId": "door|4|8", + "object_info": { + "name": "door|4|8", + "position": { + "x": 4.4892144203186035, + "y": -0.0006060600280761719, + "z": 4.330454349517822 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.029446840286255, + "objectType": "Doorway", + "objectId": "door|4|8", + "assetId": "Doorway_Double_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.426213264465332, + 2.0728206634521484, + 5.2253947257995605 + ], + [ + 6.426213264465332, + 2.0728206634521484, + 4.253799915313721 + ], + [ + 6.426213264465332, + -2.384185791015625e-07, + 5.2253947257995605 + ], + [ + 6.426213264465332, + -2.384185791015625e-07, + 4.253799915313721 + ], + [ + 4.468653678894043, + 2.0728206634521484, + 5.2253947257995605 + ], + [ + 4.468653678894043, + 2.0728206634521484, + 4.253799915313721 + ], + [ + 4.468653678894043, + -2.384185791015625e-07, + 5.2253947257995605 + ], + [ + 4.468653678894043, + -2.384185791015625e-07, + 4.253799915313721 + ] + ], + "center": { + "x": 5.4474334716796875, + "y": 1.0364102125167847, + "z": 4.739597320556641 + }, + "size": { + "x": 1.957559585571289, + "y": 2.0728209018707275, + "z": 0.9715948104858398 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|4|1", + "object_info": { + "name": "Dresser|4|1", + "position": { + "x": 1.1732268333435059, + "y": 0.0015782415866851807, + "z": 4.117611408233643 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "CD|surface|4|0", + "RemoteControl|surface|4|2" + ], + "distance": 2.5240843296051025, + "objectType": "Dresser", + "objectId": "Dresser|4|1", + "assetId": "Dresser_209_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.312486410140991, + 0.6974328756332397, + 4.302001953125 + ], + [ + 2.312486410140991, + 0.6974328756332397, + 3.921083450317383 + ], + [ + 2.312486410140991, + 1.6689300537109375e-06, + 4.302001953125 + ], + [ + 2.312486410140991, + 1.6689300537109375e-06, + 3.921083450317383 + ], + [ + 0.02500319480895996, + 0.6974328756332397, + 4.302001953125 + ], + [ + 0.02500319480895996, + 0.6974328756332397, + 3.921083450317383 + ], + [ + 0.02500319480895996, + 1.6689300537109375e-06, + 4.302001953125 + ], + [ + 0.02500319480895996, + 1.6689300537109375e-06, + 3.921083450317383 + ] + ], + "center": { + "x": 1.1687448024749756, + "y": 0.34871727228164673, + "z": 4.111542701721191 + }, + "size": { + "x": 2.2874832153320312, + "y": 0.697431206703186, + "z": 0.3809185028076172 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.02500319480895996, + 1.9371509552001953e-06, + 3.921083927154541 + ], + [ + 2.312486410140991, + 1.9371509552001953e-06, + 3.921083927154541 + ], + [ + 2.312486410140991, + 1.9371509552001953e-06, + 4.302001953125 + ], + [ + 0.02500319480895996, + 1.9371509552001953e-06, + 4.302002429962158 + ], + [ + 0.02500319480895996, + 0.6974328756332397, + 3.921083927154541 + ], + [ + 2.312486410140991, + 0.6974328756332397, + 3.921083927154541 + ], + [ + 2.312486410140991, + 0.6974328756332397, + 4.302001953125 + ], + [ + 0.02500319480895996, + 0.6974328756332397, + 4.302002429962158 + ] + ] + } + } + }, + { + "objectId": "ShelvingUnit|8|4", + "object_info": { + "name": "ShelvingUnit|8|4", + "position": { + "x": 10.672673225402832, + "y": 0.005734920501708984, + "z": 8.530108451843262 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 22.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": null, + "distance": 9.299445152282715, + "objectType": "ShelvingUnit", + "objectId": "ShelvingUnit|8|4", + "assetId": "Shelving_Unit_307_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.792000770568848, + 1.1554696559906006, + 8.982051849365234 + ], + [ + 10.792000770568848, + 1.1554696559906006, + 8.079710006713867 + ], + [ + 10.792000770568848, + 7.152557373046875e-07, + 8.982051849365234 + ], + [ + 10.792000770568848, + 7.152557373046875e-07, + 8.079710006713867 + ], + [ + 10.553923606872559, + 1.1554696559906006, + 8.982051849365234 + ], + [ + 10.553923606872559, + 1.1554696559906006, + 8.079710006713867 + ], + [ + 10.553923606872559, + 7.152557373046875e-07, + 8.982051849365234 + ], + [ + 10.553923606872559, + 7.152557373046875e-07, + 8.079710006713867 + ] + ], + "center": { + "x": 10.672962188720703, + "y": 0.577735185623169, + "z": 8.53088092803955 + }, + "size": { + "x": 0.23807716369628906, + "y": 1.1554689407348633, + "z": 0.9023418426513672 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 10.553923606872559, + 5.960464477539062e-07, + 8.982051849365234 + ], + [ + 10.553923606872559, + 5.960464477539062e-07, + 8.079710006713867 + ], + [ + 10.791999816894531, + 5.960464477539062e-07, + 8.079710006713867 + ], + [ + 10.791999816894531, + 5.960464477539062e-07, + 8.982051849365234 + ], + [ + 10.553923606872559, + 1.155469298362732, + 8.982051849365234 + ], + [ + 10.553923606872559, + 1.155469298362732, + 8.079710006713867 + ], + [ + 10.791999816894531, + 1.155469298362732, + 8.079710006713867 + ], + [ + 10.791999816894531, + 1.155469298362732, + 8.982051849365234 + ] + ] + } + } + }, + { + "objectId": "Painting|4|7", + "object_info": { + "name": "Painting|4|7", + "position": { + "x": 2.3404338359832764, + "y": 1.525604009628296, + "z": 4.320870399475098 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 1.7210867404937744, + "objectType": "Painting", + "objectId": "Painting|4|7", + "assetId": "Wall_Decor_Painting_9", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.5686919689178467, + 1.830007791519165, + 4.322000026702881 + ], + [ + 2.5686919689178467, + 1.830007791519165, + 4.302850246429443 + ], + [ + 2.5686919689178467, + 1.2221059799194336, + 4.322000026702881 + ], + [ + 2.5686919689178467, + 1.2221059799194336, + 4.302850246429443 + ], + [ + 2.110889196395874, + 1.830007791519165, + 4.322000026702881 + ], + [ + 2.110889196395874, + 1.830007791519165, + 4.302850246429443 + ], + [ + 2.110889196395874, + 1.2221059799194336, + 4.322000026702881 + ], + [ + 2.110889196395874, + 1.2221059799194336, + 4.302850246429443 + ] + ], + "center": { + "x": 2.3397905826568604, + "y": 1.5260568857192993, + "z": 4.312425136566162 + }, + "size": { + "x": 0.45780277252197266, + "y": 0.6079018115997314, + "z": 0.0191497802734375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "SprayBottle|surface|8|19", + "object_info": { + "name": "SprayBottle|surface|8|19", + "position": { + "x": 10.666067123413086, + "y": 0.5888528823852539, + "z": 8.801416397094727 + }, + "rotation": { + "x": 0.09053172916173935, + "y": 270.00189208984375, + "z": 359.8223571777344 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.10999999940395355, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 9.42082405090332, + "objectType": "SprayBottle", + "objectId": "SprayBottle|surface|8|19", + "assetId": "Spray_Bottle_2", + "parentReceptacles": [ + "Floor", + "ShelvingUnit|8|4___3" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.718411445617676, + 0.8348205089569092, + 8.81846809387207 + ], + [ + 10.718411445617676, + 0.8348205089569092, + 8.784990310668945 + ], + [ + 10.718411445617676, + 0.5892257690429688, + 8.81846809387207 + ], + [ + 10.718411445617676, + 0.5892257690429688, + 8.784990310668945 + ], + [ + 10.605761528015137, + 0.8348205089569092, + 8.81846809387207 + ], + [ + 10.605761528015137, + 0.8348205089569092, + 8.784990310668945 + ], + [ + 10.605761528015137, + 0.5892257690429688, + 8.81846809387207 + ], + [ + 10.605761528015137, + 0.5892257690429688, + 8.784990310668945 + ] + ], + "center": { + "x": 10.662086486816406, + "y": 0.712023138999939, + "z": 8.801729202270508 + }, + "size": { + "x": 0.11264991760253906, + "y": 0.24559473991394043, + "z": 0.033477783203125 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 10.605944633483887, + 0.589225709438324, + 8.81784725189209 + ], + [ + 10.60594367980957, + 0.5893275737762451, + 8.784993171691895 + ], + [ + 10.718409538269043, + 0.5895052552223206, + 8.784989356994629 + ], + [ + 10.718411445617676, + 0.5894034504890442, + 8.817843437194824 + ], + [ + 10.605557441711426, + 0.834722638130188, + 8.818608283996582 + ], + [ + 10.605555534362793, + 0.8348245024681091, + 8.785754203796387 + ], + [ + 10.718022346496582, + 0.8350021839141846, + 8.785750389099121 + ], + [ + 10.718023300170898, + 0.8349003195762634, + 8.818604469299316 + ] + ] + } + } + }, + { + "objectId": "DiningTable|8|2|0", + "object_info": { + "name": "DiningTable|8|2|0", + "position": { + "x": 7.46051025390625, + "y": 0.0008696913719177246, + "z": 6.76495361328125 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Plate|surface|8|22" + ], + "distance": 5.719572067260742, + "objectType": "DiningTable", + "objectId": "DiningTable|8|2|0", + "assetId": "Dining_Table_223_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.346189498901367, + 0.7813858985900879, + 7.26495361328125 + ], + [ + 8.346189498901367, + 0.7813858985900879, + 6.26495361328125 + ], + [ + 8.346189498901367, + 3.516674041748047e-06, + 7.26495361328125 + ], + [ + 8.346189498901367, + 3.516674041748047e-06, + 6.26495361328125 + ], + [ + 6.574831008911133, + 0.7813858985900879, + 7.26495361328125 + ], + [ + 6.574831008911133, + 0.7813858985900879, + 6.26495361328125 + ], + [ + 6.574831008911133, + 3.516674041748047e-06, + 7.26495361328125 + ], + [ + 6.574831008911133, + 3.516674041748047e-06, + 6.26495361328125 + ] + ], + "center": { + "x": 7.46051025390625, + "y": 0.3906947076320648, + "z": 6.76495361328125 + }, + "size": { + "x": 1.7713584899902344, + "y": 0.7813823819160461, + "z": 1.0 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.574831008911133, + 3.6954879760742188e-06, + 6.26495361328125 + ], + [ + 8.346189498901367, + 3.6954879760742188e-06, + 6.26495361328125 + ], + [ + 8.346189498901367, + 3.6954879760742188e-06, + 7.26495361328125 + ], + [ + 6.574831008911133, + 3.6954879760742188e-06, + 7.26495361328125 + ], + [ + 6.574831008911133, + 0.7813860774040222, + 6.26495361328125 + ], + [ + 8.346189498901367, + 0.7813860774040222, + 6.26495361328125 + ], + [ + 8.346189498901367, + 0.7813860774040222, + 7.26495361328125 + ], + [ + 6.574831008911133, + 0.7813860774040222, + 7.26495361328125 + ] + ] + } + } + }, + { + "objectId": "ShelvingUnit|8|4___1", + "object_info": { + "name": "Shelf (2)", + "position": { + "x": 10.666072845458984, + "y": 1.0064349174499512, + "z": 8.748308181762695 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 9.383618354797363, + "objectType": "Shelf", + "objectId": "ShelvingUnit|8|4___1", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.775839805603027, + 1.1370608806610107, + 8.95882797241211 + ], + [ + 10.775839805603027, + 1.1370608806610107, + 8.537788391113281 + ], + [ + 10.775839805603027, + 0.8758089542388916, + 8.95882797241211 + ], + [ + 10.775839805603027, + 0.8758089542388916, + 8.537788391113281 + ], + [ + 10.556305885314941, + 1.1370608806610107, + 8.95882797241211 + ], + [ + 10.556305885314941, + 1.1370608806610107, + 8.537788391113281 + ], + [ + 10.556305885314941, + 0.8758089542388916, + 8.95882797241211 + ], + [ + 10.556305885314941, + 0.8758089542388916, + 8.537788391113281 + ] + ], + "center": { + "x": 10.666072845458984, + "y": 1.0064349174499512, + "z": 8.748308181762695 + }, + "size": { + "x": 0.21953392028808594, + "y": 0.26125192642211914, + "z": 0.4210395812988281 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ShelvingUnit|8|4___5", + "object_info": { + "name": "Shelf (6)", + "position": { + "x": 10.666072845458984, + "y": 0.4357345700263977, + "z": 8.748308181762695 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 9.394554138183594, + "objectType": "Shelf", + "objectId": "ShelvingUnit|8|4___5", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.775839805603027, + 0.566360592842102, + 8.95882797241211 + ], + [ + 10.775839805603027, + 0.566360592842102, + 8.537788391113281 + ], + [ + 10.775839805603027, + 0.30510854721069336, + 8.95882797241211 + ], + [ + 10.775839805603027, + 0.30510854721069336, + 8.537788391113281 + ], + [ + 10.556305885314941, + 0.566360592842102, + 8.95882797241211 + ], + [ + 10.556305885314941, + 0.566360592842102, + 8.537788391113281 + ], + [ + 10.556305885314941, + 0.30510854721069336, + 8.95882797241211 + ], + [ + 10.556305885314941, + 0.30510854721069336, + 8.537788391113281 + ] + ], + "center": { + "x": 10.666072845458984, + "y": 0.4357345700263977, + "z": 8.748308181762695 + }, + "size": { + "x": 0.21953392028808594, + "y": 0.2612520456314087, + "z": 0.4210395812988281 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Chair|8|2|2", + "object_info": { + "name": "Chair|8|2|2", + "position": { + "x": 8.505985260009766, + "y": 0.0017909407615661621, + "z": 6.764944553375244 + }, + "rotation": { + "x": 0.0, + "y": 264.7749328613281, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Metal", + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 6.527538776397705, + "objectType": "Chair", + "objectId": "Chair|8|2|2", + "assetId": "RoboTHOR_chair_mella", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.790141105651855, + 0.7626224160194397, + 7.04664421081543 + ], + [ + 8.790141105651855, + 0.7626224160194397, + 6.479944229125977 + ], + [ + 8.790141105651855, + 3.3974647521972656e-06, + 7.04664421081543 + ], + [ + 8.790141105651855, + 3.3974647521972656e-06, + 6.479944229125977 + ], + [ + 8.222235679626465, + 0.7626224160194397, + 7.04664421081543 + ], + [ + 8.222235679626465, + 0.7626224160194397, + 6.479944229125977 + ], + [ + 8.222235679626465, + 3.3974647521972656e-06, + 7.04664421081543 + ], + [ + 8.222235679626465, + 3.3974647521972656e-06, + 6.479944229125977 + ] + ], + "center": { + "x": 8.50618839263916, + "y": 0.38131290674209595, + "z": 6.763294219970703 + }, + "size": { + "x": 0.5679054260253906, + "y": 0.7626190185546875, + "z": 0.5666999816894531 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 8.222235679626465, + 3.516674041748047e-06, + 7.002398490905762 + ], + [ + 8.270012855529785, + 3.516674041748047e-06, + 6.479944229125977 + ], + [ + 8.790141105651855, + 3.516674041748047e-06, + 6.527508735656738 + ], + [ + 8.742363929748535, + 3.516674041748047e-06, + 7.049962997436523 + ], + [ + 8.222235679626465, + 0.7626225352287292, + 7.002398490905762 + ], + [ + 8.270012855529785, + 0.7626225352287292, + 6.479944229125977 + ], + [ + 8.790141105651855, + 0.7626225352287292, + 6.527508735656738 + ], + [ + 8.742363929748535, + 0.7626225352287292, + 7.049962997436523 + ] + ] + } + } + }, + { + "objectId": "ShelvingUnit|8|4___0", + "object_info": { + "name": "Shelf (1)", + "position": { + "x": 10.674673080444336, + "y": 1.1547349691390991, + "z": 8.530108451843262 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "HousePlant|surface|8|21" + ], + "distance": 9.261330604553223, + "objectType": "Shelf", + "objectId": "ShelvingUnit|8|4___0", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.792377471923828, + 1.3001704216003418, + 8.976180076599121 + ], + [ + 10.792377471923828, + 1.3001704216003418, + 8.084036827087402 + ], + [ + 10.792377471923828, + 1.1546261310577393, + 8.976180076599121 + ], + [ + 10.792377471923828, + 1.1546261310577393, + 8.084036827087402 + ], + [ + 10.556968688964844, + 1.3001704216003418, + 8.976180076599121 + ], + [ + 10.556968688964844, + 1.3001704216003418, + 8.084036827087402 + ], + [ + 10.556968688964844, + 1.1546261310577393, + 8.976180076599121 + ], + [ + 10.556968688964844, + 1.1546261310577393, + 8.084036827087402 + ] + ], + "center": { + "x": 10.674673080444336, + "y": 1.2273982763290405, + "z": 8.530108451843262 + }, + "size": { + "x": 0.23540878295898438, + "y": 0.14554429054260254, + "z": 0.8921432495117188 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "BaseballBat|4|3", + "object_info": { + "name": "BaseballBat|4|3", + "position": { + "x": 3.4558966159820557, + "y": 0.2735336124897003, + "z": 4.256573677062988 + }, + "rotation": { + "x": 0.14369982481002808, + "y": 180.0022430419922, + "z": 359.9489440917969 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.8999999761581421, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 1.419536828994751, + "objectType": "BaseballBat", + "objectId": "BaseballBat|4|3", + "assetId": "BaseballBat_4", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.4971671104431152, + 0.9590680599212646, + 4.301998615264893 + ], + [ + 3.4971671104431152, + 0.9590680599212646, + 4.2101149559021 + ], + [ + 3.4971671104431152, + -4.76837158203125e-07, + 4.301998615264893 + ], + [ + 3.4971671104431152, + -4.76837158203125e-07, + 4.2101149559021 + ], + [ + 3.415523052215576, + 0.9590680599212646, + 4.301998615264893 + ], + [ + 3.415523052215576, + 0.9590680599212646, + 4.2101149559021 + ], + [ + 3.415523052215576, + -4.76837158203125e-07, + 4.301998615264893 + ], + [ + 3.415523052215576, + -4.76837158203125e-07, + 4.2101149559021 + ] + ], + "center": { + "x": 3.4563450813293457, + "y": 0.4795337915420532, + "z": 4.256056785583496 + }, + "size": { + "x": 0.08164405822753906, + "y": 0.9590685367584229, + "z": 0.09188365936279297 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.416377067565918, + -4.76837158203125e-07, + 4.212523460388184 + ], + [ + 3.4971635341644287, + 7.149577140808105e-05, + 4.212520122528076 + ], + [ + 3.4971671104431152, + 0.00029587745666503906, + 4.301995277404785 + ], + [ + 3.4163806438446045, + 0.00022390484809875488, + 4.301998615264893 + ], + [ + 3.415522813796997, + 0.9587717056274414, + 4.210118770599365 + ], + [ + 3.496309280395508, + 0.9588435888290405, + 4.210115432739258 + ], + [ + 3.4963128566741943, + 0.9590680599212646, + 4.299590587615967 + ], + [ + 3.4155263900756836, + 0.958996057510376, + 4.299593925476074 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 3.200000047683716, + "y": 0.9009997844696045, + "z": 3.200000047683716 + }, + "agent_rotation": { + "x": -0.0, + "y": 9.659346687840298e-06, + "z": 0.0 + }, + "agent_cameraHorizon": 1.5309450418499182e-06, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 3.200000047683716, + "y": 1.5759997367858887, + "z": 3.200000047683716 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "ShelvingUnit|8|4", + "Chair|8|2|2", + "DiningTable|8|2|0", + "door|4|8" + ], + "different_object": [ + "SprayBottle|surface|8|19", + "ShelvingUnit|8|4___0", + "Painting|4|7", + "BaseballBat|4|3", + "ShelvingUnit|8|4___3", + "ShelvingUnit|8|4___1", + "ShelvingUnit|8|4___5", + "Plate|surface|8|22", + "Dresser|4|1" + ] +} \ No newline at end of file diff --git a/train/train1316/4/0_depth_npy.npy b/train/train1316/4/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..ddace16f1e6854fe16554bbe1b0af02675681081 --- /dev/null +++ b/train/train1316/4/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a77219395b22e892e03b504e5daddc98a64c91c21e72a9b89fcd7dcb82466c2f +size 3145856 diff --git a/train/train1316/4/0_semantic_sensor_npy.npy b/train/train1316/4/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..3d72ee45ab769ce9d5ad013cc8c9ca21718cef2f --- /dev/null +++ b/train/train1316/4/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d08ceed81c01b30600b37a68878cd0899b6f75f859267f5474d27140f382d0bc +size 2359424 diff --git a/train/train1316/4/1.json b/train/train1316/4/1.json new file mode 100644 index 0000000000000000000000000000000000000000..d1ce79997b1a5d2cee830b0ba308c40b032ddc67 --- /dev/null +++ b/train/train1316/4/1.json @@ -0,0 +1,1861 @@ +{ + "object": [ + { + "objectId": "HousePlant|surface|8|21", + "object_info": { + "name": "HousePlant|surface|8|21", + "position": { + "x": 10.672377586364746, + "y": 1.1573187112808228, + "z": 8.531096458435059 + }, + "rotation": { + "x": 0.2098698765039444, + "y": 270.01934814453125, + "z": 0.01799631491303444 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.0, + "salientMaterials": [ + "Ceramic", + "Organic" + ], + "receptacleObjectIds": null, + "distance": 9.260151863098145, + "objectType": "HousePlant", + "objectId": "HousePlant|surface|8|21", + "assetId": "Houseplant_20", + "parentReceptacles": [ + "ShelvingUnit|8|4___0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.759166717529297, + 1.799793004989624, + 8.620718002319336 + ], + [ + 10.759166717529297, + 1.799793004989624, + 8.420431137084961 + ], + [ + 10.759166717529297, + 1.1548223495483398, + 8.620718002319336 + ], + [ + 10.759166717529297, + 1.1548223495483398, + 8.420431137084961 + ], + [ + 10.568635940551758, + 1.799793004989624, + 8.620718002319336 + ], + [ + 10.568635940551758, + 1.799793004989624, + 8.420431137084961 + ], + [ + 10.568635940551758, + 1.1548223495483398, + 8.620718002319336 + ], + [ + 10.568635940551758, + 1.1548223495483398, + 8.420431137084961 + ] + ], + "center": { + "x": 10.663901329040527, + "y": 1.477307677268982, + "z": 8.520574569702148 + }, + "size": { + "x": 0.19053077697753906, + "y": 0.6449706554412842, + "z": 0.200286865234375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 10.570816993713379, + 1.1546283960342407, + 8.620931625366211 + ], + [ + 10.570749282836914, + 1.154565453529358, + 8.420631408691406 + ], + [ + 10.761248588562012, + 1.1552633047103882, + 8.420567512512207 + ], + [ + 10.761316299438477, + 1.155326247215271, + 8.620866775512695 + ], + [ + 10.568455696105957, + 1.7993704080581665, + 8.620729446411133 + ], + [ + 10.568387985229492, + 1.7993075847625732, + 8.420430183410645 + ], + [ + 10.758886337280273, + 1.800005316734314, + 8.420365333557129 + ], + [ + 10.758954048156738, + 1.8000681400299072, + 8.620665550231934 + ] + ] + } + } + }, + { + "objectId": "door|4|8", + "object_info": { + "name": "door|4|8", + "position": { + "x": 4.4892144203186035, + "y": -0.0006060600280761719, + "z": 4.330454349517822 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.029446840286255, + "objectType": "Doorway", + "objectId": "door|4|8", + "assetId": "Doorway_Double_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.426213264465332, + 2.0728206634521484, + 5.2253947257995605 + ], + [ + 6.426213264465332, + 2.0728206634521484, + 4.253799915313721 + ], + [ + 6.426213264465332, + -2.384185791015625e-07, + 5.2253947257995605 + ], + [ + 6.426213264465332, + -2.384185791015625e-07, + 4.253799915313721 + ], + [ + 4.468653678894043, + 2.0728206634521484, + 5.2253947257995605 + ], + [ + 4.468653678894043, + 2.0728206634521484, + 4.253799915313721 + ], + [ + 4.468653678894043, + -2.384185791015625e-07, + 5.2253947257995605 + ], + [ + 4.468653678894043, + -2.384185791015625e-07, + 4.253799915313721 + ] + ], + "center": { + "x": 5.4474334716796875, + "y": 1.0364102125167847, + "z": 4.739597320556641 + }, + "size": { + "x": 1.957559585571289, + "y": 2.0728209018707275, + "z": 0.9715948104858398 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|4|5", + "object_info": { + "name": "door|4|5", + "position": { + "x": 6.489999771118164, + "y": -0.0021260976791381836, + "z": 0.10284990072250366 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 4.4392242431640625, + "objectType": "Doorway", + "objectId": "door|4|5", + "assetId": "Doorway_Double_7", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.5596208572387695, + 2.09407377243042, + 2.072422742843628 + ], + [ + 6.5596208572387695, + 2.09407377243042, + 0.06777405738830566 + ], + [ + 6.5596208572387695, + -0.0015277862548828125, + 2.072422742843628 + ], + [ + 6.5596208572387695, + -0.0015277862548828125, + 0.06777405738830566 + ], + [ + 5.575068473815918, + 2.09407377243042, + 2.072422742843628 + ], + [ + 5.575068473815918, + 2.09407377243042, + 0.06777405738830566 + ], + [ + 5.575068473815918, + -0.0015277862548828125, + 2.072422742843628 + ], + [ + 5.575068473815918, + -0.0015277862548828125, + 0.06777405738830566 + ] + ], + "center": { + "x": 6.067344665527344, + "y": 1.0462729930877686, + "z": 1.0700984001159668 + }, + "size": { + "x": 0.9845523834228516, + "y": 2.0956015586853027, + "z": 2.0046486854553223 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|4|5", + "object_info": { + "name": "Painting|4|5", + "position": { + "x": 6.484127044677734, + "y": 1.353273868560791, + "z": 3.6542410850524902 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 3.3304896354675293, + "objectType": "Painting", + "objectId": "Painting|4|5", + "assetId": "Wall_Decor_Painting_10", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.485000133514404, + 1.7266273498535156, + 4.032639980316162 + ], + [ + 6.485000133514404, + 1.7266273498535156, + 3.275930404663086 + ], + [ + 6.485000133514404, + 0.980820894241333, + 4.032639980316162 + ], + [ + 6.485000133514404, + 0.980820894241333, + 3.275930404663086 + ], + [ + 6.469000339508057, + 1.7266273498535156, + 4.032639980316162 + ], + [ + 6.469000339508057, + 1.7266273498535156, + 3.275930404663086 + ], + [ + 6.469000339508057, + 0.980820894241333, + 4.032639980316162 + ], + [ + 6.469000339508057, + 0.980820894241333, + 3.275930404663086 + ] + ], + "center": { + "x": 6.4770002365112305, + "y": 1.3537241220474243, + "z": 3.654285192489624 + }, + "size": { + "x": 0.015999794006347656, + "y": 0.7458064556121826, + "z": 0.7567095756530762 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ShelvingUnit|8|4", + "object_info": { + "name": "ShelvingUnit|8|4", + "position": { + "x": 10.672673225402832, + "y": 0.005734920501708984, + "z": 8.530108451843262 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 22.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": null, + "distance": 9.299445152282715, + "objectType": "ShelvingUnit", + "objectId": "ShelvingUnit|8|4", + "assetId": "Shelving_Unit_307_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.792000770568848, + 1.1554696559906006, + 8.982051849365234 + ], + [ + 10.792000770568848, + 1.1554696559906006, + 8.079710006713867 + ], + [ + 10.792000770568848, + 7.152557373046875e-07, + 8.982051849365234 + ], + [ + 10.792000770568848, + 7.152557373046875e-07, + 8.079710006713867 + ], + [ + 10.553923606872559, + 1.1554696559906006, + 8.982051849365234 + ], + [ + 10.553923606872559, + 1.1554696559906006, + 8.079710006713867 + ], + [ + 10.553923606872559, + 7.152557373046875e-07, + 8.982051849365234 + ], + [ + 10.553923606872559, + 7.152557373046875e-07, + 8.079710006713867 + ] + ], + "center": { + "x": 10.672962188720703, + "y": 0.577735185623169, + "z": 8.53088092803955 + }, + "size": { + "x": 0.23807716369628906, + "y": 1.1554689407348633, + "z": 0.9023418426513672 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 10.553923606872559, + 5.960464477539062e-07, + 8.982051849365234 + ], + [ + 10.553923606872559, + 5.960464477539062e-07, + 8.079710006713867 + ], + [ + 10.791999816894531, + 5.960464477539062e-07, + 8.079710006713867 + ], + [ + 10.791999816894531, + 5.960464477539062e-07, + 8.982051849365234 + ], + [ + 10.553923606872559, + 1.155469298362732, + 8.982051849365234 + ], + [ + 10.553923606872559, + 1.155469298362732, + 8.079710006713867 + ], + [ + 10.791999816894531, + 1.155469298362732, + 8.079710006713867 + ], + [ + 10.791999816894531, + 1.155469298362732, + 8.982051849365234 + ] + ] + } + } + }, + { + "objectId": "window|4|1", + "object_info": { + "name": "window|4|1", + "position": { + "x": 6.441731929779053, + "y": 1.0430444478988647, + "z": 5.327165126800537e-07 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 4.3826165199279785, + "objectType": "Window", + "objectId": "window|4|1", + "assetId": "Window_Slider_36x36", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.4417548179626465, + 1.957451343536377, + 0.04119918867945671 + ], + [ + 6.4417548179626465, + 1.957451343536377, + -0.04119918867945671 + ], + [ + 6.4417548179626465, + 1.0409610271453857, + 0.04119918867945671 + ], + [ + 6.4417548179626465, + 1.0409610271453857, + -0.04119918867945671 + ], + [ + 5.527308940887451, + 1.957451343536377, + 0.04119918867945671 + ], + [ + 5.527308940887451, + 1.957451343536377, + -0.04119918867945671 + ], + [ + 5.527308940887451, + 1.0409610271453857, + 0.04119918867945671 + ], + [ + 5.527308940887451, + 1.0409610271453857, + -0.04119918867945671 + ] + ], + "center": { + "x": 5.984531879425049, + "y": 1.4992061853408813, + "z": 0.0 + }, + "size": { + "x": 0.9144458770751953, + "y": 0.9164903163909912, + "z": 0.08239837735891342 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bed|4|4|0", + "object_info": { + "name": "Bed|4|4|0", + "position": { + "x": 3.4979326725006104, + "y": 0.00913289189338684, + "z": 1.0374341011047363 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": true, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "Pillow|4|4|1", + "Pillow|4|4|2" + ], + "distance": 2.169922113418579, + "objectType": "Bed", + "objectId": "Bed|4|4|0", + "assetId": "Bed_20", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.080060958862305, + 0.6742458939552307, + 2.044003486633301 + ], + [ + 4.080060958862305, + 0.6742458939552307, + 0.02499997615814209 + ], + [ + 4.080060958862305, + 0.0, + 2.044003486633301 + ], + [ + 4.080060958862305, + 0.0, + 0.02499997615814209 + ], + [ + 2.915804862976074, + 0.6742458939552307, + 2.044003486633301 + ], + [ + 2.915804862976074, + 0.6742458939552307, + 0.02499997615814209 + ], + [ + 2.915804862976074, + 0.0, + 2.044003486633301 + ], + [ + 2.915804862976074, + 0.0, + 0.02499997615814209 + ] + ], + "center": { + "x": 3.4979329109191895, + "y": 0.33712294697761536, + "z": 1.0345016717910767 + }, + "size": { + "x": 1.1642560958862305, + "y": 0.6742458939552307, + "z": 2.019003391265869 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.080060958862305, + 2.9802322387695312e-08, + 2.044003486633301 + ], + [ + 2.915804624557495, + 2.9802322387695312e-08, + 2.044003486633301 + ], + [ + 2.915804624557495, + 2.9802322387695312e-08, + 0.02499997615814209 + ], + [ + 4.080060958862305, + 2.9802322387695312e-08, + 0.02499997615814209 + ], + [ + 4.080060958862305, + 0.6742458343505859, + 2.044003486633301 + ], + [ + 2.915804624557495, + 0.6742458343505859, + 2.044003486633301 + ], + [ + 2.915804624557495, + 0.6742458343505859, + 0.02499997615814209 + ], + [ + 4.080060958862305, + 0.6742458343505859, + 0.02499997615814209 + ] + ] + } + } + }, + { + "objectId": "DiningTable|8|2|0", + "object_info": { + "name": "DiningTable|8|2|0", + "position": { + "x": 7.46051025390625, + "y": 0.0008696913719177246, + "z": 6.76495361328125 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Plate|surface|8|22" + ], + "distance": 5.719572067260742, + "objectType": "DiningTable", + "objectId": "DiningTable|8|2|0", + "assetId": "Dining_Table_223_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.346189498901367, + 0.7813858985900879, + 7.26495361328125 + ], + [ + 8.346189498901367, + 0.7813858985900879, + 6.26495361328125 + ], + [ + 8.346189498901367, + 3.516674041748047e-06, + 7.26495361328125 + ], + [ + 8.346189498901367, + 3.516674041748047e-06, + 6.26495361328125 + ], + [ + 6.574831008911133, + 0.7813858985900879, + 7.26495361328125 + ], + [ + 6.574831008911133, + 0.7813858985900879, + 6.26495361328125 + ], + [ + 6.574831008911133, + 3.516674041748047e-06, + 7.26495361328125 + ], + [ + 6.574831008911133, + 3.516674041748047e-06, + 6.26495361328125 + ] + ], + "center": { + "x": 7.46051025390625, + "y": 0.3906947076320648, + "z": 6.76495361328125 + }, + "size": { + "x": 1.7713584899902344, + "y": 0.7813823819160461, + "z": 1.0 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.574831008911133, + 3.6954879760742188e-06, + 6.26495361328125 + ], + [ + 8.346189498901367, + 3.6954879760742188e-06, + 6.26495361328125 + ], + [ + 8.346189498901367, + 3.6954879760742188e-06, + 7.26495361328125 + ], + [ + 6.574831008911133, + 3.6954879760742188e-06, + 7.26495361328125 + ], + [ + 6.574831008911133, + 0.7813860774040222, + 6.26495361328125 + ], + [ + 8.346189498901367, + 0.7813860774040222, + 6.26495361328125 + ], + [ + 8.346189498901367, + 0.7813860774040222, + 7.26495361328125 + ], + [ + 6.574831008911133, + 0.7813860774040222, + 7.26495361328125 + ] + ] + } + } + }, + { + "objectId": "Plunger|5|2", + "object_info": { + "name": "Plunger|5|2", + "position": { + "x": 8.455744743347168, + "y": -0.00046312808990478516, + "z": 0.0990728959441185 + }, + "rotation": { + "x": 0.00023641133157070726, + "y": 0.000145224534207955, + "z": 0.0007984972908161581 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Rubber", + "Wood" + ], + "receptacleObjectIds": null, + "distance": 6.027254104614258, + "objectType": "Plunger", + "objectId": "Plunger|5|2", + "assetId": "Plunger_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.529892921447754, + 0.539339542388916, + 0.17300668358802795 + ], + [ + 8.529892921447754, + 0.539339542388916, + 0.024999350309371948 + ], + [ + 8.529892921447754, + -5.066394805908203e-07, + 0.17300668358802795 + ], + [ + 8.529892921447754, + -5.066394805908203e-07, + 0.024999350309371948 + ], + [ + 8.38159465789795, + 0.539339542388916, + 0.17300668358802795 + ], + [ + 8.38159465789795, + 0.539339542388916, + 0.024999350309371948 + ], + [ + 8.38159465789795, + -5.066394805908203e-07, + 0.17300668358802795 + ], + [ + 8.38159465789795, + -5.066394805908203e-07, + 0.024999350309371948 + ] + ], + "center": { + "x": 8.455743789672852, + "y": 0.2696695029735565, + "z": 0.09900301694869995 + }, + "size": { + "x": 0.1482982635498047, + "y": 0.5393400192260742, + "z": 0.148007333278656 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 8.52989387512207, + 1.562759280204773e-06, + 0.1730058342218399 + ], + [ + 8.381596565246582, + -5.039619281888008e-07, + 0.17300620675086975 + ], + [ + 8.381595611572266, + 1.0675285011529922e-07, + 0.024999767541885376 + ], + [ + 8.529892921447754, + 2.173474058508873e-06, + 0.02499939501285553 + ], + [ + 8.529886245727539, + 0.5393397808074951, + 0.1730080544948578 + ], + [ + 8.38158893585205, + 0.5393377542495728, + 0.17300844192504883 + ], + [ + 8.38158893585205, + 0.5393383502960205, + 0.025001995265483856 + ], + [ + 8.529885292053223, + 0.5393403768539429, + 0.02500162273645401 + ] + ] + } + } + }, + { + "objectId": "Chair|8|2|2", + "object_info": { + "name": "Chair|8|2|2", + "position": { + "x": 8.505985260009766, + "y": 0.0017909407615661621, + "z": 6.764944553375244 + }, + "rotation": { + "x": 0.0, + "y": 264.7749328613281, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Metal", + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 6.527538776397705, + "objectType": "Chair", + "objectId": "Chair|8|2|2", + "assetId": "RoboTHOR_chair_mella", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.790141105651855, + 0.7626224160194397, + 7.04664421081543 + ], + [ + 8.790141105651855, + 0.7626224160194397, + 6.479944229125977 + ], + [ + 8.790141105651855, + 3.3974647521972656e-06, + 7.04664421081543 + ], + [ + 8.790141105651855, + 3.3974647521972656e-06, + 6.479944229125977 + ], + [ + 8.222235679626465, + 0.7626224160194397, + 7.04664421081543 + ], + [ + 8.222235679626465, + 0.7626224160194397, + 6.479944229125977 + ], + [ + 8.222235679626465, + 3.3974647521972656e-06, + 7.04664421081543 + ], + [ + 8.222235679626465, + 3.3974647521972656e-06, + 6.479944229125977 + ] + ], + "center": { + "x": 8.50618839263916, + "y": 0.38131290674209595, + "z": 6.763294219970703 + }, + "size": { + "x": 0.5679054260253906, + "y": 0.7626190185546875, + "z": 0.5666999816894531 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 8.222235679626465, + 3.516674041748047e-06, + 7.002398490905762 + ], + [ + 8.270012855529785, + 3.516674041748047e-06, + 6.479944229125977 + ], + [ + 8.790141105651855, + 3.516674041748047e-06, + 6.527508735656738 + ], + [ + 8.742363929748535, + 3.516674041748047e-06, + 7.049962997436523 + ], + [ + 8.222235679626465, + 0.7626225352287292, + 7.002398490905762 + ], + [ + 8.270012855529785, + 0.7626225352287292, + 6.479944229125977 + ], + [ + 8.790141105651855, + 0.7626225352287292, + 6.527508735656738 + ], + [ + 8.742363929748535, + 0.7626225352287292, + 7.049962997436523 + ] + ] + } + } + }, + { + "objectId": "ShelvingUnit|8|4___8", + "object_info": { + "name": "Shelf (9)", + "position": { + "x": 10.666072845458984, + "y": 0.1487349271774292, + "z": 8.312108039855957 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 9.153279304504395, + "objectType": "Shelf", + "objectId": "ShelvingUnit|8|4___8", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.775839805603027, + 0.27968817949295044, + 8.517709732055664 + ], + [ + 10.775839805603027, + 0.27968817949295044, + 8.106103897094727 + ], + [ + 10.775839805603027, + 0.01778167486190796, + 8.517709732055664 + ], + [ + 10.775839805603027, + 0.01778167486190796, + 8.106103897094727 + ], + [ + 10.556305885314941, + 0.27968817949295044, + 8.517709732055664 + ], + [ + 10.556305885314941, + 0.27968817949295044, + 8.106103897094727 + ], + [ + 10.556305885314941, + 0.01778167486190796, + 8.517709732055664 + ], + [ + 10.556305885314941, + 0.01778167486190796, + 8.106103897094727 + ] + ], + "center": { + "x": 10.666072845458984, + "y": 0.1487349271774292, + "z": 8.311906814575195 + }, + "size": { + "x": 0.21953392028808594, + "y": 0.2619065046310425, + "z": 0.4116058349609375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ShelvingUnit|8|4___4", + "object_info": { + "name": "Shelf (5)", + "position": { + "x": 10.666072845458984, + "y": 0.7197349071502686, + "z": 8.312108039855957 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 9.124115943908691, + "objectType": "Shelf", + "objectId": "ShelvingUnit|8|4___4", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.775839805603027, + 0.8503603339195251, + 8.517709732055664 + ], + [ + 10.775839805603027, + 0.8503603339195251, + 8.106103897094727 + ], + [ + 10.775839805603027, + 0.589109480381012, + 8.517709732055664 + ], + [ + 10.775839805603027, + 0.589109480381012, + 8.106103897094727 + ], + [ + 10.556305885314941, + 0.8503603339195251, + 8.517709732055664 + ], + [ + 10.556305885314941, + 0.8503603339195251, + 8.106103897094727 + ], + [ + 10.556305885314941, + 0.589109480381012, + 8.517709732055664 + ], + [ + 10.556305885314941, + 0.589109480381012, + 8.106103897094727 + ] + ], + "center": { + "x": 10.666072845458984, + "y": 0.7197349071502686, + "z": 8.311906814575195 + }, + "size": { + "x": 0.21953392028808594, + "y": 0.2612508535385132, + "z": 0.4116058349609375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ShelvingUnit|8|4___2", + "object_info": { + "name": "Shelf (3)", + "position": { + "x": 10.666072845458984, + "y": 1.0064349174499512, + "z": 8.312108039855957 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 9.122923851013184, + "objectType": "Shelf", + "objectId": "ShelvingUnit|8|4___2", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.775839805603027, + 1.137060284614563, + 8.517709732055664 + ], + [ + 10.775839805603027, + 1.137060284614563, + 8.106103897094727 + ], + [ + 10.775839805603027, + 0.8758095502853394, + 8.517709732055664 + ], + [ + 10.775839805603027, + 0.8758095502853394, + 8.106103897094727 + ], + [ + 10.556305885314941, + 1.137060284614563, + 8.517709732055664 + ], + [ + 10.556305885314941, + 1.137060284614563, + 8.106103897094727 + ], + [ + 10.556305885314941, + 0.8758095502853394, + 8.517709732055664 + ], + [ + 10.556305885314941, + 0.8758095502853394, + 8.106103897094727 + ] + ], + "center": { + "x": 10.666072845458984, + "y": 1.0064349174499512, + "z": 8.311906814575195 + }, + "size": { + "x": 0.21953392028808594, + "y": 0.26125073432922363, + "z": 0.4116058349609375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ShelvingUnit|8|4___6", + "object_info": { + "name": "Shelf (7)", + "position": { + "x": 10.666072845458984, + "y": 0.43573492765426636, + "z": 8.312108039855957 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 9.134172439575195, + "objectType": "Shelf", + "objectId": "ShelvingUnit|8|4___6", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.775839805603027, + 0.5663604736328125, + 8.517709732055664 + ], + [ + 10.775839805603027, + 0.5663604736328125, + 8.106103897094727 + ], + [ + 10.775839805603027, + 0.3051093816757202, + 8.517709732055664 + ], + [ + 10.775839805603027, + 0.3051093816757202, + 8.106103897094727 + ], + [ + 10.556305885314941, + 0.5663604736328125, + 8.517709732055664 + ], + [ + 10.556305885314941, + 0.5663604736328125, + 8.106103897094727 + ], + [ + 10.556305885314941, + 0.3051093816757202, + 8.517709732055664 + ], + [ + 10.556305885314941, + 0.3051093816757202, + 8.106103897094727 + ] + ], + "center": { + "x": 10.666072845458984, + "y": 0.43573492765426636, + "z": 8.311906814575195 + }, + "size": { + "x": 0.21953392028808594, + "y": 0.2612510919570923, + "z": 0.4116058349609375 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 3.0, + "y": 0.9009997844696045, + "z": 3.200000047683716 + }, + "agent_rotation": { + "x": -0.0, + "y": 90.00000762939453, + "z": 0.0 + }, + "agent_cameraHorizon": 1.5309449281630805e-06, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 3.0, + "y": 1.5759997367858887, + "z": 3.200000047683716 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "ShelvingUnit|8|4", + "Chair|8|2|2", + "DiningTable|8|2|0", + "door|4|8" + ], + "different_object": [ + "ShelvingUnit|8|4___8", + "ShelvingUnit|8|4___2", + "ShelvingUnit|8|4___6", + "door|4|5", + "Painting|4|5", + "HousePlant|surface|8|21", + "Plunger|5|2", + "Bed|4|4|0", + "window|4|1", + "ShelvingUnit|8|4___4" + ] +} \ No newline at end of file diff --git a/train/train1316/4/1_depth_npy.npy b/train/train1316/4/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..41d68cc462d7614b9c8eec5ab6a940cccbc25765 --- /dev/null +++ b/train/train1316/4/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:496fc03a87097cecaf152974883b5935a8a0ad3ff010ee562685174cb27f31c5 +size 3145856 diff --git a/train/train1316/4/1_semantic_sensor_npy.npy b/train/train1316/4/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..a247e87f1bf746cb8b1277d40748c17e5671ef8f --- /dev/null +++ b/train/train1316/4/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:31d80904dcc8b88f47cae97b9d956b445a738ca28dd7739f15114797b8d24250 +size 2359424 diff --git a/train/train1316/4/depth_0.png b/train/train1316/4/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..ebda3314ea3839e0763ad922c4a1b456f610b34e Binary files /dev/null and b/train/train1316/4/depth_0.png differ diff --git a/train/train1316/4/depth_1.png b/train/train1316/4/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..fa7f4feb2809a34fa0c8ac620aea2ebbe02896c6 Binary files /dev/null and b/train/train1316/4/depth_1.png differ diff --git a/train/train1316/4/mask_questions.jsonl b/train/train1316/4/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/train/train1316/4/rgb_0.png b/train/train1316/4/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..3d6157d82271f911d321558735c02f27d942fe44 --- /dev/null +++ b/train/train1316/4/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5aff57ad19cd849f70077d55fb968d46b1556d677a6f12c82192b0be2f7b76c8 +size 171762 diff --git a/train/train1316/4/rgb_1.png b/train/train1316/4/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..f5ff76ffb5ad8880d84ec5dc244256fc337dd48f --- /dev/null +++ b/train/train1316/4/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0e1bfca187f799c96e8c964061429fd96f50b54ebce8691240a868009fe0b9ed +size 409412 diff --git a/train/train1316/4/semantic_0.png b/train/train1316/4/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..2d7a0adf36d19c976da85bbbf4aca7162ea54c7f Binary files /dev/null and b/train/train1316/4/semantic_0.png differ diff --git a/train/train1316/4/semantic_1.png b/train/train1316/4/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..0f97a58f14eba8d592e4eb8c3006b0449d2b68f6 Binary files /dev/null and b/train/train1316/4/semantic_1.png differ diff --git a/train/train1316/color_to_object_id.json b/train/train1316/color_to_object_id.json new file mode 100644 index 0000000000000000000000000000000000000000..ac8f5bf9d1e93e0e5025113afd30c3f244c9854d --- /dev/null +++ b/train/train1316/color_to_object_id.json @@ -0,0 +1,1871 @@ +[ + { + "window|8|0": [ + 164, + 200, + 127 + ] + }, + { + "Window": [ + 200, + 150, + 134 + ] + }, + { + "window|6|0": [ + 43, + 165, + 91 + ] + }, + { + "window|4|1": [ + 89, + 228, + 81 + ] + }, + { + "window|4|0": [ + 148, + 40, + 210 + ] + }, + { + "door|1|9": [ + 164, + 172, + 180 + ] + }, + { + "Doorway": [ + 163, + 222, + 124 + ] + }, + { + "door|6|8": [ + 147, + 64, + 133 + ] + }, + { + "door|4|8": [ + 34, + 34, + 220 + ] + }, + { + "door|4|5": [ + 50, + 233, + 221 + ] + }, + { + "Painting|5|4": [ + 172, + 63, + 26 + ] + }, + { + "Painting": [ + 40, + 117, + 236 + ] + }, + { + "Painting|8|7": [ + 188, + 189, + 223 + ] + }, + { + "Painting|8|6": [ + 5, + 22, + 151 + ] + }, + { + "Painting|6|6": [ + 136, + 191, + 27 + ] + }, + { + "Painting|9|3": [ + 113, + 137, + 246 + ] + }, + { + "Painting|9|2": [ + 31, + 43, + 118 + ] + }, + { + "Painting|4|7": [ + 87, + 224, + 210 + ] + }, + { + "Painting|4|6": [ + 111, + 255, + 77 + ] + }, + { + "Painting|4|5": [ + 53, + 66, + 101 + ] + }, + { + "Television|8|5": [ + 49, + 108, + 227 + ] + }, + { + "Television": [ + 27, + 245, + 217 + ] + }, + { + "Chair|9|1|4": [ + 67, + 169, + 202 + ] + }, + { + "Chair": [ + 166, + 13, + 176 + ] + }, + { + "Chair|9|1|3": [ + 73, + 133, + 37 + ] + }, + { + "Chair|9|1|2": [ + 18, + 160, + 159 + ] + }, + { + "Chair|9|1|1": [ + 117, + 56, + 178 + ] + }, + { + "Book|surface|9|31": [ + 172, + 144, + 55 + ] + }, + { + "Book": [ + 43, + 31, + 148 + ] + }, + { + "Newspaper|surface|9|30": [ + 37, + 177, + 241 + ] + }, + { + "Newspaper": [ + 19, + 196, + 2 + ] + }, + { + "Plate|surface|9|27": [ + 144, + 239, + 181 + ] + }, + { + "Plate": [ + 188, + 154, + 128 + ] + }, + { + "Laptop|surface|9|26": [ + 215, + 13, + 250 + ] + }, + { + "Laptop": [ + 20, + 107, + 222 + ] + }, + { + "Pen|surface|9|25": [ + 142, + 69, + 12 + ] + }, + { + "Pen": [ + 239, + 130, + 152 + ] + }, + { + "DiningTable|9|1|0": [ + 148, + 49, + 182 + ] + }, + { + "DiningTable": [ + 83, + 33, + 33 + ] + }, + { + "RemoteControl|surface|9|29": [ + 216, + 45, + 15 + ] + }, + { + "RemoteControl": [ + 187, + 19, + 208 + ] + }, + { + "RemoteControl|surface|9|28": [ + 227, + 96, + 179 + ] + }, + { + "Vase|surface|9|24": [ + 73, + 18, + 88 + ] + }, + { + "Vase": [ + 83, + 152, + 69 + ] + }, + { + "Television|9|0|1": [ + 133, + 44, + 6 + ] + }, + { + "TVStand|9|0|0___1": [ + 70, + 96, + 137 + ] + }, + { + "Shelf": [ + 39, + 54, + 158 + ] + }, + { + "TVStand|9|0|0___0": [ + 190, + 117, + 177 + ] + }, + { + "TVStand|9|0|0": [ + 204, + 244, + 215 + ] + }, + { + "TVStand": [ + 94, + 234, + 136 + ] + }, + { + "HousePlant|surface|8|21": [ + 20, + 238, + 184 + ] + }, + { + "HousePlant": [ + 73, + 144, + 213 + ] + }, + { + "SprayBottle|surface|8|19": [ + 108, + 69, + 84 + ] + }, + { + "SprayBottle": [ + 89, + 126, + 121 + ] + }, + { + "ShelvingUnit|8|4___8": [ + 155, + 6, + 28 + ] + }, + { + "ShelvingUnit|8|4___7": [ + 173, + 247, + 196 + ] + }, + { + "ShelvingUnit|8|4___6": [ + 247, + 136, + 131 + ] + }, + { + "ShelvingUnit|8|4___5": [ + 135, + 34, + 203 + ] + }, + { + "ShelvingUnit|8|4___4": [ + 155, + 184, + 170 + ] + }, + { + "ShelvingUnit|8|4___3": [ + 12, + 111, + 96 + ] + }, + { + "ShelvingUnit|8|4___2": [ + 230, + 78, + 113 + ] + }, + { + "ShelvingUnit|8|4___1": [ + 134, + 119, + 6 + ] + }, + { + "ShelvingUnit|8|4___0": [ + 232, + 118, + 120 + ] + }, + { + "ShelvingUnit|8|4": [ + 76, + 115, + 4 + ] + }, + { + "ShelvingUnit": [ + 125, + 226, + 119 + ] + }, + { + "GarbageCan|8|3": [ + 40, + 211, + 102 + ] + }, + { + "GarbageCan": [ + 225, + 40, + 55 + ] + }, + { + "Chair|8|2|4": [ + 123, + 161, + 62 + ] + }, + { + "Chair|8|2|3": [ + 173, + 201, + 111 + ] + }, + { + "Chair|8|2|2": [ + 147, + 86, + 222 + ] + }, + { + "Chair|8|2|1": [ + 193, + 37, + 161 + ] + }, + { + "Plate|surface|8|22": [ + 31, + 90, + 172 + ] + }, + { + "DiningTable|8|2|0": [ + 109, + 18, + 253 + ] + }, + { + "Egg|surface|8|20": [ + 127, + 101, + 162 + ] + }, + { + "Egg": [ + 240, + 75, + 163 + ] + }, + { + "Fridge|8|1": [ + 88, + 165, + 141 + ] + }, + { + "Fridge": [ + 91, + 156, + 207 + ] + }, + { + "SoapBottle|surface|8|23": [ + 123, + 195, + 98 + ] + }, + { + "SoapBottle": [ + 168, + 222, + 137 + ] + }, + { + "ButterKnife|surface|8|18": [ + 108, + 187, + 68 + ] + }, + { + "ButterKnife": [ + 135, + 147, + 55 + ] + }, + { + "WineBottle|surface|8|17": [ + 66, + 235, + 89 + ] + }, + { + "WineBottle": [ + 53, + 130, + 252 + ] + }, + { + "WineBottle|surface|8|16": [ + 183, + 250, + 76 + ] + }, + { + "Knife|surface|8|15": [ + 143, + 92, + 178 + ] + }, + { + "Knife": [ + 211, + 157, + 122 + ] + }, + { + "Fork|surface|8|14": [ + 233, + 246, + 217 + ] + }, + { + "Fork": [ + 54, + 200, + 25 + ] + }, + { + "CounterTop|8|0": [ + 179, + 91, + 55 + ] + }, + { + "CounterTop": [ + 103, + 209, + 30 + ] + }, + { + "FloorLamp|6|5|1": [ + 121, + 172, + 106 + ] + }, + { + "FloorLamp": [ + 253, + 73, + 35 + ] + }, + { + "ArmChair|6|5|0": [ + 213, + 230, + 167 + ] + }, + { + "ArmChair": [ + 96, + 52, + 68 + ] + }, + { + "Pillow|6|4|1": [ + 22, + 132, + 3 + ] + }, + { + "Pillow": [ + 217, + 193, + 130 + ] + }, + { + "Pillow|6|4|2": [ + 178, + 217, + 247 + ] + }, + { + "Bed|6|4|0": [ + 55, + 218, + 242 + ] + }, + { + "Bed": [ + 209, + 156, + 101 + ] + }, + { + "Bed|6|3": [ + 93, + 248, + 142 + ] + }, + { + "Pen|surface|6|13": [ + 228, + 213, + 83 + ] + }, + { + "Pencil|surface|6|12": [ + 17, + 9, + 71 + ] + }, + { + "Pencil": [ + 177, + 226, + 23 + ] + }, + { + "CreditCard|surface|6|11": [ + 59, + 89, + 174 + ] + }, + { + "CreditCard": [ + 56, + 235, + 12 + ] + }, + { + "Laptop|surface|6|9": [ + 181, + 206, + 113 + ] + }, + { + "CellPhone|surface|6|8": [ + 232, + 23, + 148 + ] + }, + { + "CellPhone": [ + 227, + 98, + 136 + ] + }, + { + "CD|surface|6|7": [ + 132, + 228, + 34 + ] + }, + { + "CD": [ + 65, + 112, + 172 + ] + }, + { + "HousePlant|surface|6|6": [ + 40, + 39, + 188 + ] + }, + { + "Desk|6|2___8": [ + 115, + 38, + 133 + ] + }, + { + "Desk|6|2___7": [ + 203, + 10, + 90 + ] + }, + { + "Desk|6|2___6": [ + 177, + 91, + 241 + ] + }, + { + "Desk|6|2___5": [ + 184, + 152, + 177 + ] + }, + { + "Desk|6|2___4": [ + 61, + 57, + 245 + ] + }, + { + "Desk|6|2___3": [ + 224, + 51, + 152 + ] + }, + { + "Desk|6|2___2": [ + 85, + 144, + 37 + ] + }, + { + "Drawer": [ + 155, + 30, + 210 + ] + }, + { + "Desk|6|2___1": [ + 108, + 43, + 209 + ] + }, + { + "Desk|6|2___0": [ + 134, + 69, + 7 + ] + }, + { + "Desk|6|2": [ + 62, + 208, + 4 + ] + }, + { + "Desk": [ + 14, + 120, + 179 + ] + }, + { + "Dresser|6|1___9": [ + 40, + 39, + 29 + ] + }, + { + "Dresser|6|1___8": [ + 167, + 13, + 64 + ] + }, + { + "Dresser|6|1___7": [ + 86, + 58, + 190 + ] + }, + { + "Dresser|6|1___6": [ + 170, + 115, + 145 + ] + }, + { + "Dresser|6|1___5": [ + 236, + 75, + 198 + ] + }, + { + "Dresser|6|1___4": [ + 14, + 116, + 187 + ] + }, + { + "Dresser|6|1___3": [ + 125, + 169, + 154 + ] + }, + { + "Dresser|6|1___2": [ + 219, + 86, + 133 + ] + }, + { + "Dresser|6|1___1": [ + 91, + 55, + 231 + ] + }, + { + "Dresser|6|1___0": [ + 86, + 178, + 164 + ] + }, + { + "Dresser|6|1": [ + 74, + 74, + 184 + ] + }, + { + "Dresser": [ + 51, + 128, + 146 + ] + }, + { + "CellPhone|surface|6|10": [ + 213, + 26, + 213 + ] + }, + { + "Bed|6|0": [ + 5, + 103, + 154 + ] + }, + { + "GarbageCan|5|3": [ + 105, + 56, + 81 + ] + }, + { + "Plunger|5|2": [ + 132, + 15, + 154 + ] + }, + { + "Plunger": [ + 74, + 209, + 56 + ] + }, + { + "Faucet|5|1|1": [ + 65, + 42, + 255 + ] + }, + { + "Faucet": [ + 21, + 38, + 98 + ] + }, + { + "Sink|5|1|0___0": [ + 245, + 52, + 66 + ] + }, + { + "SinkBasin": [ + 80, + 192, + 81 + ] + }, + { + "Sink|5|1|0": [ + 201, + 233, + 65 + ] + }, + { + "Sink": [ + 30, + 181, + 88 + ] + }, + { + "SoapBottle|surface|5|5": [ + 158, + 15, + 51 + ] + }, + { + "SprayBottle|surface|5|4": [ + 50, + 177, + 90 + ] + }, + { + "ToiletPaper|surface|5|3": [ + 78, + 165, + 55 + ] + }, + { + "ToiletPaper": [ + 162, + 204, + 152 + ] + }, + { + "Toilet|5|0": [ + 241, + 253, + 188 + ] + }, + { + "Toilet": [ + 21, + 27, + 163 + ] + }, + { + "Pillow|4|4|1": [ + 86, + 175, + 8 + ] + }, + { + "Pillow|4|4|2": [ + 188, + 160, + 137 + ] + }, + { + "Bed|4|4|0": [ + 103, + 123, + 147 + ] + }, + { + "BaseballBat|4|3": [ + 250, + 230, + 188 + ] + }, + { + "BaseballBat": [ + 171, + 20, + 38 + ] + }, + { + "HousePlant|4|2|0": [ + 31, + 129, + 142 + ] + }, + { + "RemoteControl|surface|4|2": [ + 110, + 203, + 237 + ] + }, + { + "CD|surface|4|1": [ + 196, + 81, + 194 + ] + }, + { + "CD|surface|4|0": [ + 173, + 27, + 159 + ] + }, + { + "Dresser|4|1___3": [ + 168, + 123, + 185 + ] + }, + { + "Dresser|4|1___2": [ + 211, + 252, + 239 + ] + }, + { + "Dresser|4|1___1": [ + 177, + 160, + 107 + ] + }, + { + "Dresser|4|1___0": [ + 198, + 101, + 243 + ] + }, + { + "Dresser|4|1": [ + 68, + 131, + 140 + ] + }, + { + "Bed|4|0": [ + 197, + 154, + 79 + ] + }, + { + "Ceiling_room|9|0|3.209962|0": [ + 51, + 33, + 172 + ] + }, + { + "Ceiling": [ + 50, + 55, + 251 + ] + }, + { + "Ceiling_room|8|0|3.209962|0": [ + 1, + 54, + 186 + ] + }, + { + "Ceiling_room|6|0|3.209962|0": [ + 126, + 233, + 235 + ] + }, + { + "Ceiling_room|5|0|3.209962|0": [ + 99, + 152, + 212 + ] + }, + { + "Ceiling_room|4|0|3.209962|0": [ + 65, + 142, + 102 + ] + }, + { + "wall|exterior|8.65|10.82|10.82|10.82": [ + 40, + 33, + 123 + ] + }, + { + "Wall": [ + 148, + 232, + 164 + ] + }, + { + "wall|exterior|10.82|4.33|10.82|10.82": [ + 164, + 80, + 37 + ] + }, + { + "wall|exterior|10.82|0.00|10.82|4.33": [ + 82, + 55, + 241 + ] + }, + { + "wall|exterior|6.49|0.00|10.82|0.00": [ + 230, + 22, + 215 + ] + }, + { + "wall|exterior|0.00|8.65|0.00|15.14": [ + 185, + 76, + 192 + ] + }, + { + "wall|exterior|0.00|15.14|8.65|15.14": [ + 200, + 76, + 112 + ] + }, + { + "wall|exterior|8.65|10.82|8.65|15.14": [ + 138, + 181, + 68 + ] + }, + { + "wall|exterior|0.00|4.33|0.00|8.65": [ + 45, + 144, + 33 + ] + }, + { + "wall|exterior|0.00|0.00|6.49|0.00": [ + 194, + 103, + 195 + ] + }, + { + "wall|exterior|0.00|0.00|0.00|4.33": [ + 194, + 69, + 88 + ] + }, + { + "wall|9|0.00|4.33|4.33|4.33": [ + 104, + 24, + 176 + ] + }, + { + "wall|9|0.00|8.65|4.33|8.65": [ + 7, + 146, + 170 + ] + }, + { + "wall|9|0.00|4.33|0.00|8.65": [ + 21, + 21, + 18 + ] + }, + { + "wall|8|4.33|4.33|6.49|4.33": [ + 127, + 163, + 105 + ] + }, + { + "wall|8|6.49|4.33|10.82|4.33": [ + 116, + 41, + 6 + ] + }, + { + "wall|8|10.82|4.33|10.82|10.82": [ + 129, + 62, + 181 + ] + }, + { + "wall|8|8.65|10.82|10.82|10.82": [ + 34, + 111, + 26 + ] + }, + { + "wall|8|6.49|10.82|8.65|10.82": [ + 6, + 185, + 94 + ] + }, + { + "wall|8|6.49|8.65|6.49|10.82": [ + 155, + 138, + 172 + ] + }, + { + "wall|8|4.33|8.65|6.49|8.65": [ + 173, + 227, + 53 + ] + }, + { + "wall|6|8.65|10.82|8.65|15.14": [ + 53, + 176, + 225 + ] + }, + { + "wall|6|0.00|15.14|8.65|15.14": [ + 73, + 113, + 118 + ] + }, + { + "wall|6|0.00|8.65|0.00|15.14": [ + 188, + 108, + 79 + ] + }, + { + "wall|6|0.00|8.65|4.33|8.65": [ + 28, + 59, + 205 + ] + }, + { + "wall|6|4.33|8.65|6.49|8.65": [ + 135, + 12, + 112 + ] + }, + { + "wall|6|6.49|8.65|6.49|10.82": [ + 105, + 58, + 172 + ] + }, + { + "wall|6|6.49|10.82|8.65|10.82": [ + 179, + 245, + 40 + ] + }, + { + "wall|5|6.49|0.00|10.82|0.00": [ + 36, + 106, + 47 + ] + }, + { + "wall|5|10.82|0.00|10.82|4.33": [ + 218, + 16, + 152 + ] + }, + { + "wall|5|6.49|4.33|10.82|4.33": [ + 108, + 89, + 158 + ] + }, + { + "wall|5|6.49|0.00|6.49|4.33": [ + 32, + 247, + 105 + ] + }, + { + "wall|4|0.00|0.00|6.49|0.00": [ + 179, + 151, + 91 + ] + }, + { + "wall|4|6.49|0.00|6.49|4.33": [ + 50, + 16, + 78 + ] + }, + { + "wall|4|4.33|4.33|6.49|4.33": [ + 187, + 71, + 95 + ] + }, + { + "wall|4|0.00|4.33|4.33|4.33": [ + 115, + 219, + 97 + ] + }, + { + "wall|4|0.00|0.00|0.00|4.33": [ + 12, + 52, + 0 + ] + }, + { + "room|9": [ + 153, + 76, + 155 + ] + }, + { + "Floor": [ + 243, + 246, + 208 + ] + }, + { + "room|8": [ + 95, + 202, + 245 + ] + }, + { + "room|6": [ + 217, + 194, + 196 + ] + }, + { + "room|5": [ + 190, + 121, + 70 + ] + }, + { + "room|4": [ + 60, + 42, + 179 + ] + }, + { + "TheHand": [ + 255, + 136, + 237 + ] + }, + { + "agent_neck_1": [ + 30, + 64, + 67 + ] + }, + { + "agent_body_1 (shadows)": [ + 134, + 158, + 226 + ] + }, + { + "agent_collarbone_1 (shadows)": [ + 217, + 96, + 80 + ] + }, + { + "agent_head_1 (shadows)": [ + 140, + 210, + 177 + ] + }, + { + "stretch_robot_base_code": [ + 101, + 30, + 126 + ] + }, + { + "agent_head_1": [ + 1, + 149, + 209 + ] + }, + { + "stretch_robot_laser": [ + 140, + 24, + 249 + ] + }, + { + "stretch_robot_mast": [ + 136, + 63, + 93 + ] + }, + { + "stretch_robot_head_1": [ + 0, + 57, + 255 + ] + }, + { + "agent_neck_3": [ + 209, + 228, + 37 + ] + }, + { + "robot_tilt_link_n (shadows)": [ + 202, + 16, + 52 + ] + }, + { + "agent_head_2 (shadows)": [ + 156, + 59, + 238 + ] + }, + { + "stretch_robot_head_3 (shadows)": [ + 83, + 209, + 138 + ] + }, + { + "agent_collarbone_2": [ + 152, + 152, + 185 + ] + }, + { + "agent_neck_2 (shadows)": [ + 244, + 240, + 196 + ] + }, + { + "agent_head_2": [ + 14, + 66, + 230 + ] + }, + { + "stretch_robot_head_2": [ + 73, + 58, + 96 + ] + }, + { + "agent_neck_3 (shadows)": [ + 239, + 35, + 232 + ] + }, + { + "stretch_robot_omniwheel": [ + 227, + 166, + 104 + ] + }, + { + "robot_elbow_link": [ + 231, + 128, + 58 + ] + }, + { + "robot_camera_link_n": [ + 140, + 65, + 197 + ] + }, + { + "robot_finger_r": [ + 122, + 202, + 170 + ] + }, + { + "robot_finger_l": [ + 178, + 169, + 157 + ] + }, + { + "robot_ar_tag": [ + 46, + 234, + 150 + ] + }, + { + "robot_cam_mount_n": [ + 54, + 221, + 114 + ] + }, + { + "robot_battery_n": [ + 165, + 68, + 55 + ] + }, + { + "robot_plate": [ + 211, + 118, + 132 + ] + }, + { + "robot_main_wheel_r_n": [ + 36, + 84, + 49 + ] + }, + { + "robot_shoulder_link": [ + 92, + 95, + 127 + ] + }, + { + "robot_roll_link_n": [ + 135, + 154, + 116 + ] + }, + { + "robot_gripper_link": [ + 241, + 136, + 173 + ] + }, + { + "robot_forearm_link": [ + 149, + 185, + 52 + ] + }, + { + "robot_main_wheel_l_n": [ + 139, + 151, + 200 + ] + }, + { + "robot_main_body": [ + 27, + 62, + 251 + ] + }, + { + "robot_wrist_link": [ + 3, + 195, + 0 + ] + }, + { + "robot_tilt_link_n": [ + 251, + 182, + 71 + ] + }, + { + "agent_collarbone_2 (shadows)": [ + 27, + 29, + 156 + ] + }, + { + "stretch_robot_head_2 (shadows)": [ + 167, + 106, + 44 + ] + }, + { + "stretch_robot_wheel_r": [ + 43, + 10, + 241 + ] + }, + { + "agent_collarbone_3": [ + 33, + 153, + 80 + ] + }, + { + "stretch_robot_wheel_l": [ + 209, + 121, + 111 + ] + }, + { + "agent_collarbone_3 (shadows)": [ + 12, + 185, + 24 + ] + }, + { + "agent_neck_1 (shadows)": [ + 5, + 106, + 127 + ] + }, + { + "agent_body_1": [ + 19, + 85, + 240 + ] + }, + { + "stretch_robot_base": [ + 18, + 223, + 56 + ] + }, + { + "robot_roll_link_n (shadows)": [ + 104, + 6, + 177 + ] + }, + { + "agent_neck_2": [ + 134, + 34, + 121 + ] + }, + { + "agent_collarbone_1": [ + 180, + 251, + 165 + ] + }, + { + "stretch_robot_head_3": [ + 175, + 244, + 187 + ] + }, + { + "robot_camera_link_n (shadows)": [ + 49, + 9, + 106 + ] + } +] \ No newline at end of file diff --git a/train/train1572/0/0.json b/train/train1572/0/0.json new file mode 100644 index 0000000000000000000000000000000000000000..072a68480a5867b6eb6e1fd5af04159c6f37eba6 --- /dev/null +++ b/train/train1572/0/0.json @@ -0,0 +1,1691 @@ +{ + "object": [ + { + "objectId": "Toaster|surface|6|15", + "object_info": { + "name": "Toaster|surface|6|15", + "position": { + "x": 0.48335137963294983, + "y": 0.9374663829803467, + "z": 6.096790313720703 + }, + "rotation": { + "x": 6.118567398516461e-06, + "y": 270.0002746582031, + "z": -2.722681756495149e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 5.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 4.0074028968811035, + "objectType": "Toaster", + "objectId": "Toaster|surface|6|15", + "assetId": "Toaster_23", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.6483819484710693, + 1.1158902645111084, + 6.252886772155762 + ], + [ + 0.6483819484710693, + 1.1158902645111084, + 5.9406938552856445 + ], + [ + 0.6483819484710693, + 0.9374663829803467, + 6.252886772155762 + ], + [ + 0.6483819484710693, + 0.9374663829803467, + 5.9406938552856445 + ], + [ + 0.28451889753341675, + 1.1158902645111084, + 6.252886772155762 + ], + [ + 0.28451889753341675, + 1.1158902645111084, + 5.9406938552856445 + ], + [ + 0.28451889753341675, + 0.9374663829803467, + 6.252886772155762 + ], + [ + 0.28451889753341675, + 0.9374663829803467, + 5.9406938552856445 + ] + ], + "center": { + "x": 0.46645042300224304, + "y": 1.0266783237457275, + "z": 6.096790313720703 + }, + "size": { + "x": 0.3638630509376526, + "y": 0.17842388153076172, + "z": 0.3121929168701172 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.2845197319984436, + 0.9374662041664124, + 6.252886772155762 + ], + [ + 0.28451818227767944, + 0.9374662041664124, + 5.940695762634277 + ], + [ + 0.6483811736106873, + 0.9374662041664124, + 5.9406938552856445 + ], + [ + 0.6483827233314514, + 0.9374662041664124, + 6.252884864807129 + ], + [ + 0.2845197319984436, + 1.1158907413482666, + 6.252886772155762 + ], + [ + 0.28451818227767944, + 1.1158907413482666, + 5.940695762634277 + ], + [ + 0.6483811736106873, + 1.1158907413482666, + 5.9406938552856445 + ], + [ + 0.6483827233314514, + 1.1158907413482666, + 6.252884864807129 + ] + ] + } + } + }, + { + "objectId": "window|6|0", + "object_info": { + "name": "window|6|0", + "position": { + "x": 3.254000663757324, + "y": 0.677517294883728, + "z": 6.549964904785156 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 4.178537845611572, + "objectType": "Window", + "objectId": "window|6|0", + "assetId": "Window_Hung_44x60", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.37552547454834, + 2.2595396041870117, + 7.701807975769043 + ], + [ + 3.37552547454834, + 2.2595396041870117, + 6.5661821365356445 + ], + [ + 3.37552547454834, + 0.6772875785827637, + 7.701807975769043 + ], + [ + 3.37552547454834, + 0.6772875785827637, + 6.5661821365356445 + ], + [ + 3.132474422454834, + 2.2595396041870117, + 7.701807975769043 + ], + [ + 3.132474422454834, + 2.2595396041870117, + 6.5661821365356445 + ], + [ + 3.132474422454834, + 0.6772875785827637, + 7.701807975769043 + ], + [ + 3.132474422454834, + 0.6772875785827637, + 6.5661821365356445 + ] + ], + "center": { + "x": 3.253999948501587, + "y": 1.4684135913848877, + "z": 7.133995056152344 + }, + "size": { + "x": 0.24305105209350586, + "y": 1.582252025604248, + "z": 1.1356258392333984 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Fridge|6|1", + "object_info": { + "name": "Fridge|6|1", + "position": { + "x": 4.54731559753418, + "y": 0.007810354232788086, + "z": 5.77420711517334 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Apple|surface|6|14", + "Tomato|surface|6|19" + ], + "distance": 4.098277568817139, + "objectType": "Fridge", + "objectId": "Fridge|6|1", + "assetId": "Fridge_22", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.855999946594238, + 1.969024896621704, + 6.174583435058594 + ], + [ + 4.855999946594238, + 1.969024896621704, + 5.373834609985352 + ], + [ + 4.855999946594238, + 0.0, + 6.174583435058594 + ], + [ + 4.855999946594238, + 0.0, + 5.373834609985352 + ], + [ + 4.1084184646606445, + 1.969024896621704, + 6.174583435058594 + ], + [ + 4.1084184646606445, + 1.969024896621704, + 5.373834609985352 + ], + [ + 4.1084184646606445, + 0.0, + 6.174583435058594 + ], + [ + 4.1084184646606445, + 0.0, + 5.373834609985352 + ] + ], + "center": { + "x": 4.482209205627441, + "y": 0.984512448310852, + "z": 5.774209022521973 + }, + "size": { + "x": 0.7475814819335938, + "y": 1.969024896621704, + "z": 0.8007488250732422 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Microwave|surface|6|16", + "object_info": { + "name": "Microwave|surface|6|16", + "position": { + "x": 1.3993040323257446, + "y": 0.9374673962593079, + "z": 6.173794746398926 + }, + "rotation": { + "x": 0.0016973018646240234, + "y": 179.99998474121094, + "z": 0.0002006897993851453 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 6.999999523162842, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": [], + "distance": 3.7711777687072754, + "objectType": "Microwave", + "objectId": "Microwave|surface|6|16", + "assetId": "Microwave_3", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.702845811843872, + 1.289890170097351, + 6.353171348571777 + ], + [ + 1.702845811843872, + 1.289890170097351, + 6.007803916931152 + ], + [ + 1.702845811843872, + 0.9374641180038452, + 6.353171348571777 + ], + [ + 1.702845811843872, + 0.9374641180038452, + 6.007803916931152 + ], + [ + 1.0965440273284912, + 1.289890170097351, + 6.353171348571777 + ], + [ + 1.0965440273284912, + 1.289890170097351, + 6.007803916931152 + ], + [ + 1.0965440273284912, + 0.9374641180038452, + 6.353171348571777 + ], + [ + 1.0965440273284912, + 0.9374641180038452, + 6.007803916931152 + ] + ], + "center": { + "x": 1.3996949195861816, + "y": 1.1136771440505981, + "z": 6.180487632751465 + }, + "size": { + "x": 0.6063017845153809, + "y": 0.35242605209350586, + "z": 0.345367431640625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.0965023040771484, + 0.9374606609344482, + 6.007826328277588 + ], + [ + 1.7028299570083618, + 0.9374585151672363, + 6.007826805114746 + ], + [ + 1.7028298377990723, + 0.9374687671661377, + 6.353199481964111 + ], + [ + 1.0965021848678589, + 0.9374708533287048, + 6.353199481964111 + ], + [ + 1.0965036153793335, + 1.2899013757705688, + 6.007816314697266 + ], + [ + 1.7028312683105469, + 1.289899230003357, + 6.007816314697266 + ], + [ + 1.7028310298919678, + 1.2899093627929688, + 6.353189468383789 + ], + [ + 1.096503496170044, + 1.2899115085601807, + 6.353188991546631 + ] + ] + } + } + }, + { + "objectId": "SoapBottle|surface|6|17", + "object_info": { + "name": "SoapBottle|surface|6|17", + "position": { + "x": 0.7123391032218933, + "y": 0.9384679198265076, + "z": 6.403832912445068 + }, + "rotation": { + "x": -0.002704629208892584, + "y": 179.9998779296875, + "z": -0.000979617820121348 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4000000059604645, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 4.195916652679443, + "objectType": "SoapBottle", + "objectId": "SoapBottle|surface|6|17", + "assetId": "Soap_Bottle_19", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.7586783170700073, + 1.1688826084136963, + 6.4352216720581055 + ], + [ + 0.7586783170700073, + 1.1688826084136963, + 6.3649797439575195 + ], + [ + 0.7586783170700073, + 0.9374635219573975, + 6.4352216720581055 + ], + [ + 0.7586783170700073, + 0.9374635219573975, + 6.3649797439575195 + ], + [ + 0.6659975051879883, + 1.1688826084136963, + 6.4352216720581055 + ], + [ + 0.6659975051879883, + 1.1688826084136963, + 6.3649797439575195 + ], + [ + 0.6659975051879883, + 0.9374635219573975, + 6.4352216720581055 + ], + [ + 0.6659975051879883, + 0.9374635219573975, + 6.3649797439575195 + ] + ], + "center": { + "x": 0.7123379111289978, + "y": 1.0531730651855469, + "z": 6.4001007080078125 + }, + "size": { + "x": 0.09268081188201904, + "y": 0.23141908645629883, + "z": 0.07024192810058594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.6659999489784241, + 0.9374665021896362, + 6.364969253540039 + ], + [ + 0.7586783766746521, + 0.9374681115150452, + 6.364969253540039 + ], + [ + 0.7586782574653625, + 0.9374647736549377, + 6.435213088989258 + ], + [ + 0.6659997701644897, + 0.9374632239341736, + 6.435213088989258 + ], + [ + 0.6659959554672241, + 1.1688833236694336, + 6.364980220794678 + ], + [ + 0.7586744427680969, + 1.1688848733901978, + 6.364980220794678 + ], + [ + 0.7586742639541626, + 1.1688815355300903, + 6.4352240562438965 + ], + [ + 0.6659958362579346, + 1.1688799858093262, + 6.4352240562438965 + ] + ] + } + } + }, + { + "objectId": "window|6|1", + "object_info": { + "name": "window|6|1", + "position": { + "x": 2.0123372077941895, + "y": 0.677517294883728, + "z": 6.507999420166016 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 4.021254539489746, + "objectType": "Window", + "objectId": "window|6|1", + "assetId": "Window_Hung_44x60", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.164180278778076, + 2.2595391273498535, + 6.629525184631348 + ], + [ + 3.164180278778076, + 2.2595391273498535, + 6.386474609375 + ], + [ + 3.164180278778076, + 0.6772875785827637, + 6.629525184631348 + ], + [ + 3.164180278778076, + 0.6772875785827637, + 6.386474609375 + ], + [ + 2.0285544395446777, + 2.2595391273498535, + 6.629525184631348 + ], + [ + 2.0285544395446777, + 2.2595391273498535, + 6.386474609375 + ], + [ + 2.0285544395446777, + 0.6772875785827637, + 6.629525184631348 + ], + [ + 2.0285544395446777, + 0.6772875785827637, + 6.386474609375 + ] + ], + "center": { + "x": 2.596367359161377, + "y": 1.4684133529663086, + "z": 6.507999897003174 + }, + "size": { + "x": 1.1356258392333984, + "y": 1.5822515487670898, + "z": 0.24305057525634766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|6|6", + "object_info": { + "name": "Painting|6|6", + "position": { + "x": 0.49719226360321045, + "y": 2.0927956104278564, + "z": 6.503004550933838 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 4.529542922973633, + "objectType": "Painting", + "objectId": "Painting|6|6", + "assetId": "Wall_Decor_Photo_2", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.9759658575057983, + 2.421173334121704, + 6.503000259399414 + ], + [ + 0.9759658575057983, + 2.421173334121704, + 6.471259117126465 + ], + [ + 0.9759658575057983, + 1.7644178867340088, + 6.503000259399414 + ], + [ + 0.9759658575057983, + 1.7644178867340088, + 6.471259117126465 + ], + [ + 0.01841866970062256, + 2.421173334121704, + 6.503000259399414 + ], + [ + 0.01841866970062256, + 2.421173334121704, + 6.471259117126465 + ], + [ + 0.01841866970062256, + 1.7644178867340088, + 6.503000259399414 + ], + [ + 0.01841866970062256, + 1.7644178867340088, + 6.471259117126465 + ] + ], + "center": { + "x": 0.49719226360321045, + "y": 2.0927956104278564, + "z": 6.4871296882629395 + }, + "size": { + "x": 0.9575471878051758, + "y": 0.6567554473876953, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "GarbageBag|6|3", + "object_info": { + "name": "GarbageBag|6|3", + "position": { + "x": 1.5636346340179443, + "y": -0.0016814768314361572, + "z": 4.888552665710449 + }, + "rotation": { + "x": 0.0427066944539547, + "y": 90.00025939941406, + "z": 0.3739077150821686 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.499999761581421, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.644071578979492, + "objectType": "GarbageBag", + "objectId": "GarbageBag|6|3", + "assetId": "GarbageBag_21_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.8204209804534912, + 0.5573246479034424, + 5.135462760925293 + ], + [ + 1.8204209804534912, + 0.5573246479034424, + 4.6247053146362305 + ], + [ + 1.8204209804534912, + -8.046627044677734e-07, + 5.135462760925293 + ], + [ + 1.8204209804534912, + -8.046627044677734e-07, + 4.6247053146362305 + ], + [ + 1.305213212966919, + 0.5573246479034424, + 5.135462760925293 + ], + [ + 1.305213212966919, + 0.5573246479034424, + 4.6247053146362305 + ], + [ + 1.305213212966919, + -8.046627044677734e-07, + 5.135462760925293 + ], + [ + 1.305213212966919, + -8.046627044677734e-07, + 4.6247053146362305 + ] + ], + "center": { + "x": 1.562817096710205, + "y": 0.27866193652153015, + "z": 4.880084037780762 + }, + "size": { + "x": 0.5152077674865723, + "y": 0.5573254823684692, + "z": 0.5107574462890625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.8203009366989136, + 0.0009305241983383894, + 4.623661041259766 + ], + [ + 1.820300817489624, + -0.0024025964085012674, + 5.134405136108398 + ], + [ + 1.3050931692123413, + -0.002018574858084321, + 5.1344075202941895 + ], + [ + 1.3050932884216309, + 0.0013145457487553358, + 4.623663425445557 + ], + [ + 1.8207167387008667, + 0.5588568449020386, + 4.627302169799805 + ], + [ + 1.8207166194915771, + 0.5555237531661987, + 5.1380462646484375 + ], + [ + 1.305509090423584, + 0.5559078454971313, + 5.13804817199707 + ], + [ + 1.3055092096328735, + 0.5592409372329712, + 4.627304553985596 + ] + ] + } + } + }, + { + "objectId": "Pencil|surface|6|18", + "object_info": { + "name": "Pencil|surface|6|18", + "position": { + "x": 1.6282916069030762, + "y": 0.9421939253807068, + "z": 6.173550605773926 + }, + "rotation": { + "x": 0.0002038075908785686, + "y": 180.0, + "z": 0.0035945710260421038 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": null, + "distance": 3.726015567779541, + "objectType": "Pencil", + "objectId": "Pencil|surface|6|18", + "assetId": "Pencil_3", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.6330194473266602, + 0.9469215273857117, + 6.261507987976074 + ], + [ + 1.6330194473266602, + 0.9469215273857117, + 6.079209327697754 + ], + [ + 1.6330194473266602, + 0.9374663233757019, + 6.261507987976074 + ], + [ + 1.6330194473266602, + 0.9374663233757019, + 6.079209327697754 + ], + [ + 1.6235637664794922, + 0.9469215273857117, + 6.261507987976074 + ], + [ + 1.6235637664794922, + 0.9469215273857117, + 6.079209327697754 + ], + [ + 1.6235637664794922, + 0.9374663233757019, + 6.261507987976074 + ], + [ + 1.6235637664794922, + 0.9374663233757019, + 6.079209327697754 + ] + ], + "center": { + "x": 1.6282916069030762, + "y": 0.9421939253807068, + "z": 6.170358657836914 + }, + "size": { + "x": 0.009455680847167969, + "y": 0.009455204010009766, + "z": 0.1822986602783203 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.623563528060913, + 0.9374660849571228, + 6.079209327697754 + ], + [ + 1.6330190896987915, + 0.937465488910675, + 6.079209327697754 + ], + [ + 1.6330190896987915, + 0.9374661445617676, + 6.261508464813232 + ], + [ + 1.623563528060913, + 0.9374667406082153, + 6.261508464813232 + ], + [ + 1.6235641241073608, + 0.946921706199646, + 6.079209327697754 + ], + [ + 1.6330196857452393, + 0.9469211101531982, + 6.079209327697754 + ], + [ + 1.6330196857452393, + 0.9469217658042908, + 6.261508464813232 + ], + [ + 1.6235641241073608, + 0.9469223618507385, + 6.261508464813232 + ] + ] + } + } + }, + { + "objectId": "CounterTop|6|0", + "object_info": { + "name": "CounterTop|6|0", + "position": { + "x": 0.026035666465759277, + "y": 2.9802322387695312e-08, + "z": 6.481001377105713 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Toaster|surface|6|15", + "Microwave|surface|6|16", + "Potato|surface|6|13", + "Pencil|surface|6|18", + "SoapBottle|surface|6|17" + ], + "distance": 4.648245811462402, + "objectType": "CounterTop", + "objectId": "CounterTop|6|0", + "assetId": "Countertop_I_6x2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.8563636541366577, + 0.9374663829803467, + 6.4830002784729 + ], + [ + 1.8563636541366577, + 0.9374663829803467, + 5.872448444366455 + ], + [ + 1.8563636541366577, + 0.0, + 6.4830002784729 + ], + [ + 1.8563636541366577, + 0.0, + 5.872448444366455 + ], + [ + 0.02499997615814209, + 0.9374663829803467, + 6.4830002784729 + ], + [ + 0.02499997615814209, + 0.9374663829803467, + 5.872448444366455 + ], + [ + 0.02499997615814209, + 0.0, + 6.4830002784729 + ], + [ + 0.02499997615814209, + 0.0, + 5.872448444366455 + ] + ], + "center": { + "x": 0.9406818151473999, + "y": 0.46873319149017334, + "z": 6.177724361419678 + }, + "size": { + "x": 1.8313636779785156, + "y": 0.9374663829803467, + "z": 0.6105518341064453 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "GarbageCan|6|2", + "object_info": { + "name": "GarbageCan|6|2", + "position": { + "x": 0.2706604599952698, + "y": -0.0014638006687164307, + "z": 4.78305721282959 + }, + "rotation": { + "x": -0.0005329452105797827, + "y": 89.99957275390625, + "z": -0.000576408114284277 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.699999988079071, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": [], + "distance": 3.1535022258758545, + "objectType": "GarbageCan", + "objectId": "GarbageCan|6|2", + "assetId": "bin_30", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.5053040981292725, + 0.6572552919387817, + 5.0494585037231445 + ], + [ + 0.5053040981292725, + 0.6572552919387817, + 4.513649940490723 + ], + [ + 0.5053040981292725, + -0.0014638006687164307, + 5.0494585037231445 + ], + [ + 0.5053040981292725, + -0.0014638006687164307, + 4.513649940490723 + ], + [ + 0.02501124143600464, + 0.6572552919387817, + 5.0494585037231445 + ], + [ + 0.02501124143600464, + 0.6572552919387817, + 4.513649940490723 + ], + [ + 0.02501124143600464, + -0.0014638006687164307, + 5.0494585037231445 + ], + [ + 0.02501124143600464, + -0.0014638006687164307, + 4.513649940490723 + ] + ], + "center": { + "x": 0.26515766978263855, + "y": 0.32789573073387146, + "z": 4.781554222106934 + }, + "size": { + "x": 0.4802928566932678, + "y": 0.6587190628051758, + "z": 0.5358085632324219 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.5053040981292725, + -0.0014643283793702722, + 4.5136566162109375 + ], + [ + 0.5053001046180725, + -0.0014589380007237196, + 5.0494608879089355 + ], + [ + 0.025012657046318054, + -0.00146340555511415, + 5.049457550048828 + ], + [ + 0.025016650557518005, + -0.0014687958173453808, + 4.513652801513672 + ], + [ + 0.5052979588508606, + 0.6572574377059937, + 4.513649940490723 + ], + [ + 0.5052939653396606, + 0.6572628021240234, + 5.049454689025879 + ], + [ + 0.025006532669067383, + 0.6572582721710205, + 5.049450874328613 + ], + [ + 0.025010526180267334, + 0.6572529077529907, + 4.513646125793457 + ] + ] + } + } + }, + { + "objectId": "HousePlant|6|4|0", + "object_info": { + "name": "HousePlant|6|4|0", + "position": { + "x": 4.6880388259887695, + "y": 0.0033127665519714355, + "z": 4.475515365600586 + }, + "rotation": { + "x": 5.877536386833526e-05, + "y": 60.28634262084961, + "z": -0.00012767589942086488 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.0, + "salientMaterials": [ + "Ceramic", + "Organic" + ], + "receptacleObjectIds": null, + "distance": 3.263822317123413, + "objectType": "HousePlant", + "objectId": "HousePlant|6|4|0", + "assetId": "Houseplant_18", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.8062744140625, + 0.8504126071929932, + 4.597064018249512 + ], + [ + 4.8062744140625, + 0.8504126071929932, + 4.361004829406738 + ], + [ + 4.8062744140625, + 2.562999725341797e-06, + 4.597064018249512 + ], + [ + 4.8062744140625, + 2.562999725341797e-06, + 4.361004829406738 + ], + [ + 4.538839340209961, + 0.8504126071929932, + 4.597064018249512 + ], + [ + 4.538839340209961, + 0.8504126071929932, + 4.361004829406738 + ], + [ + 4.538839340209961, + 2.562999725341797e-06, + 4.597064018249512 + ], + [ + 4.538839340209961, + 2.562999725341797e-06, + 4.361004829406738 + ] + ], + "center": { + "x": 4.6725568771362305, + "y": 0.42520758509635925, + "z": 4.479034423828125 + }, + "size": { + "x": 0.26743507385253906, + "y": 0.8504100441932678, + "z": 0.23605918884277344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.855999946594238, + 1.6656704246997833e-06, + 4.4366254806518555 + ], + [ + 4.739696025848389, + 2.1886080503463745e-06, + 4.640414714813232 + ], + [ + 4.526893615722656, + 2.4400651454925537e-06, + 4.518967151641846 + ], + [ + 4.643197059631348, + 1.9171275198459625e-06, + 4.315177917480469 + ], + [ + 4.856001377105713, + 0.8504124283790588, + 4.436624050140381 + ], + [ + 4.7396979331970215, + 0.850412905216217, + 4.640413284301758 + ], + [ + 4.526895046234131, + 0.8504131436347961, + 4.518965721130371 + ], + [ + 4.6431989669799805, + 0.8504126667976379, + 4.315176486968994 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 2.0999999046325684, + "y": 0.9009997844696045, + "z": 2.5999999046325684 + }, + "agent_rotation": { + "x": -0.0, + "y": 9.659346687840298e-06, + "z": 0.0 + }, + "agent_cameraHorizon": 1.5309450418499182e-06, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 2.0999999046325684, + "y": 1.5759997367858887, + "z": 2.5999999046325684 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "HousePlant|6|4|0", + "Fridge|6|1" + ], + "different_object": [ + "window|6|0", + "Microwave|surface|6|16", + "Pencil|surface|6|18", + "window|6|1", + "CounterTop|6|0", + "SoapBottle|surface|6|17", + "Toaster|surface|6|15", + "Painting|6|6", + "GarbageCan|6|2", + "GarbageBag|6|3" + ] +} \ No newline at end of file diff --git a/train/train1572/0/0_depth_npy.npy b/train/train1572/0/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..09504c9140c37c8f5dba0bd3e40c69bd165dfabb --- /dev/null +++ b/train/train1572/0/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fff8b27b63b1e7a36c60fc31ed84fc1c057fe78d4afd9d1344ab67176f370ff0 +size 3145856 diff --git a/train/train1572/0/0_semantic_sensor_npy.npy b/train/train1572/0/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..f81eadd5aedb5d15616dd50d17ba84ef74284564 --- /dev/null +++ b/train/train1572/0/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9336d940f80164ca802ab4fb162f73ff7bc2159af3cc789b604c35db323cc889 +size 2359424 diff --git a/train/train1572/0/1.json b/train/train1572/0/1.json new file mode 100644 index 0000000000000000000000000000000000000000..c94e061e1f2328860594827ea45982dc1a2ea5b9 --- /dev/null +++ b/train/train1572/0/1.json @@ -0,0 +1,2436 @@ +{ + "object": [ + { + "objectId": "Pillow|surface|4|1", + "object_info": { + "name": "Pillow|surface|4|1", + "position": { + "x": 7.282750606536865, + "y": 0.6027514338493347, + "z": 0.8162130117416382 + }, + "rotation": { + "x": -1.8455801864547539e-06, + "y": 1.4380127595359227e-06, + "z": 1.3753033272223547e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 5.315323829650879, + "objectType": "Pillow", + "objectId": "Pillow|surface|4|1", + "assetId": "pillow_24", + "parentReceptacles": [ + "Bed|4|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.469886779785156, + 0.650128960609436, + 0.9697449207305908 + ], + [ + 7.469886779785156, + 0.650128960609436, + 0.6626811027526855 + ], + [ + 7.469886779785156, + 0.5514514446258545, + 0.9697449207305908 + ], + [ + 7.469886779785156, + 0.5514514446258545, + 0.6626811027526855 + ], + [ + 7.095614433288574, + 0.650128960609436, + 0.9697449207305908 + ], + [ + 7.095614433288574, + 0.650128960609436, + 0.6626811027526855 + ], + [ + 7.095614433288574, + 0.5514514446258545, + 0.9697449207305908 + ], + [ + 7.095614433288574, + 0.5514514446258545, + 0.6626811027526855 + ] + ], + "center": { + "x": 7.282750606536865, + "y": 0.6007902026176453, + "z": 0.8162130117416382 + }, + "size": { + "x": 0.37427234649658203, + "y": 0.09867751598358154, + "z": 0.3070638179779053 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.469886779785156, + 0.5514514446258545, + 0.969744861125946 + ], + [ + 7.095614433288574, + 0.5514514446258545, + 0.969744861125946 + ], + [ + 7.095614433288574, + 0.5514514446258545, + 0.6626811623573303 + ], + [ + 7.469886779785156, + 0.5514514446258545, + 0.6626811623573303 + ], + [ + 7.469886779785156, + 0.650128960609436, + 0.969744861125946 + ], + [ + 7.095614433288574, + 0.650128960609436, + 0.969744861125946 + ], + [ + 7.095614433288574, + 0.650128960609436, + 0.6626811623573303 + ], + [ + 7.469886779785156, + 0.650128960609436, + 0.6626811623573303 + ] + ] + } + } + }, + { + "objectId": "Fridge|6|1", + "object_info": { + "name": "Fridge|6|1", + "position": { + "x": 4.54731559753418, + "y": 0.007810354232788086, + "z": 5.77420711517334 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Apple|surface|6|14", + "Tomato|surface|6|19" + ], + "distance": 4.098277568817139, + "objectType": "Fridge", + "objectId": "Fridge|6|1", + "assetId": "Fridge_22", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.855999946594238, + 1.969024896621704, + 6.174583435058594 + ], + [ + 4.855999946594238, + 1.969024896621704, + 5.373834609985352 + ], + [ + 4.855999946594238, + 0.0, + 6.174583435058594 + ], + [ + 4.855999946594238, + 0.0, + 5.373834609985352 + ], + [ + 4.1084184646606445, + 1.969024896621704, + 6.174583435058594 + ], + [ + 4.1084184646606445, + 1.969024896621704, + 5.373834609985352 + ], + [ + 4.1084184646606445, + 0.0, + 6.174583435058594 + ], + [ + 4.1084184646606445, + 0.0, + 5.373834609985352 + ] + ], + "center": { + "x": 4.482209205627441, + "y": 0.984512448310852, + "z": 5.774209022521973 + }, + "size": { + "x": 0.7475814819335938, + "y": 1.969024896621704, + "z": 0.8007488250732422 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|4|7", + "object_info": { + "name": "door|4|7", + "position": { + "x": 4.88100004196167, + "y": -0.0005974769592285156, + "z": 2.1204235553741455 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.806976556777954, + "objectType": "Doorway", + "objectId": "door|4|7", + "assetId": "Doorway_Double_9", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.795930862426758, + 2.07534122467041, + 2.196138858795166 + ], + [ + 5.795930862426758, + 2.07534122467041, + 0.1467655897140503 + ], + [ + 5.795930862426758, + 0.0, + 2.196138858795166 + ], + [ + 5.795930862426758, + 0.0, + 0.1467655897140503 + ], + [ + 4.811378479003906, + 2.07534122467041, + 2.196138858795166 + ], + [ + 4.811378479003906, + 2.07534122467041, + 0.1467655897140503 + ], + [ + 4.811378479003906, + 0.0, + 2.196138858795166 + ], + [ + 4.811378479003906, + 0.0, + 0.1467655897140503 + ] + ], + "center": { + "x": 5.303654670715332, + "y": 1.037670612335205, + "z": 1.1714521646499634 + }, + "size": { + "x": 0.9845523834228516, + "y": 2.07534122467041, + "z": 2.049373149871826 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "RemoteControl|surface|4|5", + "object_info": { + "name": "RemoteControl|surface|4|5", + "position": { + "x": 7.672720432281494, + "y": 0.5567269325256348, + "z": 0.33673542737960815 + }, + "rotation": { + "x": -1.9858600808220217e-06, + "y": -3.517275217745919e-07, + "z": 6.501690677396255e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.15000000596046448, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.848430156707764, + "objectType": "RemoteControl", + "objectId": "RemoteControl|surface|4|5", + "assetId": "Remote_3", + "parentReceptacles": [ + "Bed|4|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.706525802612305, + 0.5768954753875732, + 0.4443017840385437 + ], + [ + 7.706525802612305, + 0.5768954753875732, + 0.2249104380607605 + ], + [ + 7.706525802612305, + 0.5553739070892334, + 0.4443017840385437 + ], + [ + 7.706525802612305, + 0.5553739070892334, + 0.2249104380607605 + ], + [ + 7.638915061950684, + 0.5768954753875732, + 0.4443017840385437 + ], + [ + 7.638915061950684, + 0.5768954753875732, + 0.2249104380607605 + ], + [ + 7.638915061950684, + 0.5553739070892334, + 0.4443017840385437 + ], + [ + 7.638915061950684, + 0.5553739070892334, + 0.2249104380607605 + ] + ], + "center": { + "x": 7.672720432281494, + "y": 0.5661346912384033, + "z": 0.3346061110496521 + }, + "size": { + "x": 0.0676107406616211, + "y": 0.021521568298339844, + "z": 0.2193913459777832 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.706525802612305, + 0.5553739070892334, + 0.4443017840385437 + ], + [ + 7.638915061950684, + 0.5553739070892334, + 0.4443017840385437 + ], + [ + 7.638915061950684, + 0.5553739070892334, + 0.2249104231595993 + ], + [ + 7.706525802612305, + 0.5553739070892334, + 0.2249104231595993 + ], + [ + 7.706525802612305, + 0.5768954753875732, + 0.4443017840385437 + ], + [ + 7.638915061950684, + 0.5768954753875732, + 0.4443017840385437 + ], + [ + 7.638915061950684, + 0.5768954753875732, + 0.2249104231595993 + ], + [ + 7.706525802612305, + 0.5768954753875732, + 0.2249104231595993 + ] + ] + } + } + }, + { + "objectId": "Book|surface|7|22", + "object_info": { + "name": "Book|surface|7|22", + "position": { + "x": 3.420398473739624, + "y": 0.3565850555896759, + "z": 0.6577457189559937 + }, + "rotation": { + "x": 0.004743032157421112, + "y": 0.0002279910258948803, + "z": 0.055691320449113846 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 2.2494711875915527, + "objectType": "Book", + "objectId": "Book|surface|7|22", + "assetId": "Book_2", + "parentReceptacles": [ + "Floor", + "Sofa|7|1" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.5300440788269043, + 0.38794809579849243, + 0.791867733001709 + ], + [ + 3.5300440788269043, + 0.38794809579849243, + 0.5236268043518066 + ], + [ + 3.5300440788269043, + 0.35658544301986694, + 0.791867733001709 + ], + [ + 3.5300440788269043, + 0.35658544301986694, + 0.5236268043518066 + ], + [ + 3.3115086555480957, + 0.38794809579849243, + 0.791867733001709 + ], + [ + 3.3115086555480957, + 0.38794809579849243, + 0.5236268043518066 + ], + [ + 3.3115086555480957, + 0.35658544301986694, + 0.791867733001709 + ], + [ + 3.3115086555480957, + 0.35658544301986694, + 0.5236268043518066 + ] + ], + "center": { + "x": 3.4207763671875, + "y": 0.3722667694091797, + "z": 0.6577472686767578 + }, + "size": { + "x": 0.2185354232788086, + "y": 0.03136265277862549, + "z": 0.26824092864990234 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.5300612449645996, + 0.3566245138645172, + 0.791864812374115 + ], + [ + 3.311540126800537, + 0.3564121127128601, + 0.7918656468391418 + ], + [ + 3.3115391731262207, + 0.35643431544303894, + 0.523626983165741 + ], + [ + 3.530060052871704, + 0.35664671659469604, + 0.5236261487007141 + ], + [ + 3.5300307273864746, + 0.3879645764827728, + 0.7918673753738403 + ], + [ + 3.311509609222412, + 0.3877521753311157, + 0.7918682098388672 + ], + [ + 3.3115086555480957, + 0.38777437806129456, + 0.5236295461654663 + ], + [ + 3.530029773712158, + 0.38798677921295166, + 0.5236287117004395 + ] + ] + } + } + }, + { + "objectId": "Painting|4|7", + "object_info": { + "name": "Painting|4|7", + "position": { + "x": 8.130003929138184, + "y": 2.036191940307617, + "z": 1.6909621953964233 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Wood" + ], + "receptacleObjectIds": null, + "distance": 6.042983531951904, + "objectType": "Painting", + "objectId": "Painting|4|7", + "assetId": "Wall_Decor_Painting_1V", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.129999160766602, + 2.359517812728882, + 2.1521663665771484 + ], + [ + 8.129999160766602, + 2.359517812728882, + 1.2297582626342773 + ], + [ + 8.129999160766602, + 1.7128660678863525, + 2.1521663665771484 + ], + [ + 8.129999160766602, + 1.7128660678863525, + 1.2297582626342773 + ], + [ + 8.098258972167969, + 2.359517812728882, + 2.1521663665771484 + ], + [ + 8.098258972167969, + 2.359517812728882, + 1.2297582626342773 + ], + [ + 8.098258972167969, + 1.7128660678863525, + 2.1521663665771484 + ], + [ + 8.098258972167969, + 1.7128660678863525, + 1.2297582626342773 + ] + ], + "center": { + "x": 8.114129066467285, + "y": 2.036191940307617, + "z": 1.690962314605713 + }, + "size": { + "x": 0.03174018859863281, + "y": 0.6466517448425293, + "z": 0.9224081039428711 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Pillow|surface|7|23", + "object_info": { + "name": "Pillow|surface|7|23", + "position": { + "x": 3.75054931640625, + "y": 0.40584519505500793, + "z": 0.4297727644443512 + }, + "rotation": { + "x": -3.307090707949101e-07, + "y": 7.150779310904909e-06, + "z": -1.8192341144640523e-07 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 2.6043553352355957, + "objectType": "Pillow", + "objectId": "Pillow|surface|7|23", + "assetId": "pillow_17", + "parentReceptacles": [ + "Floor", + "Sofa|7|1" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.9549334049224854, + 0.4583452343940735, + 0.5849737524986267 + ], + [ + 3.9549334049224854, + 0.4583452343940735, + 0.27217233180999756 + ], + [ + 3.9549334049224854, + 0.3522452116012573, + 0.5849737524986267 + ], + [ + 3.9549334049224854, + 0.3522452116012573, + 0.27217233180999756 + ], + [ + 3.5461652278900146, + 0.4583452343940735, + 0.5849737524986267 + ], + [ + 3.5461652278900146, + 0.4583452343940735, + 0.27217233180999756 + ], + [ + 3.5461652278900146, + 0.3522452116012573, + 0.5849737524986267 + ], + [ + 3.5461652278900146, + 0.3522452116012573, + 0.27217233180999756 + ] + ], + "center": { + "x": 3.75054931640625, + "y": 0.4052952229976654, + "z": 0.42857304215431213 + }, + "size": { + "x": 0.4087681770324707, + "y": 0.10610002279281616, + "z": 0.31280142068862915 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.9549334049224854, + 0.3522452116012573, + 0.5849736928939819 + ], + [ + 3.5461652278900146, + 0.3522452116012573, + 0.5849737524986267 + ], + [ + 3.5461652278900146, + 0.3522452116012573, + 0.27217239141464233 + ], + [ + 3.9549334049224854, + 0.3522452116012573, + 0.27217233180999756 + ], + [ + 3.9549334049224854, + 0.4583451747894287, + 0.5849736928939819 + ], + [ + 3.5461652278900146, + 0.4583451747894287, + 0.5849737524986267 + ], + [ + 3.5461652278900146, + 0.4583451747894287, + 0.27217239141464233 + ], + [ + 3.9549334049224854, + 0.4583451747894287, + 0.27217233180999756 + ] + ] + } + } + }, + { + "objectId": "window|4|0", + "object_info": { + "name": "window|4|0", + "position": { + "x": 6.416215896606445, + "y": 0.8567227125167847, + "z": 8.866190910339355e-07 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 4.858941078186035, + "objectType": "Window", + "objectId": "window|4|0", + "assetId": "Window_Fixed_60x48", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.419037818908691, + 2.075921058654785, + 0.03955516591668129 + ], + [ + 6.419037818908691, + 2.075921058654785, + -0.03955516591668129 + ], + [ + 6.419037818908691, + 0.8564743995666504, + 0.03955516591668129 + ], + [ + 6.419037818908691, + 0.8564743995666504, + -0.03955516591668129 + ], + [ + 4.8893938064575195, + 2.075921058654785, + 0.03955516591668129 + ], + [ + 4.8893938064575195, + 2.075921058654785, + -0.03955516591668129 + ], + [ + 4.8893938064575195, + 0.8564743995666504, + 0.03955516591668129 + ], + [ + 4.8893938064575195, + 0.8564743995666504, + -0.03955516591668129 + ] + ], + "center": { + "x": 5.6542158126831055, + "y": 1.4661977291107178, + "z": 0.0 + }, + "size": { + "x": 1.5296440124511719, + "y": 1.2194466590881348, + "z": 0.07911033183336258 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|7|4", + "object_info": { + "name": "Painting|7|4", + "position": { + "x": 4.8793134689331055, + "y": 1.7647161483764648, + "z": 2.6848111152648926 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.7737069129943848, + "objectType": "Painting", + "objectId": "Painting|7|4", + "assetId": "Wall_Decor_Painting_6", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.86333703994751, + 2.065537691116333, + 3.085005760192871 + ], + [ + 4.86333703994751, + 2.065537691116333, + 2.2876110076904297 + ], + [ + 4.86333703994751, + 1.4641544818878174, + 3.085005760192871 + ], + [ + 4.86333703994751, + 1.4641544818878174, + 2.2876110076904297 + ], + [ + 4.855963230133057, + 2.065537691116333, + 3.085005760192871 + ], + [ + 4.855963230133057, + 2.065537691116333, + 2.2876110076904297 + ], + [ + 4.855963230133057, + 1.4641544818878174, + 3.085005760192871 + ], + [ + 4.855963230133057, + 1.4641544818878174, + 2.2876110076904297 + ] + ], + "center": { + "x": 4.859650135040283, + "y": 1.7648460865020752, + "z": 2.6863083839416504 + }, + "size": { + "x": 0.007373809814453125, + "y": 0.6013832092285156, + "z": 0.7973947525024414 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|6|5", + "object_info": { + "name": "Painting|6|5", + "position": { + "x": 4.876166343688965, + "y": 1.7955535650253296, + "z": 3.956955909729004 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.1336395740509033, + "objectType": "Painting", + "objectId": "Painting|6|5", + "assetId": "Wall_Decor_Painting_7", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.875999927520752, + 2.132209300994873, + 4.408702373504639 + ], + [ + 4.875999927520752, + 2.132209300994873, + 3.504917621612549 + ], + [ + 4.875999927520752, + 1.4591739177703857, + 4.408702373504639 + ], + [ + 4.875999927520752, + 1.4591739177703857, + 3.504917621612549 + ], + [ + 4.851780414581299, + 2.132209300994873, + 4.408702373504639 + ], + [ + 4.851780414581299, + 2.132209300994873, + 3.504917621612549 + ], + [ + 4.851780414581299, + 1.4591739177703857, + 4.408702373504639 + ], + [ + 4.851780414581299, + 1.4591739177703857, + 3.504917621612549 + ] + ], + "center": { + "x": 4.863890171051025, + "y": 1.7956916093826294, + "z": 3.9568099975585938 + }, + "size": { + "x": 0.024219512939453125, + "y": 0.6730353832244873, + "z": 0.9037847518920898 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "HousePlant|6|4|0", + "object_info": { + "name": "HousePlant|6|4|0", + "position": { + "x": 4.6880388259887695, + "y": 0.0033127665519714355, + "z": 4.475515365600586 + }, + "rotation": { + "x": 5.877536386833526e-05, + "y": 60.28634262084961, + "z": -0.00012767589942086488 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.0, + "salientMaterials": [ + "Ceramic", + "Organic" + ], + "receptacleObjectIds": null, + "distance": 3.263822317123413, + "objectType": "HousePlant", + "objectId": "HousePlant|6|4|0", + "assetId": "Houseplant_18", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.8062744140625, + 0.8504126071929932, + 4.597064018249512 + ], + [ + 4.8062744140625, + 0.8504126071929932, + 4.361004829406738 + ], + [ + 4.8062744140625, + 2.562999725341797e-06, + 4.597064018249512 + ], + [ + 4.8062744140625, + 2.562999725341797e-06, + 4.361004829406738 + ], + [ + 4.538839340209961, + 0.8504126071929932, + 4.597064018249512 + ], + [ + 4.538839340209961, + 0.8504126071929932, + 4.361004829406738 + ], + [ + 4.538839340209961, + 2.562999725341797e-06, + 4.597064018249512 + ], + [ + 4.538839340209961, + 2.562999725341797e-06, + 4.361004829406738 + ] + ], + "center": { + "x": 4.6725568771362305, + "y": 0.42520758509635925, + "z": 4.479034423828125 + }, + "size": { + "x": 0.26743507385253906, + "y": 0.8504100441932678, + "z": 0.23605918884277344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.855999946594238, + 1.6656704246997833e-06, + 4.4366254806518555 + ], + [ + 4.739696025848389, + 2.1886080503463745e-06, + 4.640414714813232 + ], + [ + 4.526893615722656, + 2.4400651454925537e-06, + 4.518967151641846 + ], + [ + 4.643197059631348, + 1.9171275198459625e-06, + 4.315177917480469 + ], + [ + 4.856001377105713, + 0.8504124283790588, + 4.436624050140381 + ], + [ + 4.7396979331970215, + 0.850412905216217, + 4.640413284301758 + ], + [ + 4.526895046234131, + 0.8504131436347961, + 4.518965721130371 + ], + [ + 4.6431989669799805, + 0.8504126667976379, + 4.315176486968994 + ] + ] + } + } + }, + { + "objectId": "Bed|4|0", + "object_info": { + "name": "Bed|4|0", + "position": { + "x": 7.542730331420898, + "y": 7.62939453125e-06, + "z": 1.0386308431625366 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Fabric", + "Wood" + ], + "receptacleObjectIds": [ + "Book|surface|4|9", + "RemoteControl|surface|4|5", + "RemoteControl|surface|4|4", + "Pillow|surface|4|1" + ], + "distance": 5.564205169677734, + "objectType": "Bed", + "objectId": "Bed|4|0", + "assetId": "RoboTHOR_bed_tarva_v", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.109992980957031, + 0.9211342334747314, + 2.0666117668151855 + ], + [ + 8.109992980957031, + 0.9211342334747314, + 0.025006651878356934 + ], + [ + 8.109992980957031, + 7.569789886474609e-06, + 2.0666117668151855 + ], + [ + 8.109992980957031, + 7.569789886474609e-06, + 0.025006651878356934 + ], + [ + 6.975467681884766, + 0.9211342334747314, + 2.0666117668151855 + ], + [ + 6.975467681884766, + 0.9211342334747314, + 0.025006651878356934 + ], + [ + 6.975467681884766, + 7.569789886474609e-06, + 2.0666117668151855 + ], + [ + 6.975467681884766, + 7.569789886474609e-06, + 0.025006651878356934 + ] + ], + "center": { + "x": 7.542730331420898, + "y": 0.46057090163230896, + "z": 1.0458091497421265 + }, + "size": { + "x": 1.1345252990722656, + "y": 0.921126663684845, + "z": 2.041604995727539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 8.109992980957031, + 7.62939453125e-06, + 2.0666117668151855 + ], + [ + 6.975468158721924, + 7.62939453125e-06, + 2.0666117668151855 + ], + [ + 6.975468158721924, + 7.62939453125e-06, + 0.025006651878356934 + ], + [ + 8.109992980957031, + 7.62939453125e-06, + 0.025006651878356934 + ], + [ + 8.109992980957031, + 0.9211342334747314, + 2.0666117668151855 + ], + [ + 6.975468158721924, + 0.9211342334747314, + 2.0666117668151855 + ], + [ + 6.975468158721924, + 0.9211342334747314, + 0.025006651878356934 + ], + [ + 8.109992980957031, + 0.9211342334747314, + 0.025006651878356934 + ] + ] + } + } + }, + { + "objectId": "Book|surface|4|9", + "object_info": { + "name": "Book|surface|4|9", + "position": { + "x": 7.672718048095703, + "y": 0.5553504228591919, + "z": 1.0559526681900024 + }, + "rotation": { + "x": 0.004763501696288586, + "y": 0.00015095900744199753, + "z": 0.05586046725511551 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 5.6223320960998535, + "objectType": "Book", + "objectId": "Book|surface|4|9", + "assetId": "Book_2", + "parentReceptacles": [ + "Bed|4|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.782362937927246, + 0.5867137908935547, + 1.1900745630264282 + ], + [ + 7.782362937927246, + 0.5867137908935547, + 0.921833872795105 + ], + [ + 7.782362937927246, + 0.5553510189056396, + 1.1900745630264282 + ], + [ + 7.782362937927246, + 0.5553510189056396, + 0.921833872795105 + ], + [ + 7.563828468322754, + 0.5867137908935547, + 1.1900745630264282 + ], + [ + 7.563828468322754, + 0.5867137908935547, + 0.921833872795105 + ], + [ + 7.563828468322754, + 0.5553510189056396, + 1.1900745630264282 + ], + [ + 7.563828468322754, + 0.5553510189056396, + 0.921833872795105 + ] + ], + "center": { + "x": 7.673095703125, + "y": 0.5710324048995972, + "z": 1.0559542179107666 + }, + "size": { + "x": 0.2185344696044922, + "y": 0.03136277198791504, + "z": 0.26824069023132324 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.7823805809021, + 0.5553901791572571, + 1.190071940422058 + ], + [ + 7.563859462738037, + 0.5551770925521851, + 1.1900724172592163 + ], + [ + 7.563858985900879, + 0.5551994442939758, + 0.9218338131904602 + ], + [ + 7.782380104064941, + 0.5554124712944031, + 0.9218332171440125 + ], + [ + 7.782350063323975, + 0.5867302417755127, + 1.1900744438171387 + ], + [ + 7.563828945159912, + 0.5865171551704407, + 1.1900750398635864 + ], + [ + 7.563828468322754, + 0.5865394473075867, + 0.9218363761901855 + ], + [ + 7.782349586486816, + 0.5867525339126587, + 0.9218358397483826 + ] + ] + } + } + }, + { + "objectId": "Sofa|7|1", + "object_info": { + "name": "Sofa|7|1", + "position": { + "x": 3.400536060333252, + "y": -5.3942203521728516e-06, + "z": 0.4518009424209595 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 103.99999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [ + "Book|surface|7|22", + "Pillow|surface|7|23" + ], + "distance": 2.516080856323242, + "objectType": "Sofa", + "objectId": "Sofa|7|1", + "assetId": "RoboTHOR_sofa_vreta", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.304478168487549, + 0.7225294709205627, + 0.8229188919067383 + ], + [ + 4.304478168487549, + 0.7225294709205627, + 0.025164484977722168 + ], + [ + 4.304478168487549, + -5.364418029785156e-06, + 0.8229188919067383 + ], + [ + 4.304478168487549, + -5.364418029785156e-06, + 0.025164484977722168 + ], + [ + 2.530881404876709, + 0.7225294709205627, + 0.8229188919067383 + ], + [ + 2.530881404876709, + 0.7225294709205627, + 0.025164484977722168 + ], + [ + 2.530881404876709, + -5.364418029785156e-06, + 0.8229188919067383 + ], + [ + 2.530881404876709, + -5.364418029785156e-06, + 0.025164484977722168 + ] + ], + "center": { + "x": 3.417679786682129, + "y": 0.3612620532512665, + "z": 0.4240416884422302 + }, + "size": { + "x": 1.7735967636108398, + "y": 0.7225348353385925, + "z": 0.7977544069290161 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.304478168487549, + -5.3942203521728516e-06, + 0.8229190111160278 + ], + [ + 2.53088116645813, + -5.3942203521728516e-06, + 0.8229190111160278 + ], + [ + 2.53088116645813, + -5.3942203521728516e-06, + 0.025164425373077393 + ], + [ + 4.304478168487549, + -5.3942203521728516e-06, + 0.025164425373077393 + ], + [ + 4.304478168487549, + 0.7225296497344971, + 0.8229190111160278 + ], + [ + 2.53088116645813, + 0.7225296497344971, + 0.8229190111160278 + ], + [ + 2.53088116645813, + 0.7225296497344971, + 0.025164425373077393 + ], + [ + 4.304478168487549, + 0.7225296497344971, + 0.025164425373077393 + ] + ] + } + } + }, + { + "objectId": "Ottoman|7|2", + "object_info": { + "name": "Ottoman|7|2", + "position": { + "x": 4.6264448165893555, + "y": 7.450580596923828e-08, + "z": 2.5090413093566895 + }, + "rotation": { + "x": 1.3663732715940569e-05, + "y": 270.0, + "z": 1.4150842616800219e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 2.541529417037964, + "objectType": "Ottoman", + "objectId": "Ottoman|7|2", + "assetId": "Ottoman_205_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.855999946594238, + 0.48462483286857605, + 2.892681837081909 + ], + [ + 4.855999946594238, + 0.48462483286857605, + 2.1254007816314697 + ], + [ + 4.855999946594238, + -5.960464477539063e-08, + 2.892681837081909 + ], + [ + 4.855999946594238, + -5.960464477539063e-08, + 2.1254007816314697 + ], + [ + 4.396889686584473, + 0.48462483286857605, + 2.892681837081909 + ], + [ + 4.396889686584473, + 0.48462483286857605, + 2.1254007816314697 + ], + [ + 4.396889686584473, + -5.960464477539063e-08, + 2.892681837081909 + ], + [ + 4.396889686584473, + -5.960464477539063e-08, + 2.1254007816314697 + ] + ], + "center": { + "x": 4.6264448165893555, + "y": 0.24231238663196564, + "z": 2.5090413093566895 + }, + "size": { + "x": 0.4591102600097656, + "y": 0.4846248924732208, + "z": 0.7672810554504395 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.3968892097473145, + 1.1451318471245031e-07, + 2.89268159866333 + ], + [ + 4.396889686584473, + -7.498891818613629e-08, + 2.1254007816314697 + ], + [ + 4.8560004234313965, + 3.449842367331257e-08, + 2.125401020050049 + ], + [ + 4.855999946594238, + 2.2400053012461285e-07, + 2.892681837081909 + ], + [ + 4.3968892097473145, + 0.48462456464767456, + 2.89268159866333 + ], + [ + 4.396889686584473, + 0.48462438583374023, + 2.1254005432128906 + ], + [ + 4.855999946594238, + 0.4846245050430298, + 2.1254007816314697 + ], + [ + 4.855999946594238, + 0.4846246838569641, + 2.89268159866333 + ] + ] + } + } + }, + { + "objectId": "RemoteControl|surface|4|4", + "object_info": { + "name": "RemoteControl|surface|4|4", + "position": { + "x": 7.412740707397461, + "y": 0.556122899055481, + "z": 1.055951476097107 + }, + "rotation": { + "x": 7.775285666866694e-06, + "y": 90.00006103515625, + "z": -0.000736903166398406 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.15000000596046448, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.371974468231201, + "objectType": "RemoteControl", + "objectId": "RemoteControl|surface|4|4", + "assetId": "Remote_2", + "parentReceptacles": [ + "Bed|4|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.518798351287842, + 0.5792866349220276, + 1.0852338075637817 + ], + [ + 7.518798351287842, + 0.5792866349220276, + 1.026668906211853 + ], + [ + 7.518798351287842, + 0.55537348985672, + 1.0852338075637817 + ], + [ + 7.518798351287842, + 0.55537348985672, + 1.026668906211853 + ], + [ + 7.30668306350708, + 0.5792866349220276, + 1.0852338075637817 + ], + [ + 7.30668306350708, + 0.5792866349220276, + 1.026668906211853 + ], + [ + 7.30668306350708, + 0.55537348985672, + 1.0852338075637817 + ], + [ + 7.30668306350708, + 0.55537348985672, + 1.026668906211853 + ] + ], + "center": { + "x": 7.412740707397461, + "y": 0.5673300623893738, + "z": 1.0559513568878174 + }, + "size": { + "x": 0.21211528778076172, + "y": 0.023913145065307617, + "z": 0.05856490135192871 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.518798351287842, + 0.55537348985672, + 1.0266691446304321 + ], + [ + 7.518798351287842, + 0.555374264717102, + 1.0852335691452026 + ], + [ + 7.30668306350708, + 0.5553743243217468, + 1.0852338075637817 + ], + [ + 7.30668306350708, + 0.5553735494613647, + 1.0266693830490112 + ], + [ + 7.518798351287842, + 0.5792858004570007, + 1.0266687870025635 + ], + [ + 7.518798351287842, + 0.5792865753173828, + 1.085233211517334 + ], + [ + 7.30668306350708, + 0.5792866349220276, + 1.0852335691452026 + ], + [ + 7.30668306350708, + 0.5792858600616455, + 1.0266691446304321 + ] + ] + } + } + }, + { + "objectId": "Safe|4|3", + "object_info": { + "name": "Safe|4|3", + "position": { + "x": 6.662018775939941, + "y": 3.129243850708008e-07, + "z": 0.17459720373153687 + }, + "rotation": { + "x": 5.616228008875623e-06, + "y": 3.2450065191369504e-05, + "z": 3.121611143797054e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 5.068057537078857, + "objectType": "Safe", + "objectId": "Safe|4|3", + "assetId": "Safe_18_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.809785842895508, + 0.30317962169647217, + 0.35963526368141174 + ], + [ + 6.809785842895508, + 0.30317962169647217, + 0.024989783763885498 + ], + [ + 6.809785842895508, + 2.980232238769531e-07, + 0.35963526368141174 + ], + [ + 6.809785842895508, + 2.980232238769531e-07, + 0.024989783763885498 + ], + [ + 6.513216018676758, + 0.30317962169647217, + 0.35963526368141174 + ], + [ + 6.513216018676758, + 0.30317962169647217, + 0.024989783763885498 + ], + [ + 6.513216018676758, + 2.980232238769531e-07, + 0.35963526368141174 + ], + [ + 6.513216018676758, + 2.980232238769531e-07, + 0.024989783763885498 + ] + ], + "center": { + "x": 6.661500930786133, + "y": 0.15158995985984802, + "z": 0.19231252372264862 + }, + "size": { + "x": 0.29656982421875, + "y": 0.3031793236732483, + "z": 0.33464547991752625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.809786319732666, + -4.7202308905980317e-07, + 0.3596360981464386 + ], + [ + 6.513214588165283, + -4.881810014012444e-07, + 0.3596362769603729 + ], + [ + 6.513214588165283, + -4.553784265226568e-07, + 0.024989813566207886 + ], + [ + 6.809785842895508, + -4.3922051418121555e-07, + 0.02498963475227356 + ], + [ + 6.809786319732666, + 0.3031800389289856, + 0.359636127948761 + ], + [ + 6.513214588165283, + 0.3031800389289856, + 0.3596363067626953 + ], + [ + 6.513214588165283, + 0.3031800389289856, + 0.024989843368530273 + ], + [ + 6.809785842895508, + 0.3031800389289856, + 0.024989664554595947 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 1.899999976158142, + "y": 0.9009997844696045, + "z": 2.5999999046325684 + }, + "agent_rotation": { + "x": -0.0, + "y": 90.00000762939453, + "z": 0.0 + }, + "agent_cameraHorizon": 1.5309449281630805e-06, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 1.899999976158142, + "y": 1.5759997367858887, + "z": 2.5999999046325684 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "HousePlant|6|4|0", + "Fridge|6|1" + ], + "different_object": [ + "Pillow|surface|4|1", + "Ottoman|7|2", + "Painting|7|4", + "Pillow|surface|7|23", + "Bed|4|0", + "Painting|4|7", + "RemoteControl|surface|4|4", + "door|4|7", + "Painting|6|5", + "RemoteControl|surface|4|5", + "Book|surface|4|9", + "Safe|4|3", + "Sofa|7|1", + "Book|surface|7|22", + "window|4|0" + ] +} \ No newline at end of file diff --git a/train/train1572/0/1_depth_npy.npy b/train/train1572/0/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..ee49a91987b1ef636bd8fccd6a99978a019e1a87 --- /dev/null +++ b/train/train1572/0/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c6599ef0cd5f7eddc586b3b6d83dc465b2401973c7de2986042d4339fad055b8 +size 3145856 diff --git a/train/train1572/0/1_semantic_sensor_npy.npy b/train/train1572/0/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..9efeb835315c9a633ed361c6d23cac05948eb234 --- /dev/null +++ b/train/train1572/0/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fbd262d20c5fbc6f4044ec57bb222aa25f3ced61163b7150b584b131c9fcbc1a +size 2359424 diff --git a/train/train1572/0/depth_0.png b/train/train1572/0/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..29ed35f230d437169b73b7447158a6ba7149c725 Binary files /dev/null and b/train/train1572/0/depth_0.png differ diff --git a/train/train1572/0/depth_1.png b/train/train1572/0/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..154cecd4e1134d24032e05a42336214da39d1a1d Binary files /dev/null and b/train/train1572/0/depth_1.png differ diff --git a/train/train1572/0/mask_questions.jsonl b/train/train1572/0/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7d3465ca6e6bfaa303516bceb3da48b0e8cc23d2 --- /dev/null +++ b/train/train1572/0/mask_questions.jsonl @@ -0,0 +1,2 @@ +{"id": 2640, "folder_dir": "train1572/0", "pair_name": "0-1:Fridge|6|1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Fridge\nB. HousePlant\nC. CounterTop\nD. Microwave", "answer": "A", "object_name": "Fridge", "image_1": "train1572/0/rgb_0.png", "image_2": "train1572/0/rgb_1.png", "mask_image": "train1572/0/rgb_1_mask_Fridge|6|1.png", "options": ["Fridge", "HousePlant", "CounterTop", "Microwave"]} +{"id": 2641, "folder_dir": "train1572/0", "pair_name": "1-0:Fridge|6|1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. HousePlant\nB. Fridge\nC. Pillow\nD. Window", "answer": "B", "object_name": "Fridge", "image_1": "train1572/0/rgb_1.png", "image_2": "train1572/0/rgb_0.png", "mask_image": "train1572/0/rgb_0_mask_Fridge|6|1.png", "options": ["HousePlant", "Fridge", "Pillow", "Window"]} diff --git a/train/train1572/0/questions_distance.jsonl b/train/train1572/0/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..178d91bfd942075ec5cc92a14ea49e1bf2c2f4af --- /dev/null +++ b/train/train1572/0/questions_distance.jsonl @@ -0,0 +1 @@ +{"id": 1068, "folder_dir": "train1572/0", "query": "Which of the following objects is closest to Fridge in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Pencil\nB. HousePlant\nC. Microwave\nD. Other\n", "answer": "B", "src_object": "Fridge", "target_object": "HousePlant", "question": "Which of the following objects is closest to Fridge in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Pencil", "semantic_id": "Pencil|surface|6|18", "distance": 2.88159175652135, "com": {"x": 1.6282916069030762, "y": 0.9421939253807068, "z": 6.170358657836914}}, {"text": "HousePlant", "semantic_id": "HousePlant|6|4|0", "distance": 1.4235629270130525, "com": {"x": 4.6725568771362305, "y": 0.42520758509635925, "z": 4.479034423828125}}, {"text": "Microwave", "semantic_id": "Microwave|surface|6|16", "distance": 3.111854776721434, "com": {"x": 1.3996949195861816, "y": 1.1136771440505981, "z": 6.180487632751465}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1572/0/rgb_0.png", "image_2": "train1572/0/rgb_1.png"} diff --git a/train/train1572/0/rgb_0.png b/train/train1572/0/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..0b85f7a041824ca8a1341bcb20e19a2cc1022829 --- /dev/null +++ b/train/train1572/0/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2bd3595b7a03de85481ead8a84251f5c67a60df6dc3d02024c60c654dc989bd8 +size 730478 diff --git a/train/train1572/0/rgb_0_mask_Fridge|6|1.png b/train/train1572/0/rgb_0_mask_Fridge|6|1.png new file mode 100644 index 0000000000000000000000000000000000000000..9e5f8738de6cfc69c21d5487b11c6272d0cfbfc7 --- /dev/null +++ b/train/train1572/0/rgb_0_mask_Fridge|6|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:817701cff06161fe0c52cb78472cad3a0e70e3a16dd615e9b727497caf1391cc +size 608143 diff --git a/train/train1572/0/rgb_1.png b/train/train1572/0/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..da1a1d21487d109224d033084839f1ab82c2349e --- /dev/null +++ b/train/train1572/0/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:71a14563814097f5d1600aa793ccb75ebf266c107b192cfa70124351d64bea5b +size 880632 diff --git a/train/train1572/0/rgb_1_mask_Fridge|6|1.png b/train/train1572/0/rgb_1_mask_Fridge|6|1.png new file mode 100644 index 0000000000000000000000000000000000000000..bfc4c8e21135feab88e373471bf007fbe900eb8f --- /dev/null +++ b/train/train1572/0/rgb_1_mask_Fridge|6|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2058c51baf2115ffb5a910daf937e395764045f6578c4950711baaf228ef68bc +size 728463 diff --git a/train/train1572/0/semantic_0.png b/train/train1572/0/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..e333c9cfdfe6324f48203f6584ed19c61d8f1054 Binary files /dev/null and b/train/train1572/0/semantic_0.png differ diff --git a/train/train1572/0/semantic_1.png b/train/train1572/0/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..7dbf31edd5e5244cbc1da68b7faccf98b4e2b719 Binary files /dev/null and b/train/train1572/0/semantic_1.png differ diff --git a/train/train1572/1/0.json b/train/train1572/1/0.json new file mode 100644 index 0000000000000000000000000000000000000000..a300e3ed5cfa2015dc62c1c992487bd984ff8447 --- /dev/null +++ b/train/train1572/1/0.json @@ -0,0 +1,1201 @@ +{ + "object": [ + { + "objectId": "door|1|7", + "object_info": { + "name": "door|1|7", + "position": { + "x": -0.0001679050619713962, + "y": -0.0005974769592285156, + "z": 1.6269772052764893 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.5764901638031006, + "objectType": "Doorway", + "objectId": "door|1|7", + "assetId": "Doorway_4", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.10295780748128891, + 2.103588104248047, + 2.6687240600585938 + ], + [ + 0.10295780748128891, + 2.103588104248047, + 1.6261320114135742 + ], + [ + 0.10295780748128891, + 4.76837158203125e-07, + 2.6687240600585938 + ], + [ + 0.10295780748128891, + 4.76837158203125e-07, + 1.6261320114135742 + ], + [ + -0.10295794159173965, + 2.103588104248047, + 2.6687240600585938 + ], + [ + -0.10295794159173965, + 2.103588104248047, + 1.6261320114135742 + ], + [ + -0.10295794159173965, + 4.76837158203125e-07, + 2.6687240600585938 + ], + [ + -0.10295794159173965, + 4.76837158203125e-07, + 1.6261320114135742 + ] + ], + "center": { + "x": -6.705522537231445e-08, + "y": 1.0517942905426025, + "z": 2.147428035736084 + }, + "size": { + "x": 0.20591574907302856, + "y": 2.1035876274108887, + "z": 1.0425920486450195 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Pen|surface|7|20", + "object_info": { + "name": "Pen|surface|7|20", + "position": { + "x": 1.767542839050293, + "y": 0.8305164575576782, + "z": 1.1721194982528687 + }, + "rotation": { + "x": -1.5869043636485003e-05, + "y": 329.9999084472656, + "z": 2.7494437745190226e-05 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Plastic", + "Metal" + ], + "receptacleObjectIds": null, + "distance": 1.4145668745040894, + "objectType": "Pen", + "objectId": "Pen|surface|7|20", + "assetId": "Pen_1", + "parentReceptacles": [ + "DiningTable|7|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.8170846700668335, + 0.8361613154411316, + 1.2650201320648193 + ], + [ + 1.8170846700668335, + 0.8361613154411316, + 1.0904426574707031 + ], + [ + 1.8170846700668335, + 0.8248715996742249, + 1.2650201320648193 + ], + [ + 1.8170846700668335, + 0.8248715996742249, + 1.0904426574707031 + ], + [ + 1.711521029472351, + 0.8361613154411316, + 1.2650201320648193 + ], + [ + 1.711521029472351, + 0.8361613154411316, + 1.0904426574707031 + ], + [ + 1.711521029472351, + 0.8248715996742249, + 1.2650201320648193 + ], + [ + 1.711521029472351, + 0.8248715996742249, + 1.0904426574707031 + ] + ], + "center": { + "x": 1.7643028497695923, + "y": 0.8305164575576782, + "z": 1.1777313947677612 + }, + "size": { + "x": 0.10556364059448242, + "y": 0.011289715766906738, + "z": 0.1745774745941162 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.7192320823669434, + 0.8248716592788696, + 1.2670862674713135 + ], + [ + 1.7094544172286987, + 0.8248715996742249, + 1.2614411115646362 + ], + [ + 1.8093736171722412, + 0.8248715996742249, + 1.088376522064209 + ], + [ + 1.8191512823104858, + 0.8248715996742249, + 1.0940215587615967 + ], + [ + 1.7192320823669434, + 0.8361613154411316, + 1.2670862674713135 + ], + [ + 1.7094544172286987, + 0.8361613154411316, + 1.2614411115646362 + ], + [ + 1.8093736171722412, + 0.8361612558364868, + 1.088376522064209 + ], + [ + 1.8191512823104858, + 0.8361613154411316, + 1.0940215587615967 + ] + ] + } + } + }, + { + "objectId": "door|4|7", + "object_info": { + "name": "door|4|7", + "position": { + "x": 4.88100004196167, + "y": -0.0005974769592285156, + "z": 2.1204235553741455 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.806976556777954, + "objectType": "Doorway", + "objectId": "door|4|7", + "assetId": "Doorway_Double_9", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.795930862426758, + 2.07534122467041, + 2.196138858795166 + ], + [ + 5.795930862426758, + 2.07534122467041, + 0.1467655897140503 + ], + [ + 5.795930862426758, + 0.0, + 2.196138858795166 + ], + [ + 5.795930862426758, + 0.0, + 0.1467655897140503 + ], + [ + 4.811378479003906, + 2.07534122467041, + 2.196138858795166 + ], + [ + 4.811378479003906, + 2.07534122467041, + 0.1467655897140503 + ], + [ + 4.811378479003906, + 0.0, + 2.196138858795166 + ], + [ + 4.811378479003906, + 0.0, + 0.1467655897140503 + ] + ], + "center": { + "x": 5.303654670715332, + "y": 1.037670612335205, + "z": 1.1714521646499634 + }, + "size": { + "x": 0.9845523834228516, + "y": 2.07534122467041, + "z": 2.049373149871826 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Book|surface|7|22", + "object_info": { + "name": "Book|surface|7|22", + "position": { + "x": 3.420398473739624, + "y": 0.3565850555896759, + "z": 0.6577457189559937 + }, + "rotation": { + "x": 0.004743032157421112, + "y": 0.0002279910258948803, + "z": 0.055691320449113846 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 2.2494711875915527, + "objectType": "Book", + "objectId": "Book|surface|7|22", + "assetId": "Book_2", + "parentReceptacles": [ + "Floor", + "Sofa|7|1" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.5300440788269043, + 0.38794809579849243, + 0.791867733001709 + ], + [ + 3.5300440788269043, + 0.38794809579849243, + 0.5236268043518066 + ], + [ + 3.5300440788269043, + 0.35658544301986694, + 0.791867733001709 + ], + [ + 3.5300440788269043, + 0.35658544301986694, + 0.5236268043518066 + ], + [ + 3.3115086555480957, + 0.38794809579849243, + 0.791867733001709 + ], + [ + 3.3115086555480957, + 0.38794809579849243, + 0.5236268043518066 + ], + [ + 3.3115086555480957, + 0.35658544301986694, + 0.791867733001709 + ], + [ + 3.3115086555480957, + 0.35658544301986694, + 0.5236268043518066 + ] + ], + "center": { + "x": 3.4207763671875, + "y": 0.3722667694091797, + "z": 0.6577472686767578 + }, + "size": { + "x": 0.2185354232788086, + "y": 0.03136265277862549, + "z": 0.26824092864990234 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.5300612449645996, + 0.3566245138645172, + 0.791864812374115 + ], + [ + 3.311540126800537, + 0.3564121127128601, + 0.7918656468391418 + ], + [ + 3.3115391731262207, + 0.35643431544303894, + 0.523626983165741 + ], + [ + 3.530060052871704, + 0.35664671659469604, + 0.5236261487007141 + ], + [ + 3.5300307273864746, + 0.3879645764827728, + 0.7918673753738403 + ], + [ + 3.311509609222412, + 0.3877521753311157, + 0.7918682098388672 + ], + [ + 3.3115086555480957, + 0.38777437806129456, + 0.5236295461654663 + ], + [ + 3.530029773712158, + 0.38798677921295166, + 0.5236287117004395 + ] + ] + } + } + }, + { + "objectId": "DiningTable|7|0", + "object_info": { + "name": "DiningTable|7|0", + "position": { + "x": 1.7485885620117188, + "y": 0.0006234645843505859, + "z": 0.7587100267410278 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": [ + "Pen|surface|7|20", + "Bowl|surface|7|21", + "wall|exterior|0.00|0.00|4.88|0.00", + "wall|7|0.00|0.00|4.88|0.00" + ], + "distance": 2.0234084129333496, + "objectType": "DiningTable", + "objectId": "DiningTable|7|0", + "assetId": "Dining_Table_16_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.4790596961975098, + 0.8248714804649353, + 1.5123353004455566 + ], + [ + 2.4790596961975098, + 0.8248714804649353, + 0.02499997615814209 + ], + [ + 2.4790596961975098, + 1.71661376953125e-05, + 1.5123353004455566 + ], + [ + 2.4790596961975098, + 1.71661376953125e-05, + 0.02499997615814209 + ], + [ + 1.010972261428833, + 0.8248714804649353, + 1.5123353004455566 + ], + [ + 1.010972261428833, + 0.8248714804649353, + 0.02499997615814209 + ], + [ + 1.010972261428833, + 1.71661376953125e-05, + 1.5123353004455566 + ], + [ + 1.010972261428833, + 1.71661376953125e-05, + 0.02499997615814209 + ] + ], + "center": { + "x": 1.7450159788131714, + "y": 0.4124443233013153, + "z": 0.7686676383018494 + }, + "size": { + "x": 1.4680874347686768, + "y": 0.82485431432724, + "z": 1.4873353242874146 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.4790596961975098, + 1.7344951629638672e-05, + 1.512335181236267 + ], + [ + 1.010972261428833, + 1.7344951629638672e-05, + 1.512335181236267 + ], + [ + 1.010972261428833, + 1.7344951629638672e-05, + 0.02499997615814209 + ], + [ + 2.4790596961975098, + 1.7344951629638672e-05, + 0.02499997615814209 + ], + [ + 2.4790596961975098, + 0.8248716592788696, + 1.512335181236267 + ], + [ + 1.010972261428833, + 0.8248716592788696, + 1.512335181236267 + ], + [ + 1.010972261428833, + 0.8248716592788696, + 0.02499997615814209 + ], + [ + 2.4790596961975098, + 0.8248716592788696, + 0.02499997615814209 + ] + ] + } + } + }, + { + "objectId": "Pillow|surface|7|23", + "object_info": { + "name": "Pillow|surface|7|23", + "position": { + "x": 3.75054931640625, + "y": 0.40584519505500793, + "z": 0.4297727644443512 + }, + "rotation": { + "x": -3.307090707949101e-07, + "y": 7.150779310904909e-06, + "z": -1.8192341144640523e-07 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 2.6043553352355957, + "objectType": "Pillow", + "objectId": "Pillow|surface|7|23", + "assetId": "pillow_17", + "parentReceptacles": [ + "Floor", + "Sofa|7|1" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.9549334049224854, + 0.4583452343940735, + 0.5849737524986267 + ], + [ + 3.9549334049224854, + 0.4583452343940735, + 0.27217233180999756 + ], + [ + 3.9549334049224854, + 0.3522452116012573, + 0.5849737524986267 + ], + [ + 3.9549334049224854, + 0.3522452116012573, + 0.27217233180999756 + ], + [ + 3.5461652278900146, + 0.4583452343940735, + 0.5849737524986267 + ], + [ + 3.5461652278900146, + 0.4583452343940735, + 0.27217233180999756 + ], + [ + 3.5461652278900146, + 0.3522452116012573, + 0.5849737524986267 + ], + [ + 3.5461652278900146, + 0.3522452116012573, + 0.27217233180999756 + ] + ], + "center": { + "x": 3.75054931640625, + "y": 0.4052952229976654, + "z": 0.42857304215431213 + }, + "size": { + "x": 0.4087681770324707, + "y": 0.10610002279281616, + "z": 0.31280142068862915 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.9549334049224854, + 0.3522452116012573, + 0.5849736928939819 + ], + [ + 3.5461652278900146, + 0.3522452116012573, + 0.5849737524986267 + ], + [ + 3.5461652278900146, + 0.3522452116012573, + 0.27217239141464233 + ], + [ + 3.9549334049224854, + 0.3522452116012573, + 0.27217233180999756 + ], + [ + 3.9549334049224854, + 0.4583451747894287, + 0.5849736928939819 + ], + [ + 3.5461652278900146, + 0.4583451747894287, + 0.5849737524986267 + ], + [ + 3.5461652278900146, + 0.4583451747894287, + 0.27217239141464233 + ], + [ + 3.9549334049224854, + 0.4583451747894287, + 0.27217233180999756 + ] + ] + } + } + }, + { + "objectId": "Bowl|surface|7|21", + "object_info": { + "name": "Bowl|surface|7|21", + "position": { + "x": 1.7129738330841064, + "y": 0.8276344537734985, + "z": 0.5244503617286682 + }, + "rotation": { + "x": 6.440763536375016e-05, + "y": 329.99993896484375, + "z": -0.0002702583442442119 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4699999988079071, + "salientMaterials": [ + "Glass" + ], + "receptacleObjectIds": [], + "distance": 2.0485546588897705, + "objectType": "Bowl", + "objectId": "Bowl|surface|7|21", + "assetId": "Bowl_8", + "parentReceptacles": [ + "DiningTable|7|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.823659896850586, + 0.8921958208084106, + 0.6351363658905029 + ], + [ + 1.823659896850586, + 0.8921958208084106, + 0.4137645959854126 + ], + [ + 1.823659896850586, + 0.8248716592788696, + 0.6351363658905029 + ], + [ + 1.823659896850586, + 0.8248716592788696, + 0.4137645959854126 + ], + [ + 1.6022882461547852, + 0.8921958208084106, + 0.6351363658905029 + ], + [ + 1.6022882461547852, + 0.8921958208084106, + 0.4137645959854126 + ], + [ + 1.6022882461547852, + 0.8248716592788696, + 0.6351363658905029 + ], + [ + 1.6022882461547852, + 0.8248716592788696, + 0.4137645959854126 + ] + ], + "center": { + "x": 1.7129740715026855, + "y": 0.8585337400436401, + "z": 0.5244504809379578 + }, + "size": { + "x": 0.22137165069580078, + "y": 0.06732416152954102, + "z": 0.22137176990509033 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.751041054725647, + 0.8248710036277771, + 0.6665199995040894 + ], + [ + 1.5709043741226196, + 0.8248719573020935, + 0.5625177025794983 + ], + [ + 1.674906611442566, + 0.8248721957206726, + 0.38238105177879333 + ], + [ + 1.8550432920455933, + 0.8248712420463562, + 0.4863833785057068 + ], + [ + 1.751041293144226, + 0.8921948671340942, + 0.6665202379226685 + ], + [ + 1.5709046125411987, + 0.8921958804130554, + 0.5625178813934326 + ], + [ + 1.674906849861145, + 0.8921961188316345, + 0.38238129019737244 + ], + [ + 1.8550435304641724, + 0.8921951055526733, + 0.4863835871219635 + ] + ] + } + } + }, + { + "objectId": "Sofa|7|1", + "object_info": { + "name": "Sofa|7|1", + "position": { + "x": 3.400536060333252, + "y": -5.3942203521728516e-06, + "z": 0.4518009424209595 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 103.99999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [ + "Book|surface|7|22", + "Pillow|surface|7|23" + ], + "distance": 2.516080856323242, + "objectType": "Sofa", + "objectId": "Sofa|7|1", + "assetId": "RoboTHOR_sofa_vreta", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.304478168487549, + 0.7225294709205627, + 0.8229188919067383 + ], + [ + 4.304478168487549, + 0.7225294709205627, + 0.025164484977722168 + ], + [ + 4.304478168487549, + -5.364418029785156e-06, + 0.8229188919067383 + ], + [ + 4.304478168487549, + -5.364418029785156e-06, + 0.025164484977722168 + ], + [ + 2.530881404876709, + 0.7225294709205627, + 0.8229188919067383 + ], + [ + 2.530881404876709, + 0.7225294709205627, + 0.025164484977722168 + ], + [ + 2.530881404876709, + -5.364418029785156e-06, + 0.8229188919067383 + ], + [ + 2.530881404876709, + -5.364418029785156e-06, + 0.025164484977722168 + ] + ], + "center": { + "x": 3.417679786682129, + "y": 0.3612620532512665, + "z": 0.4240416884422302 + }, + "size": { + "x": 1.7735967636108398, + "y": 0.7225348353385925, + "z": 0.7977544069290161 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.304478168487549, + -5.3942203521728516e-06, + 0.8229190111160278 + ], + [ + 2.53088116645813, + -5.3942203521728516e-06, + 0.8229190111160278 + ], + [ + 2.53088116645813, + -5.3942203521728516e-06, + 0.025164425373077393 + ], + [ + 4.304478168487549, + -5.3942203521728516e-06, + 0.025164425373077393 + ], + [ + 4.304478168487549, + 0.7225296497344971, + 0.8229190111160278 + ], + [ + 2.53088116645813, + 0.7225296497344971, + 0.8229190111160278 + ], + [ + 2.53088116645813, + 0.7225296497344971, + 0.025164425373077393 + ], + [ + 4.304478168487549, + 0.7225296497344971, + 0.025164425373077393 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 1.899999976158142, + "y": 0.9009997844696045, + "z": 2.700000047683716 + }, + "agent_rotation": { + "x": -0.0, + "y": 180.0, + "z": 0.0 + }, + "agent_cameraHorizon": 60.00001525878906, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 1.899999976158142, + "y": 1.5759997367858887, + "z": 2.700000047683716 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Pillow|surface|7|23", + "door|4|7", + "DiningTable|7|0", + "Sofa|7|1", + "Book|surface|7|22" + ], + "different_object": [ + "Pen|surface|7|20", + "Bowl|surface|7|21", + "door|1|7" + ] +} \ No newline at end of file diff --git a/train/train1572/1/0_depth_npy.npy b/train/train1572/1/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..7d9c797c81b4226a1c3f667818c2f51625ddfd10 --- /dev/null +++ b/train/train1572/1/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cbc700d1ae4124de188ed9595ec9c62c97472ddee0f0f267a0e2d6de807294b8 +size 3145856 diff --git a/train/train1572/1/0_semantic_sensor_npy.npy b/train/train1572/1/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..09bfd920df9128d37685d0a47450d08346b3b33e --- /dev/null +++ b/train/train1572/1/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6c2e44ed288fd8daf2740b6dca793138ea8acec6fe1cc1d51744c3881bcc16ab +size 2359424 diff --git a/train/train1572/1/1.json b/train/train1572/1/1.json new file mode 100644 index 0000000000000000000000000000000000000000..4c0c9ed6ed6db92616b8701547a34a1a6938d9e2 --- /dev/null +++ b/train/train1572/1/1.json @@ -0,0 +1,1522 @@ +{ + "object": [ + { + "objectId": "Fridge|6|1", + "object_info": { + "name": "Fridge|6|1", + "position": { + "x": 4.54731559753418, + "y": 0.007810354232788086, + "z": 5.77420711517334 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Apple|surface|6|14", + "Tomato|surface|6|19" + ], + "distance": 4.098277568817139, + "objectType": "Fridge", + "objectId": "Fridge|6|1", + "assetId": "Fridge_22", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.855999946594238, + 1.969024896621704, + 6.174583435058594 + ], + [ + 4.855999946594238, + 1.969024896621704, + 5.373834609985352 + ], + [ + 4.855999946594238, + 0.0, + 6.174583435058594 + ], + [ + 4.855999946594238, + 0.0, + 5.373834609985352 + ], + [ + 4.1084184646606445, + 1.969024896621704, + 6.174583435058594 + ], + [ + 4.1084184646606445, + 1.969024896621704, + 5.373834609985352 + ], + [ + 4.1084184646606445, + 0.0, + 6.174583435058594 + ], + [ + 4.1084184646606445, + 0.0, + 5.373834609985352 + ] + ], + "center": { + "x": 4.482209205627441, + "y": 0.984512448310852, + "z": 5.774209022521973 + }, + "size": { + "x": 0.7475814819335938, + "y": 1.969024896621704, + "z": 0.8007488250732422 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|4|7", + "object_info": { + "name": "door|4|7", + "position": { + "x": 4.88100004196167, + "y": -0.0005974769592285156, + "z": 2.1204235553741455 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.806976556777954, + "objectType": "Doorway", + "objectId": "door|4|7", + "assetId": "Doorway_Double_9", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.795930862426758, + 2.07534122467041, + 2.196138858795166 + ], + [ + 5.795930862426758, + 2.07534122467041, + 0.1467655897140503 + ], + [ + 5.795930862426758, + 0.0, + 2.196138858795166 + ], + [ + 5.795930862426758, + 0.0, + 0.1467655897140503 + ], + [ + 4.811378479003906, + 2.07534122467041, + 2.196138858795166 + ], + [ + 4.811378479003906, + 2.07534122467041, + 0.1467655897140503 + ], + [ + 4.811378479003906, + 0.0, + 2.196138858795166 + ], + [ + 4.811378479003906, + 0.0, + 0.1467655897140503 + ] + ], + "center": { + "x": 5.303654670715332, + "y": 1.037670612335205, + "z": 1.1714521646499634 + }, + "size": { + "x": 0.9845523834228516, + "y": 2.07534122467041, + "z": 2.049373149871826 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Book|surface|7|22", + "object_info": { + "name": "Book|surface|7|22", + "position": { + "x": 3.420398473739624, + "y": 0.3565850555896759, + "z": 0.6577457189559937 + }, + "rotation": { + "x": 0.004743032157421112, + "y": 0.0002279910258948803, + "z": 0.055691320449113846 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 2.2494711875915527, + "objectType": "Book", + "objectId": "Book|surface|7|22", + "assetId": "Book_2", + "parentReceptacles": [ + "Floor", + "Sofa|7|1" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.5300440788269043, + 0.38794809579849243, + 0.791867733001709 + ], + [ + 3.5300440788269043, + 0.38794809579849243, + 0.5236268043518066 + ], + [ + 3.5300440788269043, + 0.35658544301986694, + 0.791867733001709 + ], + [ + 3.5300440788269043, + 0.35658544301986694, + 0.5236268043518066 + ], + [ + 3.3115086555480957, + 0.38794809579849243, + 0.791867733001709 + ], + [ + 3.3115086555480957, + 0.38794809579849243, + 0.5236268043518066 + ], + [ + 3.3115086555480957, + 0.35658544301986694, + 0.791867733001709 + ], + [ + 3.3115086555480957, + 0.35658544301986694, + 0.5236268043518066 + ] + ], + "center": { + "x": 3.4207763671875, + "y": 0.3722667694091797, + "z": 0.6577472686767578 + }, + "size": { + "x": 0.2185354232788086, + "y": 0.03136265277862549, + "z": 0.26824092864990234 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.5300612449645996, + 0.3566245138645172, + 0.791864812374115 + ], + [ + 3.311540126800537, + 0.3564121127128601, + 0.7918656468391418 + ], + [ + 3.3115391731262207, + 0.35643431544303894, + 0.523626983165741 + ], + [ + 3.530060052871704, + 0.35664671659469604, + 0.5236261487007141 + ], + [ + 3.5300307273864746, + 0.3879645764827728, + 0.7918673753738403 + ], + [ + 3.311509609222412, + 0.3877521753311157, + 0.7918682098388672 + ], + [ + 3.3115086555480957, + 0.38777437806129456, + 0.5236295461654663 + ], + [ + 3.530029773712158, + 0.38798677921295166, + 0.5236287117004395 + ] + ] + } + } + }, + { + "objectId": "DiningTable|7|0", + "object_info": { + "name": "DiningTable|7|0", + "position": { + "x": 1.7485885620117188, + "y": 0.0006234645843505859, + "z": 0.7587100267410278 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": [ + "Pen|surface|7|20", + "Bowl|surface|7|21", + "wall|exterior|0.00|0.00|4.88|0.00", + "wall|7|0.00|0.00|4.88|0.00" + ], + "distance": 2.0234084129333496, + "objectType": "DiningTable", + "objectId": "DiningTable|7|0", + "assetId": "Dining_Table_16_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.4790596961975098, + 0.8248714804649353, + 1.5123353004455566 + ], + [ + 2.4790596961975098, + 0.8248714804649353, + 0.02499997615814209 + ], + [ + 2.4790596961975098, + 1.71661376953125e-05, + 1.5123353004455566 + ], + [ + 2.4790596961975098, + 1.71661376953125e-05, + 0.02499997615814209 + ], + [ + 1.010972261428833, + 0.8248714804649353, + 1.5123353004455566 + ], + [ + 1.010972261428833, + 0.8248714804649353, + 0.02499997615814209 + ], + [ + 1.010972261428833, + 1.71661376953125e-05, + 1.5123353004455566 + ], + [ + 1.010972261428833, + 1.71661376953125e-05, + 0.02499997615814209 + ] + ], + "center": { + "x": 1.7450159788131714, + "y": 0.4124443233013153, + "z": 0.7686676383018494 + }, + "size": { + "x": 1.4680874347686768, + "y": 0.82485431432724, + "z": 1.4873353242874146 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.4790596961975098, + 1.7344951629638672e-05, + 1.512335181236267 + ], + [ + 1.010972261428833, + 1.7344951629638672e-05, + 1.512335181236267 + ], + [ + 1.010972261428833, + 1.7344951629638672e-05, + 0.02499997615814209 + ], + [ + 2.4790596961975098, + 1.7344951629638672e-05, + 0.02499997615814209 + ], + [ + 2.4790596961975098, + 0.8248716592788696, + 1.512335181236267 + ], + [ + 1.010972261428833, + 0.8248716592788696, + 1.512335181236267 + ], + [ + 1.010972261428833, + 0.8248716592788696, + 0.02499997615814209 + ], + [ + 2.4790596961975098, + 0.8248716592788696, + 0.02499997615814209 + ] + ] + } + } + }, + { + "objectId": "Pillow|surface|7|23", + "object_info": { + "name": "Pillow|surface|7|23", + "position": { + "x": 3.75054931640625, + "y": 0.40584519505500793, + "z": 0.4297727644443512 + }, + "rotation": { + "x": -3.307090707949101e-07, + "y": 7.150779310904909e-06, + "z": -1.8192341144640523e-07 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 2.6043553352355957, + "objectType": "Pillow", + "objectId": "Pillow|surface|7|23", + "assetId": "pillow_17", + "parentReceptacles": [ + "Floor", + "Sofa|7|1" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.9549334049224854, + 0.4583452343940735, + 0.5849737524986267 + ], + [ + 3.9549334049224854, + 0.4583452343940735, + 0.27217233180999756 + ], + [ + 3.9549334049224854, + 0.3522452116012573, + 0.5849737524986267 + ], + [ + 3.9549334049224854, + 0.3522452116012573, + 0.27217233180999756 + ], + [ + 3.5461652278900146, + 0.4583452343940735, + 0.5849737524986267 + ], + [ + 3.5461652278900146, + 0.4583452343940735, + 0.27217233180999756 + ], + [ + 3.5461652278900146, + 0.3522452116012573, + 0.5849737524986267 + ], + [ + 3.5461652278900146, + 0.3522452116012573, + 0.27217233180999756 + ] + ], + "center": { + "x": 3.75054931640625, + "y": 0.4052952229976654, + "z": 0.42857304215431213 + }, + "size": { + "x": 0.4087681770324707, + "y": 0.10610002279281616, + "z": 0.31280142068862915 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.9549334049224854, + 0.3522452116012573, + 0.5849736928939819 + ], + [ + 3.5461652278900146, + 0.3522452116012573, + 0.5849737524986267 + ], + [ + 3.5461652278900146, + 0.3522452116012573, + 0.27217239141464233 + ], + [ + 3.9549334049224854, + 0.3522452116012573, + 0.27217233180999756 + ], + [ + 3.9549334049224854, + 0.4583451747894287, + 0.5849736928939819 + ], + [ + 3.5461652278900146, + 0.4583451747894287, + 0.5849737524986267 + ], + [ + 3.5461652278900146, + 0.4583451747894287, + 0.27217239141464233 + ], + [ + 3.9549334049224854, + 0.4583451747894287, + 0.27217233180999756 + ] + ] + } + } + }, + { + "objectId": "HousePlant|6|4|0", + "object_info": { + "name": "HousePlant|6|4|0", + "position": { + "x": 4.6880388259887695, + "y": 0.0033127665519714355, + "z": 4.475515365600586 + }, + "rotation": { + "x": 5.877536386833526e-05, + "y": 60.28634262084961, + "z": -0.00012767589942086488 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.0, + "salientMaterials": [ + "Ceramic", + "Organic" + ], + "receptacleObjectIds": null, + "distance": 3.263822317123413, + "objectType": "HousePlant", + "objectId": "HousePlant|6|4|0", + "assetId": "Houseplant_18", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.8062744140625, + 0.8504126071929932, + 4.597064018249512 + ], + [ + 4.8062744140625, + 0.8504126071929932, + 4.361004829406738 + ], + [ + 4.8062744140625, + 2.562999725341797e-06, + 4.597064018249512 + ], + [ + 4.8062744140625, + 2.562999725341797e-06, + 4.361004829406738 + ], + [ + 4.538839340209961, + 0.8504126071929932, + 4.597064018249512 + ], + [ + 4.538839340209961, + 0.8504126071929932, + 4.361004829406738 + ], + [ + 4.538839340209961, + 2.562999725341797e-06, + 4.597064018249512 + ], + [ + 4.538839340209961, + 2.562999725341797e-06, + 4.361004829406738 + ] + ], + "center": { + "x": 4.6725568771362305, + "y": 0.42520758509635925, + "z": 4.479034423828125 + }, + "size": { + "x": 0.26743507385253906, + "y": 0.8504100441932678, + "z": 0.23605918884277344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.855999946594238, + 1.6656704246997833e-06, + 4.4366254806518555 + ], + [ + 4.739696025848389, + 2.1886080503463745e-06, + 4.640414714813232 + ], + [ + 4.526893615722656, + 2.4400651454925537e-06, + 4.518967151641846 + ], + [ + 4.643197059631348, + 1.9171275198459625e-06, + 4.315177917480469 + ], + [ + 4.856001377105713, + 0.8504124283790588, + 4.436624050140381 + ], + [ + 4.7396979331970215, + 0.850412905216217, + 4.640413284301758 + ], + [ + 4.526895046234131, + 0.8504131436347961, + 4.518965721130371 + ], + [ + 4.6431989669799805, + 0.8504126667976379, + 4.315176486968994 + ] + ] + } + } + }, + { + "objectId": "Bed|4|0", + "object_info": { + "name": "Bed|4|0", + "position": { + "x": 7.542730331420898, + "y": 7.62939453125e-06, + "z": 1.0386308431625366 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Fabric", + "Wood" + ], + "receptacleObjectIds": [ + "Book|surface|4|9", + "RemoteControl|surface|4|5", + "RemoteControl|surface|4|4", + "Pillow|surface|4|1" + ], + "distance": 5.564205169677734, + "objectType": "Bed", + "objectId": "Bed|4|0", + "assetId": "RoboTHOR_bed_tarva_v", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.109992980957031, + 0.9211342334747314, + 2.0666117668151855 + ], + [ + 8.109992980957031, + 0.9211342334747314, + 0.025006651878356934 + ], + [ + 8.109992980957031, + 7.569789886474609e-06, + 2.0666117668151855 + ], + [ + 8.109992980957031, + 7.569789886474609e-06, + 0.025006651878356934 + ], + [ + 6.975467681884766, + 0.9211342334747314, + 2.0666117668151855 + ], + [ + 6.975467681884766, + 0.9211342334747314, + 0.025006651878356934 + ], + [ + 6.975467681884766, + 7.569789886474609e-06, + 2.0666117668151855 + ], + [ + 6.975467681884766, + 7.569789886474609e-06, + 0.025006651878356934 + ] + ], + "center": { + "x": 7.542730331420898, + "y": 0.46057090163230896, + "z": 1.0458091497421265 + }, + "size": { + "x": 1.1345252990722656, + "y": 0.921126663684845, + "z": 2.041604995727539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 8.109992980957031, + 7.62939453125e-06, + 2.0666117668151855 + ], + [ + 6.975468158721924, + 7.62939453125e-06, + 2.0666117668151855 + ], + [ + 6.975468158721924, + 7.62939453125e-06, + 0.025006651878356934 + ], + [ + 8.109992980957031, + 7.62939453125e-06, + 0.025006651878356934 + ], + [ + 8.109992980957031, + 0.9211342334747314, + 2.0666117668151855 + ], + [ + 6.975468158721924, + 0.9211342334747314, + 2.0666117668151855 + ], + [ + 6.975468158721924, + 0.9211342334747314, + 0.025006651878356934 + ], + [ + 8.109992980957031, + 0.9211342334747314, + 0.025006651878356934 + ] + ] + } + } + }, + { + "objectId": "Sofa|7|1", + "object_info": { + "name": "Sofa|7|1", + "position": { + "x": 3.400536060333252, + "y": -5.3942203521728516e-06, + "z": 0.4518009424209595 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 103.99999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [ + "Book|surface|7|22", + "Pillow|surface|7|23" + ], + "distance": 2.516080856323242, + "objectType": "Sofa", + "objectId": "Sofa|7|1", + "assetId": "RoboTHOR_sofa_vreta", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.304478168487549, + 0.7225294709205627, + 0.8229188919067383 + ], + [ + 4.304478168487549, + 0.7225294709205627, + 0.025164484977722168 + ], + [ + 4.304478168487549, + -5.364418029785156e-06, + 0.8229188919067383 + ], + [ + 4.304478168487549, + -5.364418029785156e-06, + 0.025164484977722168 + ], + [ + 2.530881404876709, + 0.7225294709205627, + 0.8229188919067383 + ], + [ + 2.530881404876709, + 0.7225294709205627, + 0.025164484977722168 + ], + [ + 2.530881404876709, + -5.364418029785156e-06, + 0.8229188919067383 + ], + [ + 2.530881404876709, + -5.364418029785156e-06, + 0.025164484977722168 + ] + ], + "center": { + "x": 3.417679786682129, + "y": 0.3612620532512665, + "z": 0.4240416884422302 + }, + "size": { + "x": 1.7735967636108398, + "y": 0.7225348353385925, + "z": 0.7977544069290161 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.304478168487549, + -5.3942203521728516e-06, + 0.8229190111160278 + ], + [ + 2.53088116645813, + -5.3942203521728516e-06, + 0.8229190111160278 + ], + [ + 2.53088116645813, + -5.3942203521728516e-06, + 0.025164425373077393 + ], + [ + 4.304478168487549, + -5.3942203521728516e-06, + 0.025164425373077393 + ], + [ + 4.304478168487549, + 0.7225296497344971, + 0.8229190111160278 + ], + [ + 2.53088116645813, + 0.7225296497344971, + 0.8229190111160278 + ], + [ + 2.53088116645813, + 0.7225296497344971, + 0.025164425373077393 + ], + [ + 4.304478168487549, + 0.7225296497344971, + 0.025164425373077393 + ] + ] + } + } + }, + { + "objectId": "Ottoman|7|2", + "object_info": { + "name": "Ottoman|7|2", + "position": { + "x": 4.6264448165893555, + "y": 7.450580596923828e-08, + "z": 2.5090413093566895 + }, + "rotation": { + "x": 1.3663732715940569e-05, + "y": 270.0, + "z": 1.4150842616800219e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 2.541529417037964, + "objectType": "Ottoman", + "objectId": "Ottoman|7|2", + "assetId": "Ottoman_205_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.855999946594238, + 0.48462483286857605, + 2.892681837081909 + ], + [ + 4.855999946594238, + 0.48462483286857605, + 2.1254007816314697 + ], + [ + 4.855999946594238, + -5.960464477539063e-08, + 2.892681837081909 + ], + [ + 4.855999946594238, + -5.960464477539063e-08, + 2.1254007816314697 + ], + [ + 4.396889686584473, + 0.48462483286857605, + 2.892681837081909 + ], + [ + 4.396889686584473, + 0.48462483286857605, + 2.1254007816314697 + ], + [ + 4.396889686584473, + -5.960464477539063e-08, + 2.892681837081909 + ], + [ + 4.396889686584473, + -5.960464477539063e-08, + 2.1254007816314697 + ] + ], + "center": { + "x": 4.6264448165893555, + "y": 0.24231238663196564, + "z": 2.5090413093566895 + }, + "size": { + "x": 0.4591102600097656, + "y": 0.4846248924732208, + "z": 0.7672810554504395 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.3968892097473145, + 1.1451318471245031e-07, + 2.89268159866333 + ], + [ + 4.396889686584473, + -7.498891818613629e-08, + 2.1254007816314697 + ], + [ + 4.8560004234313965, + 3.449842367331257e-08, + 2.125401020050049 + ], + [ + 4.855999946594238, + 2.2400053012461285e-07, + 2.892681837081909 + ], + [ + 4.3968892097473145, + 0.48462456464767456, + 2.89268159866333 + ], + [ + 4.396889686584473, + 0.48462438583374023, + 2.1254005432128906 + ], + [ + 4.855999946594238, + 0.4846245050430298, + 2.1254007816314697 + ], + [ + 4.855999946594238, + 0.4846246838569641, + 2.89268159866333 + ] + ] + } + } + }, + { + "objectId": "Safe|4|3", + "object_info": { + "name": "Safe|4|3", + "position": { + "x": 6.662018775939941, + "y": 3.129243850708008e-07, + "z": 0.17459720373153687 + }, + "rotation": { + "x": 5.616228008875623e-06, + "y": 3.2450065191369504e-05, + "z": 3.121611143797054e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 5.068057537078857, + "objectType": "Safe", + "objectId": "Safe|4|3", + "assetId": "Safe_18_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.809785842895508, + 0.30317962169647217, + 0.35963526368141174 + ], + [ + 6.809785842895508, + 0.30317962169647217, + 0.024989783763885498 + ], + [ + 6.809785842895508, + 2.980232238769531e-07, + 0.35963526368141174 + ], + [ + 6.809785842895508, + 2.980232238769531e-07, + 0.024989783763885498 + ], + [ + 6.513216018676758, + 0.30317962169647217, + 0.35963526368141174 + ], + [ + 6.513216018676758, + 0.30317962169647217, + 0.024989783763885498 + ], + [ + 6.513216018676758, + 2.980232238769531e-07, + 0.35963526368141174 + ], + [ + 6.513216018676758, + 2.980232238769531e-07, + 0.024989783763885498 + ] + ], + "center": { + "x": 6.661500930786133, + "y": 0.15158995985984802, + "z": 0.19231252372264862 + }, + "size": { + "x": 0.29656982421875, + "y": 0.3031793236732483, + "z": 0.33464547991752625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.809786319732666, + -4.7202308905980317e-07, + 0.3596360981464386 + ], + [ + 6.513214588165283, + -4.881810014012444e-07, + 0.3596362769603729 + ], + [ + 6.513214588165283, + -4.553784265226568e-07, + 0.024989813566207886 + ], + [ + 6.809785842895508, + -4.3922051418121555e-07, + 0.02498963475227356 + ], + [ + 6.809786319732666, + 0.3031800389289856, + 0.359636127948761 + ], + [ + 6.513214588165283, + 0.3031800389289856, + 0.3596363067626953 + ], + [ + 6.513214588165283, + 0.3031800389289856, + 0.024989843368530273 + ], + [ + 6.809785842895508, + 0.3031800389289856, + 0.024989664554595947 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 2.0999999046325684, + "y": 0.9009997844696045, + "z": 2.700000047683716 + }, + "agent_rotation": { + "x": -0.0, + "y": 90.00000762939453, + "z": 0.0 + }, + "agent_cameraHorizon": 60.000003814697266, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 2.0999999046325684, + "y": 1.5759997367858887, + "z": 2.700000047683716 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Pillow|surface|7|23", + "door|4|7", + "DiningTable|7|0", + "Sofa|7|1", + "Book|surface|7|22" + ], + "different_object": [ + "Ottoman|7|2", + "Bed|4|0", + "Safe|4|3", + "Fridge|6|1", + "HousePlant|6|4|0" + ] +} \ No newline at end of file diff --git a/train/train1572/1/1_depth_npy.npy b/train/train1572/1/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..470fee3a4cca059309d3d9c506dc678347b6c9d9 --- /dev/null +++ b/train/train1572/1/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:99c49d5e5608d74f79c0ecd9f9ab539704d705f8a132950d0b0c7a11820de4f4 +size 3145856 diff --git a/train/train1572/1/1_semantic_sensor_npy.npy b/train/train1572/1/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..3cc3ab4ca2a92315a26a31a8a0e9d87f62129fd8 --- /dev/null +++ b/train/train1572/1/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:52760cb9e3f46a8da9a497a5985a1730b548701339a9ef561128aa6046da90a4 +size 2359424 diff --git a/train/train1572/1/depth_0.png b/train/train1572/1/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..f5fd9461c9a4bc782cc85de35a4fb37ac6f347cf Binary files /dev/null and b/train/train1572/1/depth_0.png differ diff --git a/train/train1572/1/depth_1.png b/train/train1572/1/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..ef4dc836e6d7ce08ced3da93eed734368cfcb06b Binary files /dev/null and b/train/train1572/1/depth_1.png differ diff --git a/train/train1572/1/mask_questions.jsonl b/train/train1572/1/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f58cd7c572d927d5e845d2deac988693c477db27 --- /dev/null +++ b/train/train1572/1/mask_questions.jsonl @@ -0,0 +1,2 @@ +{"id": 2642, "folder_dir": "train1572/1", "pair_name": "1-0:Pillow|surface|7|23", "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. Safe\nB. Fridge\nC. Pillow\nD. Doorway", "answer": "C", "object_name": "Pillow", "image_1": "train1572/1/rgb_1.png", "image_2": "train1572/1/rgb_0.png", "mask_image": "train1572/1/rgb_0_mask_Pillow|surface|7|23.png", "options": ["Safe", "Fridge", "Pillow", "Doorway"]} +{"id": 2643, "folder_dir": "train1572/1", "pair_name": "1-0:Book|surface|7|22", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Pillow\nB. Bed\nC. Ottoman\nD. Book", "answer": "D", "object_name": "Book", "image_1": "train1572/1/rgb_1.png", "image_2": "train1572/1/rgb_0.png", "mask_image": "train1572/1/rgb_0_mask_Book|surface|7|22.png", "options": ["Pillow", "Bed", "Ottoman", "Book"]} diff --git a/train/train1572/1/rgb_0.png b/train/train1572/1/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..0f388096ad3c84f2540aa0cd70ea879b66ae533e --- /dev/null +++ b/train/train1572/1/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2a264b350700767ef43c28d8c8ee3222d876c55842134c5751863df91eafd229 +size 977505 diff --git a/train/train1572/1/rgb_0_mask_Book|surface|7|22.png b/train/train1572/1/rgb_0_mask_Book|surface|7|22.png new file mode 100644 index 0000000000000000000000000000000000000000..67cd6b749a350bdb24b326236839d9cad24700f1 --- /dev/null +++ b/train/train1572/1/rgb_0_mask_Book|surface|7|22.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5d5dd8faa9c0c52e8685d26f4e3974f63e9975c2ca429369df57b49a0b9b29f9 +size 863748 diff --git a/train/train1572/1/rgb_0_mask_Pillow|surface|7|23.png b/train/train1572/1/rgb_0_mask_Pillow|surface|7|23.png new file mode 100644 index 0000000000000000000000000000000000000000..0530a6d00d5de4afab0ab7a8fa31095726c7a575 --- /dev/null +++ b/train/train1572/1/rgb_0_mask_Pillow|surface|7|23.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9feed3d6dd11db707ebc7f410db9247042ed954d0eb87817164e15c31cbc44ec +size 860651 diff --git a/train/train1572/1/rgb_1.png b/train/train1572/1/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..dacbd82b17c6791d9b015795fa760a30ca42e65c --- /dev/null +++ b/train/train1572/1/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d524e920967f3d970a04d8861e2306fa825a9339ab8593813111e15c926ff984 +size 769009 diff --git a/train/train1572/1/semantic_0.png b/train/train1572/1/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..ff5558cabc68939983563f157bee9d301e7513f1 Binary files /dev/null and b/train/train1572/1/semantic_0.png differ diff --git a/train/train1572/1/semantic_1.png b/train/train1572/1/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..49eec1735eb7080b7f991e6626a31bd7af0afece Binary files /dev/null and b/train/train1572/1/semantic_1.png differ diff --git a/train/train1572/2/0.json b/train/train1572/2/0.json new file mode 100644 index 0000000000000000000000000000000000000000..57dbcf4049e16875174f3d5ab30982cd310f3159 --- /dev/null +++ b/train/train1572/2/0.json @@ -0,0 +1,733 @@ +{ + "object": [ + { + "objectId": "door|1|7", + "object_info": { + "name": "door|1|7", + "position": { + "x": -0.0001679050619713962, + "y": -0.0005974769592285156, + "z": 1.6269772052764893 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.5764901638031006, + "objectType": "Doorway", + "objectId": "door|1|7", + "assetId": "Doorway_4", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.10295780748128891, + 2.103588104248047, + 2.6687240600585938 + ], + [ + 0.10295780748128891, + 2.103588104248047, + 1.6261320114135742 + ], + [ + 0.10295780748128891, + 4.76837158203125e-07, + 2.6687240600585938 + ], + [ + 0.10295780748128891, + 4.76837158203125e-07, + 1.6261320114135742 + ], + [ + -0.10295794159173965, + 2.103588104248047, + 2.6687240600585938 + ], + [ + -0.10295794159173965, + 2.103588104248047, + 1.6261320114135742 + ], + [ + -0.10295794159173965, + 4.76837158203125e-07, + 2.6687240600585938 + ], + [ + -0.10295794159173965, + 4.76837158203125e-07, + 1.6261320114135742 + ] + ], + "center": { + "x": -6.705522537231445e-08, + "y": 1.0517942905426025, + "z": 2.147428035736084 + }, + "size": { + "x": 0.20591574907302856, + "y": 2.1035876274108887, + "z": 1.0425920486450195 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DiningTable|7|0", + "object_info": { + "name": "DiningTable|7|0", + "position": { + "x": 1.7485885620117188, + "y": 0.0006234645843505859, + "z": 0.7587100267410278 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": [ + "Pen|surface|7|20", + "Bowl|surface|7|21", + "wall|exterior|0.00|0.00|4.88|0.00", + "wall|7|0.00|0.00|4.88|0.00" + ], + "distance": 2.0234084129333496, + "objectType": "DiningTable", + "objectId": "DiningTable|7|0", + "assetId": "Dining_Table_16_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.4790596961975098, + 0.8248714804649353, + 1.5123353004455566 + ], + [ + 2.4790596961975098, + 0.8248714804649353, + 0.02499997615814209 + ], + [ + 2.4790596961975098, + 1.71661376953125e-05, + 1.5123353004455566 + ], + [ + 2.4790596961975098, + 1.71661376953125e-05, + 0.02499997615814209 + ], + [ + 1.010972261428833, + 0.8248714804649353, + 1.5123353004455566 + ], + [ + 1.010972261428833, + 0.8248714804649353, + 0.02499997615814209 + ], + [ + 1.010972261428833, + 1.71661376953125e-05, + 1.5123353004455566 + ], + [ + 1.010972261428833, + 1.71661376953125e-05, + 0.02499997615814209 + ] + ], + "center": { + "x": 1.7450159788131714, + "y": 0.4124443233013153, + "z": 0.7686676383018494 + }, + "size": { + "x": 1.4680874347686768, + "y": 0.82485431432724, + "z": 1.4873353242874146 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.4790596961975098, + 1.7344951629638672e-05, + 1.512335181236267 + ], + [ + 1.010972261428833, + 1.7344951629638672e-05, + 1.512335181236267 + ], + [ + 1.010972261428833, + 1.7344951629638672e-05, + 0.02499997615814209 + ], + [ + 2.4790596961975098, + 1.7344951629638672e-05, + 0.02499997615814209 + ], + [ + 2.4790596961975098, + 0.8248716592788696, + 1.512335181236267 + ], + [ + 1.010972261428833, + 0.8248716592788696, + 1.512335181236267 + ], + [ + 1.010972261428833, + 0.8248716592788696, + 0.02499997615814209 + ], + [ + 2.4790596961975098, + 0.8248716592788696, + 0.02499997615814209 + ] + ] + } + } + }, + { + "objectId": "GarbageBag|6|3", + "object_info": { + "name": "GarbageBag|6|3", + "position": { + "x": 1.5636346340179443, + "y": -0.0016814768314361572, + "z": 4.888552665710449 + }, + "rotation": { + "x": 0.0427066944539547, + "y": 90.00025939941406, + "z": 0.3739077150821686 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.499999761581421, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.644071578979492, + "objectType": "GarbageBag", + "objectId": "GarbageBag|6|3", + "assetId": "GarbageBag_21_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.8204209804534912, + 0.5573246479034424, + 5.135462760925293 + ], + [ + 1.8204209804534912, + 0.5573246479034424, + 4.6247053146362305 + ], + [ + 1.8204209804534912, + -8.046627044677734e-07, + 5.135462760925293 + ], + [ + 1.8204209804534912, + -8.046627044677734e-07, + 4.6247053146362305 + ], + [ + 1.305213212966919, + 0.5573246479034424, + 5.135462760925293 + ], + [ + 1.305213212966919, + 0.5573246479034424, + 4.6247053146362305 + ], + [ + 1.305213212966919, + -8.046627044677734e-07, + 5.135462760925293 + ], + [ + 1.305213212966919, + -8.046627044677734e-07, + 4.6247053146362305 + ] + ], + "center": { + "x": 1.562817096710205, + "y": 0.27866193652153015, + "z": 4.880084037780762 + }, + "size": { + "x": 0.5152077674865723, + "y": 0.5573254823684692, + "z": 0.5107574462890625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.8203009366989136, + 0.0009305241983383894, + 4.623661041259766 + ], + [ + 1.820300817489624, + -0.0024025964085012674, + 5.134405136108398 + ], + [ + 1.3050931692123413, + -0.002018574858084321, + 5.1344075202941895 + ], + [ + 1.3050932884216309, + 0.0013145457487553358, + 4.623663425445557 + ], + [ + 1.8207167387008667, + 0.5588568449020386, + 4.627302169799805 + ], + [ + 1.8207166194915771, + 0.5555237531661987, + 5.1380462646484375 + ], + [ + 1.305509090423584, + 0.5559078454971313, + 5.13804817199707 + ], + [ + 1.3055092096328735, + 0.5592409372329712, + 4.627304553985596 + ] + ] + } + } + }, + { + "objectId": "CounterTop|6|0", + "object_info": { + "name": "CounterTop|6|0", + "position": { + "x": 0.026035666465759277, + "y": 2.9802322387695312e-08, + "z": 6.481001377105713 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Toaster|surface|6|15", + "Microwave|surface|6|16", + "Potato|surface|6|13", + "Pencil|surface|6|18", + "SoapBottle|surface|6|17" + ], + "distance": 4.648245811462402, + "objectType": "CounterTop", + "objectId": "CounterTop|6|0", + "assetId": "Countertop_I_6x2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.8563636541366577, + 0.9374663829803467, + 6.4830002784729 + ], + [ + 1.8563636541366577, + 0.9374663829803467, + 5.872448444366455 + ], + [ + 1.8563636541366577, + 0.0, + 6.4830002784729 + ], + [ + 1.8563636541366577, + 0.0, + 5.872448444366455 + ], + [ + 0.02499997615814209, + 0.9374663829803467, + 6.4830002784729 + ], + [ + 0.02499997615814209, + 0.9374663829803467, + 5.872448444366455 + ], + [ + 0.02499997615814209, + 0.0, + 6.4830002784729 + ], + [ + 0.02499997615814209, + 0.0, + 5.872448444366455 + ] + ], + "center": { + "x": 0.9406818151473999, + "y": 0.46873319149017334, + "z": 6.177724361419678 + }, + "size": { + "x": 1.8313636779785156, + "y": 0.9374663829803467, + "z": 0.6105518341064453 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "GarbageCan|6|2", + "object_info": { + "name": "GarbageCan|6|2", + "position": { + "x": 0.2706604599952698, + "y": -0.0014638006687164307, + "z": 4.78305721282959 + }, + "rotation": { + "x": -0.0005329452105797827, + "y": 89.99957275390625, + "z": -0.000576408114284277 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.699999988079071, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": [], + "distance": 3.1535022258758545, + "objectType": "GarbageCan", + "objectId": "GarbageCan|6|2", + "assetId": "bin_30", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.5053040981292725, + 0.6572552919387817, + 5.0494585037231445 + ], + [ + 0.5053040981292725, + 0.6572552919387817, + 4.513649940490723 + ], + [ + 0.5053040981292725, + -0.0014638006687164307, + 5.0494585037231445 + ], + [ + 0.5053040981292725, + -0.0014638006687164307, + 4.513649940490723 + ], + [ + 0.02501124143600464, + 0.6572552919387817, + 5.0494585037231445 + ], + [ + 0.02501124143600464, + 0.6572552919387817, + 4.513649940490723 + ], + [ + 0.02501124143600464, + -0.0014638006687164307, + 5.0494585037231445 + ], + [ + 0.02501124143600464, + -0.0014638006687164307, + 4.513649940490723 + ] + ], + "center": { + "x": 0.26515766978263855, + "y": 0.32789573073387146, + "z": 4.781554222106934 + }, + "size": { + "x": 0.4802928566932678, + "y": 0.6587190628051758, + "z": 0.5358085632324219 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.5053040981292725, + -0.0014643283793702722, + 4.5136566162109375 + ], + [ + 0.5053001046180725, + -0.0014589380007237196, + 5.0494608879089355 + ], + [ + 0.025012657046318054, + -0.00146340555511415, + 5.049457550048828 + ], + [ + 0.025016650557518005, + -0.0014687958173453808, + 4.513652801513672 + ], + [ + 0.5052979588508606, + 0.6572574377059937, + 4.513649940490723 + ], + [ + 0.5052939653396606, + 0.6572628021240234, + 5.049454689025879 + ], + [ + 0.025006532669067383, + 0.6572582721710205, + 5.049450874328613 + ], + [ + 0.025010526180267334, + 0.6572529077529907, + 4.513646125793457 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 2.200000047683716, + "y": 0.9009997844696045, + "z": 2.700000047683716 + }, + "agent_rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "agent_cameraHorizon": 60.000003814697266, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 2.200000047683716, + "y": 1.5759997367858887, + "z": 2.700000047683716 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "DiningTable|7|0", + "door|1|7" + ], + "different_object": [ + "GarbageCan|6|2", + "GarbageBag|6|3", + "CounterTop|6|0" + ] +} \ No newline at end of file diff --git a/train/train1572/2/0_depth_npy.npy b/train/train1572/2/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..bd6f50626ac50359ab3ae2caa0fbc92979ae80af --- /dev/null +++ b/train/train1572/2/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:94e2f2681d7948012c3cfee4b1a0f35d622d7e191fb541b6cc154a133d45e5c4 +size 3145856 diff --git a/train/train1572/2/0_semantic_sensor_npy.npy b/train/train1572/2/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..51f32c540c2f8fed3e022d38ad462a1291b04940 --- /dev/null +++ b/train/train1572/2/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d35669995e4d3c72ec34cde73074bc0e056b9b23a1fdf4e94597cada60d091f +size 2359424 diff --git a/train/train1572/2/1.json b/train/train1572/2/1.json new file mode 100644 index 0000000000000000000000000000000000000000..8626e7f75f0ed5efdc5e2c875bedf12c809a7369 --- /dev/null +++ b/train/train1572/2/1.json @@ -0,0 +1,1201 @@ +{ + "object": [ + { + "objectId": "door|1|7", + "object_info": { + "name": "door|1|7", + "position": { + "x": -0.0001679050619713962, + "y": -0.0005974769592285156, + "z": 1.6269772052764893 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.5764901638031006, + "objectType": "Doorway", + "objectId": "door|1|7", + "assetId": "Doorway_4", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.10295780748128891, + 2.103588104248047, + 2.6687240600585938 + ], + [ + 0.10295780748128891, + 2.103588104248047, + 1.6261320114135742 + ], + [ + 0.10295780748128891, + 4.76837158203125e-07, + 2.6687240600585938 + ], + [ + 0.10295780748128891, + 4.76837158203125e-07, + 1.6261320114135742 + ], + [ + -0.10295794159173965, + 2.103588104248047, + 2.6687240600585938 + ], + [ + -0.10295794159173965, + 2.103588104248047, + 1.6261320114135742 + ], + [ + -0.10295794159173965, + 4.76837158203125e-07, + 2.6687240600585938 + ], + [ + -0.10295794159173965, + 4.76837158203125e-07, + 1.6261320114135742 + ] + ], + "center": { + "x": -6.705522537231445e-08, + "y": 1.0517942905426025, + "z": 2.147428035736084 + }, + "size": { + "x": 0.20591574907302856, + "y": 2.1035876274108887, + "z": 1.0425920486450195 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Pen|surface|7|20", + "object_info": { + "name": "Pen|surface|7|20", + "position": { + "x": 1.767542839050293, + "y": 0.8305164575576782, + "z": 1.1721194982528687 + }, + "rotation": { + "x": -1.5869043636485003e-05, + "y": 329.9999084472656, + "z": 2.7494437745190226e-05 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Plastic", + "Metal" + ], + "receptacleObjectIds": null, + "distance": 1.4145668745040894, + "objectType": "Pen", + "objectId": "Pen|surface|7|20", + "assetId": "Pen_1", + "parentReceptacles": [ + "DiningTable|7|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.8170846700668335, + 0.8361613154411316, + 1.2650201320648193 + ], + [ + 1.8170846700668335, + 0.8361613154411316, + 1.0904426574707031 + ], + [ + 1.8170846700668335, + 0.8248715996742249, + 1.2650201320648193 + ], + [ + 1.8170846700668335, + 0.8248715996742249, + 1.0904426574707031 + ], + [ + 1.711521029472351, + 0.8361613154411316, + 1.2650201320648193 + ], + [ + 1.711521029472351, + 0.8361613154411316, + 1.0904426574707031 + ], + [ + 1.711521029472351, + 0.8248715996742249, + 1.2650201320648193 + ], + [ + 1.711521029472351, + 0.8248715996742249, + 1.0904426574707031 + ] + ], + "center": { + "x": 1.7643028497695923, + "y": 0.8305164575576782, + "z": 1.1777313947677612 + }, + "size": { + "x": 0.10556364059448242, + "y": 0.011289715766906738, + "z": 0.1745774745941162 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.7192320823669434, + 0.8248716592788696, + 1.2670862674713135 + ], + [ + 1.7094544172286987, + 0.8248715996742249, + 1.2614411115646362 + ], + [ + 1.8093736171722412, + 0.8248715996742249, + 1.088376522064209 + ], + [ + 1.8191512823104858, + 0.8248715996742249, + 1.0940215587615967 + ], + [ + 1.7192320823669434, + 0.8361613154411316, + 1.2670862674713135 + ], + [ + 1.7094544172286987, + 0.8361613154411316, + 1.2614411115646362 + ], + [ + 1.8093736171722412, + 0.8361612558364868, + 1.088376522064209 + ], + [ + 1.8191512823104858, + 0.8361613154411316, + 1.0940215587615967 + ] + ] + } + } + }, + { + "objectId": "door|4|7", + "object_info": { + "name": "door|4|7", + "position": { + "x": 4.88100004196167, + "y": -0.0005974769592285156, + "z": 2.1204235553741455 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.806976556777954, + "objectType": "Doorway", + "objectId": "door|4|7", + "assetId": "Doorway_Double_9", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.795930862426758, + 2.07534122467041, + 2.196138858795166 + ], + [ + 5.795930862426758, + 2.07534122467041, + 0.1467655897140503 + ], + [ + 5.795930862426758, + 0.0, + 2.196138858795166 + ], + [ + 5.795930862426758, + 0.0, + 0.1467655897140503 + ], + [ + 4.811378479003906, + 2.07534122467041, + 2.196138858795166 + ], + [ + 4.811378479003906, + 2.07534122467041, + 0.1467655897140503 + ], + [ + 4.811378479003906, + 0.0, + 2.196138858795166 + ], + [ + 4.811378479003906, + 0.0, + 0.1467655897140503 + ] + ], + "center": { + "x": 5.303654670715332, + "y": 1.037670612335205, + "z": 1.1714521646499634 + }, + "size": { + "x": 0.9845523834228516, + "y": 2.07534122467041, + "z": 2.049373149871826 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Book|surface|7|22", + "object_info": { + "name": "Book|surface|7|22", + "position": { + "x": 3.420398473739624, + "y": 0.3565850555896759, + "z": 0.6577457189559937 + }, + "rotation": { + "x": 0.004743032157421112, + "y": 0.0002279910258948803, + "z": 0.055691320449113846 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 2.2494711875915527, + "objectType": "Book", + "objectId": "Book|surface|7|22", + "assetId": "Book_2", + "parentReceptacles": [ + "Floor", + "Sofa|7|1" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.5300440788269043, + 0.38794809579849243, + 0.791867733001709 + ], + [ + 3.5300440788269043, + 0.38794809579849243, + 0.5236268043518066 + ], + [ + 3.5300440788269043, + 0.35658544301986694, + 0.791867733001709 + ], + [ + 3.5300440788269043, + 0.35658544301986694, + 0.5236268043518066 + ], + [ + 3.3115086555480957, + 0.38794809579849243, + 0.791867733001709 + ], + [ + 3.3115086555480957, + 0.38794809579849243, + 0.5236268043518066 + ], + [ + 3.3115086555480957, + 0.35658544301986694, + 0.791867733001709 + ], + [ + 3.3115086555480957, + 0.35658544301986694, + 0.5236268043518066 + ] + ], + "center": { + "x": 3.4207763671875, + "y": 0.3722667694091797, + "z": 0.6577472686767578 + }, + "size": { + "x": 0.2185354232788086, + "y": 0.03136265277862549, + "z": 0.26824092864990234 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.5300612449645996, + 0.3566245138645172, + 0.791864812374115 + ], + [ + 3.311540126800537, + 0.3564121127128601, + 0.7918656468391418 + ], + [ + 3.3115391731262207, + 0.35643431544303894, + 0.523626983165741 + ], + [ + 3.530060052871704, + 0.35664671659469604, + 0.5236261487007141 + ], + [ + 3.5300307273864746, + 0.3879645764827728, + 0.7918673753738403 + ], + [ + 3.311509609222412, + 0.3877521753311157, + 0.7918682098388672 + ], + [ + 3.3115086555480957, + 0.38777437806129456, + 0.5236295461654663 + ], + [ + 3.530029773712158, + 0.38798677921295166, + 0.5236287117004395 + ] + ] + } + } + }, + { + "objectId": "DiningTable|7|0", + "object_info": { + "name": "DiningTable|7|0", + "position": { + "x": 1.7485885620117188, + "y": 0.0006234645843505859, + "z": 0.7587100267410278 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": [ + "Pen|surface|7|20", + "Bowl|surface|7|21", + "wall|exterior|0.00|0.00|4.88|0.00", + "wall|7|0.00|0.00|4.88|0.00" + ], + "distance": 2.0234084129333496, + "objectType": "DiningTable", + "objectId": "DiningTable|7|0", + "assetId": "Dining_Table_16_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.4790596961975098, + 0.8248714804649353, + 1.5123353004455566 + ], + [ + 2.4790596961975098, + 0.8248714804649353, + 0.02499997615814209 + ], + [ + 2.4790596961975098, + 1.71661376953125e-05, + 1.5123353004455566 + ], + [ + 2.4790596961975098, + 1.71661376953125e-05, + 0.02499997615814209 + ], + [ + 1.010972261428833, + 0.8248714804649353, + 1.5123353004455566 + ], + [ + 1.010972261428833, + 0.8248714804649353, + 0.02499997615814209 + ], + [ + 1.010972261428833, + 1.71661376953125e-05, + 1.5123353004455566 + ], + [ + 1.010972261428833, + 1.71661376953125e-05, + 0.02499997615814209 + ] + ], + "center": { + "x": 1.7450159788131714, + "y": 0.4124443233013153, + "z": 0.7686676383018494 + }, + "size": { + "x": 1.4680874347686768, + "y": 0.82485431432724, + "z": 1.4873353242874146 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.4790596961975098, + 1.7344951629638672e-05, + 1.512335181236267 + ], + [ + 1.010972261428833, + 1.7344951629638672e-05, + 1.512335181236267 + ], + [ + 1.010972261428833, + 1.7344951629638672e-05, + 0.02499997615814209 + ], + [ + 2.4790596961975098, + 1.7344951629638672e-05, + 0.02499997615814209 + ], + [ + 2.4790596961975098, + 0.8248716592788696, + 1.512335181236267 + ], + [ + 1.010972261428833, + 0.8248716592788696, + 1.512335181236267 + ], + [ + 1.010972261428833, + 0.8248716592788696, + 0.02499997615814209 + ], + [ + 2.4790596961975098, + 0.8248716592788696, + 0.02499997615814209 + ] + ] + } + } + }, + { + "objectId": "Pillow|surface|7|23", + "object_info": { + "name": "Pillow|surface|7|23", + "position": { + "x": 3.75054931640625, + "y": 0.40584519505500793, + "z": 0.4297727644443512 + }, + "rotation": { + "x": -3.307090707949101e-07, + "y": 7.150779310904909e-06, + "z": -1.8192341144640523e-07 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 2.6043553352355957, + "objectType": "Pillow", + "objectId": "Pillow|surface|7|23", + "assetId": "pillow_17", + "parentReceptacles": [ + "Floor", + "Sofa|7|1" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.9549334049224854, + 0.4583452343940735, + 0.5849737524986267 + ], + [ + 3.9549334049224854, + 0.4583452343940735, + 0.27217233180999756 + ], + [ + 3.9549334049224854, + 0.3522452116012573, + 0.5849737524986267 + ], + [ + 3.9549334049224854, + 0.3522452116012573, + 0.27217233180999756 + ], + [ + 3.5461652278900146, + 0.4583452343940735, + 0.5849737524986267 + ], + [ + 3.5461652278900146, + 0.4583452343940735, + 0.27217233180999756 + ], + [ + 3.5461652278900146, + 0.3522452116012573, + 0.5849737524986267 + ], + [ + 3.5461652278900146, + 0.3522452116012573, + 0.27217233180999756 + ] + ], + "center": { + "x": 3.75054931640625, + "y": 0.4052952229976654, + "z": 0.42857304215431213 + }, + "size": { + "x": 0.4087681770324707, + "y": 0.10610002279281616, + "z": 0.31280142068862915 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.9549334049224854, + 0.3522452116012573, + 0.5849736928939819 + ], + [ + 3.5461652278900146, + 0.3522452116012573, + 0.5849737524986267 + ], + [ + 3.5461652278900146, + 0.3522452116012573, + 0.27217239141464233 + ], + [ + 3.9549334049224854, + 0.3522452116012573, + 0.27217233180999756 + ], + [ + 3.9549334049224854, + 0.4583451747894287, + 0.5849736928939819 + ], + [ + 3.5461652278900146, + 0.4583451747894287, + 0.5849737524986267 + ], + [ + 3.5461652278900146, + 0.4583451747894287, + 0.27217239141464233 + ], + [ + 3.9549334049224854, + 0.4583451747894287, + 0.27217233180999756 + ] + ] + } + } + }, + { + "objectId": "Bowl|surface|7|21", + "object_info": { + "name": "Bowl|surface|7|21", + "position": { + "x": 1.7129738330841064, + "y": 0.8276344537734985, + "z": 0.5244503617286682 + }, + "rotation": { + "x": 6.440763536375016e-05, + "y": 329.99993896484375, + "z": -0.0002702583442442119 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4699999988079071, + "salientMaterials": [ + "Glass" + ], + "receptacleObjectIds": [], + "distance": 2.0485546588897705, + "objectType": "Bowl", + "objectId": "Bowl|surface|7|21", + "assetId": "Bowl_8", + "parentReceptacles": [ + "DiningTable|7|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.823659896850586, + 0.8921958208084106, + 0.6351363658905029 + ], + [ + 1.823659896850586, + 0.8921958208084106, + 0.4137645959854126 + ], + [ + 1.823659896850586, + 0.8248716592788696, + 0.6351363658905029 + ], + [ + 1.823659896850586, + 0.8248716592788696, + 0.4137645959854126 + ], + [ + 1.6022882461547852, + 0.8921958208084106, + 0.6351363658905029 + ], + [ + 1.6022882461547852, + 0.8921958208084106, + 0.4137645959854126 + ], + [ + 1.6022882461547852, + 0.8248716592788696, + 0.6351363658905029 + ], + [ + 1.6022882461547852, + 0.8248716592788696, + 0.4137645959854126 + ] + ], + "center": { + "x": 1.7129740715026855, + "y": 0.8585337400436401, + "z": 0.5244504809379578 + }, + "size": { + "x": 0.22137165069580078, + "y": 0.06732416152954102, + "z": 0.22137176990509033 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.751041054725647, + 0.8248710036277771, + 0.6665199995040894 + ], + [ + 1.5709043741226196, + 0.8248719573020935, + 0.5625177025794983 + ], + [ + 1.674906611442566, + 0.8248721957206726, + 0.38238105177879333 + ], + [ + 1.8550432920455933, + 0.8248712420463562, + 0.4863833785057068 + ], + [ + 1.751041293144226, + 0.8921948671340942, + 0.6665202379226685 + ], + [ + 1.5709046125411987, + 0.8921958804130554, + 0.5625178813934326 + ], + [ + 1.674906849861145, + 0.8921961188316345, + 0.38238129019737244 + ], + [ + 1.8550435304641724, + 0.8921951055526733, + 0.4863835871219635 + ] + ] + } + } + }, + { + "objectId": "Sofa|7|1", + "object_info": { + "name": "Sofa|7|1", + "position": { + "x": 3.400536060333252, + "y": -5.3942203521728516e-06, + "z": 0.4518009424209595 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 103.99999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [ + "Book|surface|7|22", + "Pillow|surface|7|23" + ], + "distance": 2.516080856323242, + "objectType": "Sofa", + "objectId": "Sofa|7|1", + "assetId": "RoboTHOR_sofa_vreta", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.304478168487549, + 0.7225294709205627, + 0.8229188919067383 + ], + [ + 4.304478168487549, + 0.7225294709205627, + 0.025164484977722168 + ], + [ + 4.304478168487549, + -5.364418029785156e-06, + 0.8229188919067383 + ], + [ + 4.304478168487549, + -5.364418029785156e-06, + 0.025164484977722168 + ], + [ + 2.530881404876709, + 0.7225294709205627, + 0.8229188919067383 + ], + [ + 2.530881404876709, + 0.7225294709205627, + 0.025164484977722168 + ], + [ + 2.530881404876709, + -5.364418029785156e-06, + 0.8229188919067383 + ], + [ + 2.530881404876709, + -5.364418029785156e-06, + 0.025164484977722168 + ] + ], + "center": { + "x": 3.417679786682129, + "y": 0.3612620532512665, + "z": 0.4240416884422302 + }, + "size": { + "x": 1.7735967636108398, + "y": 0.7225348353385925, + "z": 0.7977544069290161 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.304478168487549, + -5.3942203521728516e-06, + 0.8229190111160278 + ], + [ + 2.53088116645813, + -5.3942203521728516e-06, + 0.8229190111160278 + ], + [ + 2.53088116645813, + -5.3942203521728516e-06, + 0.025164425373077393 + ], + [ + 4.304478168487549, + -5.3942203521728516e-06, + 0.025164425373077393 + ], + [ + 4.304478168487549, + 0.7225296497344971, + 0.8229190111160278 + ], + [ + 2.53088116645813, + 0.7225296497344971, + 0.8229190111160278 + ], + [ + 2.53088116645813, + 0.7225296497344971, + 0.025164425373077393 + ], + [ + 4.304478168487549, + 0.7225296497344971, + 0.025164425373077393 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 2.200000047683716, + "y": 0.9009997844696045, + "z": 2.5999999046325684 + }, + "agent_rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "agent_cameraHorizon": 60.00001525878906, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 2.200000047683716, + "y": 1.5759997367858887, + "z": 2.5999999046325684 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "DiningTable|7|0", + "door|1|7" + ], + "different_object": [ + "Pillow|surface|7|23", + "door|4|7", + "Bowl|surface|7|21", + "Sofa|7|1", + "Book|surface|7|22", + "Pen|surface|7|20" + ] +} \ No newline at end of file diff --git a/train/train1572/2/1_depth_npy.npy b/train/train1572/2/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..94b750e1617a006361782bae59aa3f561950ae17 --- /dev/null +++ b/train/train1572/2/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ae0b6235bf49af90bc65eda7d44d3ef5e784373ac28f6a836480a6f77d4db446 +size 3145856 diff --git a/train/train1572/2/1_semantic_sensor_npy.npy b/train/train1572/2/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..b0d0adc0c0fde17d698b8067d67701cf63070d10 --- /dev/null +++ b/train/train1572/2/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:68cfb8ab999b4b072801a4f297fca1f3d0358df59ff07469c61077defa82746d +size 2359424 diff --git a/train/train1572/2/depth_0.png b/train/train1572/2/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..358c7eeb4e7a2ee8f89c072cccf4cac799fde69a Binary files /dev/null and b/train/train1572/2/depth_0.png differ diff --git a/train/train1572/2/depth_1.png b/train/train1572/2/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..d2d18fe2d874efc4eaade37ff166bbe428c93678 Binary files /dev/null and b/train/train1572/2/depth_1.png differ diff --git a/train/train1572/2/mask_questions.jsonl b/train/train1572/2/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..34d51fb6df68467ff173830ebfc5bb35f4c8d9d4 --- /dev/null +++ b/train/train1572/2/mask_questions.jsonl @@ -0,0 +1 @@ +{"id": 2644, "folder_dir": "train1572/2", "pair_name": "0-1:door|1|7", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. GarbageBag\nB. Doorway\nC. CounterTop\nD. DiningTable", "answer": "B", "object_name": "Doorway", "image_1": "train1572/2/rgb_0.png", "image_2": "train1572/2/rgb_1.png", "mask_image": "train1572/2/rgb_1_mask_door|1|7.png", "options": ["GarbageBag", "Doorway", "CounterTop", "DiningTable"]} diff --git a/train/train1572/2/rgb_0.png b/train/train1572/2/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..35af913a36b30526859ebb7807d15176abf4104c --- /dev/null +++ b/train/train1572/2/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4ffbbc8c6441eb48bb40e065beb2eb31d36c9227dca4f3b44f31d732afc1a234 +size 763773 diff --git a/train/train1572/2/rgb_1.png b/train/train1572/2/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..15b0c728205772b962ed13ef92450350e4758a85 --- /dev/null +++ b/train/train1572/2/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ae2c3fd7a455df6f26b9b047cfb5b50877f0202827ab1ee5badcfed91ae89829 +size 976376 diff --git a/train/train1572/2/rgb_1_mask_door|1|7.png b/train/train1572/2/rgb_1_mask_door|1|7.png new file mode 100644 index 0000000000000000000000000000000000000000..10b11686040094067a45356e32922b489887eb35 --- /dev/null +++ b/train/train1572/2/rgb_1_mask_door|1|7.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c41f6105f59c3f84e6a5fdd83d86b768181d21859e83131f3880ffae6413c3ac +size 855741 diff --git a/train/train1572/2/semantic_0.png b/train/train1572/2/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..ea324dba4154777d9c94830f597406c034af8866 Binary files /dev/null and b/train/train1572/2/semantic_0.png differ diff --git a/train/train1572/2/semantic_1.png b/train/train1572/2/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..0f459af344182cd67b9b5fc708a263c995f229a2 Binary files /dev/null and b/train/train1572/2/semantic_1.png differ diff --git a/train/train1572/3/0.json b/train/train1572/3/0.json new file mode 100644 index 0000000000000000000000000000000000000000..cfb7138340da0f459ce88fde9bc3600258a2bf23 --- /dev/null +++ b/train/train1572/3/0.json @@ -0,0 +1,1201 @@ +{ + "object": [ + { + "objectId": "door|1|7", + "object_info": { + "name": "door|1|7", + "position": { + "x": -0.0001679050619713962, + "y": -0.0005974769592285156, + "z": 1.6269772052764893 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.5764901638031006, + "objectType": "Doorway", + "objectId": "door|1|7", + "assetId": "Doorway_4", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.10295780748128891, + 2.103588104248047, + 2.6687240600585938 + ], + [ + 0.10295780748128891, + 2.103588104248047, + 1.6261320114135742 + ], + [ + 0.10295780748128891, + 4.76837158203125e-07, + 2.6687240600585938 + ], + [ + 0.10295780748128891, + 4.76837158203125e-07, + 1.6261320114135742 + ], + [ + -0.10295794159173965, + 2.103588104248047, + 2.6687240600585938 + ], + [ + -0.10295794159173965, + 2.103588104248047, + 1.6261320114135742 + ], + [ + -0.10295794159173965, + 4.76837158203125e-07, + 2.6687240600585938 + ], + [ + -0.10295794159173965, + 4.76837158203125e-07, + 1.6261320114135742 + ] + ], + "center": { + "x": -6.705522537231445e-08, + "y": 1.0517942905426025, + "z": 2.147428035736084 + }, + "size": { + "x": 0.20591574907302856, + "y": 2.1035876274108887, + "z": 1.0425920486450195 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Pen|surface|7|20", + "object_info": { + "name": "Pen|surface|7|20", + "position": { + "x": 1.767542839050293, + "y": 0.8305164575576782, + "z": 1.1721194982528687 + }, + "rotation": { + "x": -1.5869043636485003e-05, + "y": 329.9999084472656, + "z": 2.7494437745190226e-05 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Plastic", + "Metal" + ], + "receptacleObjectIds": null, + "distance": 1.4145668745040894, + "objectType": "Pen", + "objectId": "Pen|surface|7|20", + "assetId": "Pen_1", + "parentReceptacles": [ + "DiningTable|7|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.8170846700668335, + 0.8361613154411316, + 1.2650201320648193 + ], + [ + 1.8170846700668335, + 0.8361613154411316, + 1.0904426574707031 + ], + [ + 1.8170846700668335, + 0.8248715996742249, + 1.2650201320648193 + ], + [ + 1.8170846700668335, + 0.8248715996742249, + 1.0904426574707031 + ], + [ + 1.711521029472351, + 0.8361613154411316, + 1.2650201320648193 + ], + [ + 1.711521029472351, + 0.8361613154411316, + 1.0904426574707031 + ], + [ + 1.711521029472351, + 0.8248715996742249, + 1.2650201320648193 + ], + [ + 1.711521029472351, + 0.8248715996742249, + 1.0904426574707031 + ] + ], + "center": { + "x": 1.7643028497695923, + "y": 0.8305164575576782, + "z": 1.1777313947677612 + }, + "size": { + "x": 0.10556364059448242, + "y": 0.011289715766906738, + "z": 0.1745774745941162 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.7192320823669434, + 0.8248716592788696, + 1.2670862674713135 + ], + [ + 1.7094544172286987, + 0.8248715996742249, + 1.2614411115646362 + ], + [ + 1.8093736171722412, + 0.8248715996742249, + 1.088376522064209 + ], + [ + 1.8191512823104858, + 0.8248715996742249, + 1.0940215587615967 + ], + [ + 1.7192320823669434, + 0.8361613154411316, + 1.2670862674713135 + ], + [ + 1.7094544172286987, + 0.8361613154411316, + 1.2614411115646362 + ], + [ + 1.8093736171722412, + 0.8361612558364868, + 1.088376522064209 + ], + [ + 1.8191512823104858, + 0.8361613154411316, + 1.0940215587615967 + ] + ] + } + } + }, + { + "objectId": "door|4|7", + "object_info": { + "name": "door|4|7", + "position": { + "x": 4.88100004196167, + "y": -0.0005974769592285156, + "z": 2.1204235553741455 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.806976556777954, + "objectType": "Doorway", + "objectId": "door|4|7", + "assetId": "Doorway_Double_9", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.795930862426758, + 2.07534122467041, + 2.196138858795166 + ], + [ + 5.795930862426758, + 2.07534122467041, + 0.1467655897140503 + ], + [ + 5.795930862426758, + 0.0, + 2.196138858795166 + ], + [ + 5.795930862426758, + 0.0, + 0.1467655897140503 + ], + [ + 4.811378479003906, + 2.07534122467041, + 2.196138858795166 + ], + [ + 4.811378479003906, + 2.07534122467041, + 0.1467655897140503 + ], + [ + 4.811378479003906, + 0.0, + 2.196138858795166 + ], + [ + 4.811378479003906, + 0.0, + 0.1467655897140503 + ] + ], + "center": { + "x": 5.303654670715332, + "y": 1.037670612335205, + "z": 1.1714521646499634 + }, + "size": { + "x": 0.9845523834228516, + "y": 2.07534122467041, + "z": 2.049373149871826 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Book|surface|7|22", + "object_info": { + "name": "Book|surface|7|22", + "position": { + "x": 3.420398473739624, + "y": 0.3565850555896759, + "z": 0.6577457189559937 + }, + "rotation": { + "x": 0.004743032157421112, + "y": 0.0002279910258948803, + "z": 0.055691320449113846 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 2.2494711875915527, + "objectType": "Book", + "objectId": "Book|surface|7|22", + "assetId": "Book_2", + "parentReceptacles": [ + "Floor", + "Sofa|7|1" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.5300440788269043, + 0.38794809579849243, + 0.791867733001709 + ], + [ + 3.5300440788269043, + 0.38794809579849243, + 0.5236268043518066 + ], + [ + 3.5300440788269043, + 0.35658544301986694, + 0.791867733001709 + ], + [ + 3.5300440788269043, + 0.35658544301986694, + 0.5236268043518066 + ], + [ + 3.3115086555480957, + 0.38794809579849243, + 0.791867733001709 + ], + [ + 3.3115086555480957, + 0.38794809579849243, + 0.5236268043518066 + ], + [ + 3.3115086555480957, + 0.35658544301986694, + 0.791867733001709 + ], + [ + 3.3115086555480957, + 0.35658544301986694, + 0.5236268043518066 + ] + ], + "center": { + "x": 3.4207763671875, + "y": 0.3722667694091797, + "z": 0.6577472686767578 + }, + "size": { + "x": 0.2185354232788086, + "y": 0.03136265277862549, + "z": 0.26824092864990234 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.5300612449645996, + 0.3566245138645172, + 0.791864812374115 + ], + [ + 3.311540126800537, + 0.3564121127128601, + 0.7918656468391418 + ], + [ + 3.3115391731262207, + 0.35643431544303894, + 0.523626983165741 + ], + [ + 3.530060052871704, + 0.35664671659469604, + 0.5236261487007141 + ], + [ + 3.5300307273864746, + 0.3879645764827728, + 0.7918673753738403 + ], + [ + 3.311509609222412, + 0.3877521753311157, + 0.7918682098388672 + ], + [ + 3.3115086555480957, + 0.38777437806129456, + 0.5236295461654663 + ], + [ + 3.530029773712158, + 0.38798677921295166, + 0.5236287117004395 + ] + ] + } + } + }, + { + "objectId": "DiningTable|7|0", + "object_info": { + "name": "DiningTable|7|0", + "position": { + "x": 1.7485885620117188, + "y": 0.0006234645843505859, + "z": 0.7587100267410278 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": [ + "Pen|surface|7|20", + "Bowl|surface|7|21", + "wall|exterior|0.00|0.00|4.88|0.00", + "wall|7|0.00|0.00|4.88|0.00" + ], + "distance": 2.0234084129333496, + "objectType": "DiningTable", + "objectId": "DiningTable|7|0", + "assetId": "Dining_Table_16_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.4790596961975098, + 0.8248714804649353, + 1.5123353004455566 + ], + [ + 2.4790596961975098, + 0.8248714804649353, + 0.02499997615814209 + ], + [ + 2.4790596961975098, + 1.71661376953125e-05, + 1.5123353004455566 + ], + [ + 2.4790596961975098, + 1.71661376953125e-05, + 0.02499997615814209 + ], + [ + 1.010972261428833, + 0.8248714804649353, + 1.5123353004455566 + ], + [ + 1.010972261428833, + 0.8248714804649353, + 0.02499997615814209 + ], + [ + 1.010972261428833, + 1.71661376953125e-05, + 1.5123353004455566 + ], + [ + 1.010972261428833, + 1.71661376953125e-05, + 0.02499997615814209 + ] + ], + "center": { + "x": 1.7450159788131714, + "y": 0.4124443233013153, + "z": 0.7686676383018494 + }, + "size": { + "x": 1.4680874347686768, + "y": 0.82485431432724, + "z": 1.4873353242874146 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.4790596961975098, + 1.7344951629638672e-05, + 1.512335181236267 + ], + [ + 1.010972261428833, + 1.7344951629638672e-05, + 1.512335181236267 + ], + [ + 1.010972261428833, + 1.7344951629638672e-05, + 0.02499997615814209 + ], + [ + 2.4790596961975098, + 1.7344951629638672e-05, + 0.02499997615814209 + ], + [ + 2.4790596961975098, + 0.8248716592788696, + 1.512335181236267 + ], + [ + 1.010972261428833, + 0.8248716592788696, + 1.512335181236267 + ], + [ + 1.010972261428833, + 0.8248716592788696, + 0.02499997615814209 + ], + [ + 2.4790596961975098, + 0.8248716592788696, + 0.02499997615814209 + ] + ] + } + } + }, + { + "objectId": "Pillow|surface|7|23", + "object_info": { + "name": "Pillow|surface|7|23", + "position": { + "x": 3.75054931640625, + "y": 0.40584519505500793, + "z": 0.4297727644443512 + }, + "rotation": { + "x": -3.307090707949101e-07, + "y": 7.150779310904909e-06, + "z": -1.8192341144640523e-07 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 2.6043553352355957, + "objectType": "Pillow", + "objectId": "Pillow|surface|7|23", + "assetId": "pillow_17", + "parentReceptacles": [ + "Floor", + "Sofa|7|1" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.9549334049224854, + 0.4583452343940735, + 0.5849737524986267 + ], + [ + 3.9549334049224854, + 0.4583452343940735, + 0.27217233180999756 + ], + [ + 3.9549334049224854, + 0.3522452116012573, + 0.5849737524986267 + ], + [ + 3.9549334049224854, + 0.3522452116012573, + 0.27217233180999756 + ], + [ + 3.5461652278900146, + 0.4583452343940735, + 0.5849737524986267 + ], + [ + 3.5461652278900146, + 0.4583452343940735, + 0.27217233180999756 + ], + [ + 3.5461652278900146, + 0.3522452116012573, + 0.5849737524986267 + ], + [ + 3.5461652278900146, + 0.3522452116012573, + 0.27217233180999756 + ] + ], + "center": { + "x": 3.75054931640625, + "y": 0.4052952229976654, + "z": 0.42857304215431213 + }, + "size": { + "x": 0.4087681770324707, + "y": 0.10610002279281616, + "z": 0.31280142068862915 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.9549334049224854, + 0.3522452116012573, + 0.5849736928939819 + ], + [ + 3.5461652278900146, + 0.3522452116012573, + 0.5849737524986267 + ], + [ + 3.5461652278900146, + 0.3522452116012573, + 0.27217239141464233 + ], + [ + 3.9549334049224854, + 0.3522452116012573, + 0.27217233180999756 + ], + [ + 3.9549334049224854, + 0.4583451747894287, + 0.5849736928939819 + ], + [ + 3.5461652278900146, + 0.4583451747894287, + 0.5849737524986267 + ], + [ + 3.5461652278900146, + 0.4583451747894287, + 0.27217239141464233 + ], + [ + 3.9549334049224854, + 0.4583451747894287, + 0.27217233180999756 + ] + ] + } + } + }, + { + "objectId": "Bowl|surface|7|21", + "object_info": { + "name": "Bowl|surface|7|21", + "position": { + "x": 1.7129738330841064, + "y": 0.8276344537734985, + "z": 0.5244503617286682 + }, + "rotation": { + "x": 6.440763536375016e-05, + "y": 329.99993896484375, + "z": -0.0002702583442442119 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4699999988079071, + "salientMaterials": [ + "Glass" + ], + "receptacleObjectIds": [], + "distance": 2.0485546588897705, + "objectType": "Bowl", + "objectId": "Bowl|surface|7|21", + "assetId": "Bowl_8", + "parentReceptacles": [ + "DiningTable|7|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.823659896850586, + 0.8921958208084106, + 0.6351363658905029 + ], + [ + 1.823659896850586, + 0.8921958208084106, + 0.4137645959854126 + ], + [ + 1.823659896850586, + 0.8248716592788696, + 0.6351363658905029 + ], + [ + 1.823659896850586, + 0.8248716592788696, + 0.4137645959854126 + ], + [ + 1.6022882461547852, + 0.8921958208084106, + 0.6351363658905029 + ], + [ + 1.6022882461547852, + 0.8921958208084106, + 0.4137645959854126 + ], + [ + 1.6022882461547852, + 0.8248716592788696, + 0.6351363658905029 + ], + [ + 1.6022882461547852, + 0.8248716592788696, + 0.4137645959854126 + ] + ], + "center": { + "x": 1.7129740715026855, + "y": 0.8585337400436401, + "z": 0.5244504809379578 + }, + "size": { + "x": 0.22137165069580078, + "y": 0.06732416152954102, + "z": 0.22137176990509033 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.751041054725647, + 0.8248710036277771, + 0.6665199995040894 + ], + [ + 1.5709043741226196, + 0.8248719573020935, + 0.5625177025794983 + ], + [ + 1.674906611442566, + 0.8248721957206726, + 0.38238105177879333 + ], + [ + 1.8550432920455933, + 0.8248712420463562, + 0.4863833785057068 + ], + [ + 1.751041293144226, + 0.8921948671340942, + 0.6665202379226685 + ], + [ + 1.5709046125411987, + 0.8921958804130554, + 0.5625178813934326 + ], + [ + 1.674906849861145, + 0.8921961188316345, + 0.38238129019737244 + ], + [ + 1.8550435304641724, + 0.8921951055526733, + 0.4863835871219635 + ] + ] + } + } + }, + { + "objectId": "Sofa|7|1", + "object_info": { + "name": "Sofa|7|1", + "position": { + "x": 3.400536060333252, + "y": -5.3942203521728516e-06, + "z": 0.4518009424209595 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 103.99999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [ + "Book|surface|7|22", + "Pillow|surface|7|23" + ], + "distance": 2.516080856323242, + "objectType": "Sofa", + "objectId": "Sofa|7|1", + "assetId": "RoboTHOR_sofa_vreta", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.304478168487549, + 0.7225294709205627, + 0.8229188919067383 + ], + [ + 4.304478168487549, + 0.7225294709205627, + 0.025164484977722168 + ], + [ + 4.304478168487549, + -5.364418029785156e-06, + 0.8229188919067383 + ], + [ + 4.304478168487549, + -5.364418029785156e-06, + 0.025164484977722168 + ], + [ + 2.530881404876709, + 0.7225294709205627, + 0.8229188919067383 + ], + [ + 2.530881404876709, + 0.7225294709205627, + 0.025164484977722168 + ], + [ + 2.530881404876709, + -5.364418029785156e-06, + 0.8229188919067383 + ], + [ + 2.530881404876709, + -5.364418029785156e-06, + 0.025164484977722168 + ] + ], + "center": { + "x": 3.417679786682129, + "y": 0.3612620532512665, + "z": 0.4240416884422302 + }, + "size": { + "x": 1.7735967636108398, + "y": 0.7225348353385925, + "z": 0.7977544069290161 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.304478168487549, + -5.3942203521728516e-06, + 0.8229190111160278 + ], + [ + 2.53088116645813, + -5.3942203521728516e-06, + 0.8229190111160278 + ], + [ + 2.53088116645813, + -5.3942203521728516e-06, + 0.025164425373077393 + ], + [ + 4.304478168487549, + -5.3942203521728516e-06, + 0.025164425373077393 + ], + [ + 4.304478168487549, + 0.7225296497344971, + 0.8229190111160278 + ], + [ + 2.53088116645813, + 0.7225296497344971, + 0.8229190111160278 + ], + [ + 2.53088116645813, + 0.7225296497344971, + 0.025164425373077393 + ], + [ + 4.304478168487549, + 0.7225296497344971, + 0.025164425373077393 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 2.0999999046325684, + "y": 0.9009997844696045, + "z": 2.5999999046325684 + }, + "agent_rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "agent_cameraHorizon": 60.00001525878906, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 2.0999999046325684, + "y": 1.5759997367858887, + "z": 2.5999999046325684 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "DiningTable|7|0", + "door|1|7" + ], + "different_object": [ + "Pillow|surface|7|23", + "door|4|7", + "Bowl|surface|7|21", + "Sofa|7|1", + "Book|surface|7|22", + "Pen|surface|7|20" + ] +} \ No newline at end of file diff --git a/train/train1572/3/0_depth_npy.npy b/train/train1572/3/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..118ca0bec83930b9ad829f2e8c3176306f871da5 --- /dev/null +++ b/train/train1572/3/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2bf82b3672edd07bfb2e3ec4d875b487e489f1a15229f1eee70a2adc68669601 +size 3145856 diff --git a/train/train1572/3/0_semantic_sensor_npy.npy b/train/train1572/3/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..f7e9f8837d844a2ff86d8535af7aae9b45e27a26 --- /dev/null +++ b/train/train1572/3/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:45e4557f779573b688c8d872f737f11e3c92948b33f9b8d94159a4d6a24578c5 +size 2359424 diff --git a/train/train1572/3/1.json b/train/train1572/3/1.json new file mode 100644 index 0000000000000000000000000000000000000000..a473b1198be6c956bdece6abdce35b294310af8c --- /dev/null +++ b/train/train1572/3/1.json @@ -0,0 +1,616 @@ +{ + "object": [ + { + "objectId": "door|1|7", + "object_info": { + "name": "door|1|7", + "position": { + "x": -0.0001679050619713962, + "y": -0.0005974769592285156, + "z": 1.6269772052764893 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.5764901638031006, + "objectType": "Doorway", + "objectId": "door|1|7", + "assetId": "Doorway_4", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.10295780748128891, + 2.103588104248047, + 2.6687240600585938 + ], + [ + 0.10295780748128891, + 2.103588104248047, + 1.6261320114135742 + ], + [ + 0.10295780748128891, + 4.76837158203125e-07, + 2.6687240600585938 + ], + [ + 0.10295780748128891, + 4.76837158203125e-07, + 1.6261320114135742 + ], + [ + -0.10295794159173965, + 2.103588104248047, + 2.6687240600585938 + ], + [ + -0.10295794159173965, + 2.103588104248047, + 1.6261320114135742 + ], + [ + -0.10295794159173965, + 4.76837158203125e-07, + 2.6687240600585938 + ], + [ + -0.10295794159173965, + 4.76837158203125e-07, + 1.6261320114135742 + ] + ], + "center": { + "x": -6.705522537231445e-08, + "y": 1.0517942905426025, + "z": 2.147428035736084 + }, + "size": { + "x": 0.20591574907302856, + "y": 2.1035876274108887, + "z": 1.0425920486450195 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DiningTable|7|0", + "object_info": { + "name": "DiningTable|7|0", + "position": { + "x": 1.7485885620117188, + "y": 0.0006234645843505859, + "z": 0.7587100267410278 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": [ + "Pen|surface|7|20", + "Bowl|surface|7|21", + "wall|exterior|0.00|0.00|4.88|0.00", + "wall|7|0.00|0.00|4.88|0.00" + ], + "distance": 2.0234084129333496, + "objectType": "DiningTable", + "objectId": "DiningTable|7|0", + "assetId": "Dining_Table_16_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.4790596961975098, + 0.8248714804649353, + 1.5123353004455566 + ], + [ + 2.4790596961975098, + 0.8248714804649353, + 0.02499997615814209 + ], + [ + 2.4790596961975098, + 1.71661376953125e-05, + 1.5123353004455566 + ], + [ + 2.4790596961975098, + 1.71661376953125e-05, + 0.02499997615814209 + ], + [ + 1.010972261428833, + 0.8248714804649353, + 1.5123353004455566 + ], + [ + 1.010972261428833, + 0.8248714804649353, + 0.02499997615814209 + ], + [ + 1.010972261428833, + 1.71661376953125e-05, + 1.5123353004455566 + ], + [ + 1.010972261428833, + 1.71661376953125e-05, + 0.02499997615814209 + ] + ], + "center": { + "x": 1.7450159788131714, + "y": 0.4124443233013153, + "z": 0.7686676383018494 + }, + "size": { + "x": 1.4680874347686768, + "y": 0.82485431432724, + "z": 1.4873353242874146 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.4790596961975098, + 1.7344951629638672e-05, + 1.512335181236267 + ], + [ + 1.010972261428833, + 1.7344951629638672e-05, + 1.512335181236267 + ], + [ + 1.010972261428833, + 1.7344951629638672e-05, + 0.02499997615814209 + ], + [ + 2.4790596961975098, + 1.7344951629638672e-05, + 0.02499997615814209 + ], + [ + 2.4790596961975098, + 0.8248716592788696, + 1.512335181236267 + ], + [ + 1.010972261428833, + 0.8248716592788696, + 1.512335181236267 + ], + [ + 1.010972261428833, + 0.8248716592788696, + 0.02499997615814209 + ], + [ + 2.4790596961975098, + 0.8248716592788696, + 0.02499997615814209 + ] + ] + } + } + }, + { + "objectId": "GarbageBag|6|3", + "object_info": { + "name": "GarbageBag|6|3", + "position": { + "x": 1.5636346340179443, + "y": -0.0016814768314361572, + "z": 4.888552665710449 + }, + "rotation": { + "x": 0.0427066944539547, + "y": 90.00025939941406, + "z": 0.3739077150821686 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.499999761581421, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.644071578979492, + "objectType": "GarbageBag", + "objectId": "GarbageBag|6|3", + "assetId": "GarbageBag_21_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.8204209804534912, + 0.5573246479034424, + 5.135462760925293 + ], + [ + 1.8204209804534912, + 0.5573246479034424, + 4.6247053146362305 + ], + [ + 1.8204209804534912, + -8.046627044677734e-07, + 5.135462760925293 + ], + [ + 1.8204209804534912, + -8.046627044677734e-07, + 4.6247053146362305 + ], + [ + 1.305213212966919, + 0.5573246479034424, + 5.135462760925293 + ], + [ + 1.305213212966919, + 0.5573246479034424, + 4.6247053146362305 + ], + [ + 1.305213212966919, + -8.046627044677734e-07, + 5.135462760925293 + ], + [ + 1.305213212966919, + -8.046627044677734e-07, + 4.6247053146362305 + ] + ], + "center": { + "x": 1.562817096710205, + "y": 0.27866193652153015, + "z": 4.880084037780762 + }, + "size": { + "x": 0.5152077674865723, + "y": 0.5573254823684692, + "z": 0.5107574462890625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.8203009366989136, + 0.0009305241983383894, + 4.623661041259766 + ], + [ + 1.820300817489624, + -0.0024025964085012674, + 5.134405136108398 + ], + [ + 1.3050931692123413, + -0.002018574858084321, + 5.1344075202941895 + ], + [ + 1.3050932884216309, + 0.0013145457487553358, + 4.623663425445557 + ], + [ + 1.8207167387008667, + 0.5588568449020386, + 4.627302169799805 + ], + [ + 1.8207166194915771, + 0.5555237531661987, + 5.1380462646484375 + ], + [ + 1.305509090423584, + 0.5559078454971313, + 5.13804817199707 + ], + [ + 1.3055092096328735, + 0.5592409372329712, + 4.627304553985596 + ] + ] + } + } + }, + { + "objectId": "GarbageCan|6|2", + "object_info": { + "name": "GarbageCan|6|2", + "position": { + "x": 0.2706604599952698, + "y": -0.0014638006687164307, + "z": 4.78305721282959 + }, + "rotation": { + "x": -0.0005329452105797827, + "y": 89.99957275390625, + "z": -0.000576408114284277 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.699999988079071, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": [], + "distance": 3.1535022258758545, + "objectType": "GarbageCan", + "objectId": "GarbageCan|6|2", + "assetId": "bin_30", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.5053040981292725, + 0.6572552919387817, + 5.0494585037231445 + ], + [ + 0.5053040981292725, + 0.6572552919387817, + 4.513649940490723 + ], + [ + 0.5053040981292725, + -0.0014638006687164307, + 5.0494585037231445 + ], + [ + 0.5053040981292725, + -0.0014638006687164307, + 4.513649940490723 + ], + [ + 0.02501124143600464, + 0.6572552919387817, + 5.0494585037231445 + ], + [ + 0.02501124143600464, + 0.6572552919387817, + 4.513649940490723 + ], + [ + 0.02501124143600464, + -0.0014638006687164307, + 5.0494585037231445 + ], + [ + 0.02501124143600464, + -0.0014638006687164307, + 4.513649940490723 + ] + ], + "center": { + "x": 0.26515766978263855, + "y": 0.32789573073387146, + "z": 4.781554222106934 + }, + "size": { + "x": 0.4802928566932678, + "y": 0.6587190628051758, + "z": 0.5358085632324219 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.5053040981292725, + -0.0014643283793702722, + 4.5136566162109375 + ], + [ + 0.5053001046180725, + -0.0014589380007237196, + 5.0494608879089355 + ], + [ + 0.025012657046318054, + -0.00146340555511415, + 5.049457550048828 + ], + [ + 0.025016650557518005, + -0.0014687958173453808, + 4.513652801513672 + ], + [ + 0.5052979588508606, + 0.6572574377059937, + 4.513649940490723 + ], + [ + 0.5052939653396606, + 0.6572628021240234, + 5.049454689025879 + ], + [ + 0.025006532669067383, + 0.6572582721710205, + 5.049450874328613 + ], + [ + 0.025010526180267334, + 0.6572529077529907, + 4.513646125793457 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 2.0999999046325684, + "y": 0.9009997844696045, + "z": 2.5999999046325684 + }, + "agent_rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "agent_cameraHorizon": 60.000003814697266, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 2.0999999046325684, + "y": 1.5759997367858887, + "z": 2.5999999046325684 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "DiningTable|7|0", + "door|1|7" + ], + "different_object": [ + "GarbageCan|6|2", + "GarbageBag|6|3" + ] +} \ No newline at end of file diff --git a/train/train1572/3/1_depth_npy.npy b/train/train1572/3/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..ecb61f522f182ad6383b686a878a36164a0da4ab --- /dev/null +++ b/train/train1572/3/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:90fc6f915911217cc07bd338ccb982a16032d44e5b224924d99228e2d341eea6 +size 3145856 diff --git a/train/train1572/3/1_semantic_sensor_npy.npy b/train/train1572/3/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..ca7c5e2f3ccd3576035ec32882e39d0ad866ef71 --- /dev/null +++ b/train/train1572/3/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:84a3b8111379980c6804588dec2574ed13d73f3ed17e778ceab484c430b42fc0 +size 2359424 diff --git a/train/train1572/3/depth_0.png b/train/train1572/3/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..a770e61481f2ca9b2e233ff584121aabcf9cd7f9 Binary files /dev/null and b/train/train1572/3/depth_0.png differ diff --git a/train/train1572/3/depth_1.png b/train/train1572/3/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..22790f2669e4a904ce649ce1b49fd61db14cbe90 Binary files /dev/null and b/train/train1572/3/depth_1.png differ diff --git a/train/train1572/3/mask_questions.jsonl b/train/train1572/3/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..97b380cf7a65d570cad12a475d80de33eeb07c7a --- /dev/null +++ b/train/train1572/3/mask_questions.jsonl @@ -0,0 +1 @@ +{"id": 2637, "folder_dir": "train1572/3", "pair_name": "1-0:door|1|7", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. DiningTable\nB. Doorway\nC. GarbageCan\nD. GarbageBag", "answer": "B", "object_name": "Doorway", "image_1": "train1572/3/rgb_1.png", "image_2": "train1572/3/rgb_0.png", "mask_image": "train1572/3/rgb_0_mask_door|1|7.png", "options": ["DiningTable", "Doorway", "GarbageCan", "GarbageBag"]} diff --git a/train/train1572/3/rgb_0.png b/train/train1572/3/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..a6237e99643d4fa9023718554fec8bce4be00c07 --- /dev/null +++ b/train/train1572/3/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cc8dfdc16a73764cdec61053243710ab0951915962abd5573b42587489223ddf +size 976815 diff --git a/train/train1572/3/rgb_0_mask_door|1|7.png b/train/train1572/3/rgb_0_mask_door|1|7.png new file mode 100644 index 0000000000000000000000000000000000000000..5f309aef0edbbb92505f65578be87bb0a1644ffa --- /dev/null +++ b/train/train1572/3/rgb_0_mask_door|1|7.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5b82e74a1c1a880503585d18407c26f73227e4023c61dc5777f5ebb487825cb2 +size 848268 diff --git a/train/train1572/3/rgb_1.png b/train/train1572/3/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..6ae78a88a9e2bf800e270b0517ae248d5a8cddcb --- /dev/null +++ b/train/train1572/3/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:979e9faa2a193a821a5568a5575a41cceb4347fbc0a9c8f59c55607aee2f647d +size 776521 diff --git a/train/train1572/3/semantic_0.png b/train/train1572/3/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..ce861ce23cc098b2d009330a052cae68df7e8a65 Binary files /dev/null and b/train/train1572/3/semantic_0.png differ diff --git a/train/train1572/3/semantic_1.png b/train/train1572/3/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..f87ac446e79340c33d2180ebaa00c27d2e224ba2 Binary files /dev/null and b/train/train1572/3/semantic_1.png differ diff --git a/train/train1572/4/0.json b/train/train1572/4/0.json new file mode 100644 index 0000000000000000000000000000000000000000..c6beda8eed26759128ca42f4b4490f4af28e83b5 --- /dev/null +++ b/train/train1572/4/0.json @@ -0,0 +1,2592 @@ +{ + "object": [ + { + "objectId": "Pillow|surface|4|1", + "object_info": { + "name": "Pillow|surface|4|1", + "position": { + "x": 7.282750606536865, + "y": 0.6027514338493347, + "z": 0.8162130117416382 + }, + "rotation": { + "x": -1.8455801864547539e-06, + "y": 1.4380127595359227e-06, + "z": 1.3753033272223547e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 5.315323829650879, + "objectType": "Pillow", + "objectId": "Pillow|surface|4|1", + "assetId": "pillow_24", + "parentReceptacles": [ + "Bed|4|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.469886779785156, + 0.650128960609436, + 0.9697449207305908 + ], + [ + 7.469886779785156, + 0.650128960609436, + 0.6626811027526855 + ], + [ + 7.469886779785156, + 0.5514514446258545, + 0.9697449207305908 + ], + [ + 7.469886779785156, + 0.5514514446258545, + 0.6626811027526855 + ], + [ + 7.095614433288574, + 0.650128960609436, + 0.9697449207305908 + ], + [ + 7.095614433288574, + 0.650128960609436, + 0.6626811027526855 + ], + [ + 7.095614433288574, + 0.5514514446258545, + 0.9697449207305908 + ], + [ + 7.095614433288574, + 0.5514514446258545, + 0.6626811027526855 + ] + ], + "center": { + "x": 7.282750606536865, + "y": 0.6007902026176453, + "z": 0.8162130117416382 + }, + "size": { + "x": 0.37427234649658203, + "y": 0.09867751598358154, + "z": 0.3070638179779053 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.469886779785156, + 0.5514514446258545, + 0.969744861125946 + ], + [ + 7.095614433288574, + 0.5514514446258545, + 0.969744861125946 + ], + [ + 7.095614433288574, + 0.5514514446258545, + 0.6626811623573303 + ], + [ + 7.469886779785156, + 0.5514514446258545, + 0.6626811623573303 + ], + [ + 7.469886779785156, + 0.650128960609436, + 0.969744861125946 + ], + [ + 7.095614433288574, + 0.650128960609436, + 0.969744861125946 + ], + [ + 7.095614433288574, + 0.650128960609436, + 0.6626811623573303 + ], + [ + 7.469886779785156, + 0.650128960609436, + 0.6626811623573303 + ] + ] + } + } + }, + { + "objectId": "Fridge|6|1", + "object_info": { + "name": "Fridge|6|1", + "position": { + "x": 4.54731559753418, + "y": 0.007810354232788086, + "z": 5.77420711517334 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Apple|surface|6|14", + "Tomato|surface|6|19" + ], + "distance": 4.098277568817139, + "objectType": "Fridge", + "objectId": "Fridge|6|1", + "assetId": "Fridge_22", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.855999946594238, + 1.969024896621704, + 6.174583435058594 + ], + [ + 4.855999946594238, + 1.969024896621704, + 5.373834609985352 + ], + [ + 4.855999946594238, + 0.0, + 6.174583435058594 + ], + [ + 4.855999946594238, + 0.0, + 5.373834609985352 + ], + [ + 4.1084184646606445, + 1.969024896621704, + 6.174583435058594 + ], + [ + 4.1084184646606445, + 1.969024896621704, + 5.373834609985352 + ], + [ + 4.1084184646606445, + 0.0, + 6.174583435058594 + ], + [ + 4.1084184646606445, + 0.0, + 5.373834609985352 + ] + ], + "center": { + "x": 4.482209205627441, + "y": 0.984512448310852, + "z": 5.774209022521973 + }, + "size": { + "x": 0.7475814819335938, + "y": 1.969024896621704, + "z": 0.8007488250732422 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|4|7", + "object_info": { + "name": "door|4|7", + "position": { + "x": 4.88100004196167, + "y": -0.0005974769592285156, + "z": 2.1204235553741455 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.806976556777954, + "objectType": "Doorway", + "objectId": "door|4|7", + "assetId": "Doorway_Double_9", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.795930862426758, + 2.07534122467041, + 2.196138858795166 + ], + [ + 5.795930862426758, + 2.07534122467041, + 0.1467655897140503 + ], + [ + 5.795930862426758, + 0.0, + 2.196138858795166 + ], + [ + 5.795930862426758, + 0.0, + 0.1467655897140503 + ], + [ + 4.811378479003906, + 2.07534122467041, + 2.196138858795166 + ], + [ + 4.811378479003906, + 2.07534122467041, + 0.1467655897140503 + ], + [ + 4.811378479003906, + 0.0, + 2.196138858795166 + ], + [ + 4.811378479003906, + 0.0, + 0.1467655897140503 + ] + ], + "center": { + "x": 5.303654670715332, + "y": 1.037670612335205, + "z": 1.1714521646499634 + }, + "size": { + "x": 0.9845523834228516, + "y": 2.07534122467041, + "z": 2.049373149871826 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "RemoteControl|surface|4|5", + "object_info": { + "name": "RemoteControl|surface|4|5", + "position": { + "x": 7.672720432281494, + "y": 0.5567269325256348, + "z": 0.33673542737960815 + }, + "rotation": { + "x": -1.9858600808220217e-06, + "y": -3.517275217745919e-07, + "z": 6.501690677396255e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.15000000596046448, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.848430156707764, + "objectType": "RemoteControl", + "objectId": "RemoteControl|surface|4|5", + "assetId": "Remote_3", + "parentReceptacles": [ + "Bed|4|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.706525802612305, + 0.5768954753875732, + 0.4443017840385437 + ], + [ + 7.706525802612305, + 0.5768954753875732, + 0.2249104380607605 + ], + [ + 7.706525802612305, + 0.5553739070892334, + 0.4443017840385437 + ], + [ + 7.706525802612305, + 0.5553739070892334, + 0.2249104380607605 + ], + [ + 7.638915061950684, + 0.5768954753875732, + 0.4443017840385437 + ], + [ + 7.638915061950684, + 0.5768954753875732, + 0.2249104380607605 + ], + [ + 7.638915061950684, + 0.5553739070892334, + 0.4443017840385437 + ], + [ + 7.638915061950684, + 0.5553739070892334, + 0.2249104380607605 + ] + ], + "center": { + "x": 7.672720432281494, + "y": 0.5661346912384033, + "z": 0.3346061110496521 + }, + "size": { + "x": 0.0676107406616211, + "y": 0.021521568298339844, + "z": 0.2193913459777832 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.706525802612305, + 0.5553739070892334, + 0.4443017840385437 + ], + [ + 7.638915061950684, + 0.5553739070892334, + 0.4443017840385437 + ], + [ + 7.638915061950684, + 0.5553739070892334, + 0.2249104231595993 + ], + [ + 7.706525802612305, + 0.5553739070892334, + 0.2249104231595993 + ], + [ + 7.706525802612305, + 0.5768954753875732, + 0.4443017840385437 + ], + [ + 7.638915061950684, + 0.5768954753875732, + 0.4443017840385437 + ], + [ + 7.638915061950684, + 0.5768954753875732, + 0.2249104231595993 + ], + [ + 7.706525802612305, + 0.5768954753875732, + 0.2249104231595993 + ] + ] + } + } + }, + { + "objectId": "Book|surface|7|22", + "object_info": { + "name": "Book|surface|7|22", + "position": { + "x": 3.420398473739624, + "y": 0.3565850555896759, + "z": 0.6577457189559937 + }, + "rotation": { + "x": 0.004743032157421112, + "y": 0.0002279910258948803, + "z": 0.055691320449113846 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 2.2494711875915527, + "objectType": "Book", + "objectId": "Book|surface|7|22", + "assetId": "Book_2", + "parentReceptacles": [ + "Floor", + "Sofa|7|1" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.5300440788269043, + 0.38794809579849243, + 0.791867733001709 + ], + [ + 3.5300440788269043, + 0.38794809579849243, + 0.5236268043518066 + ], + [ + 3.5300440788269043, + 0.35658544301986694, + 0.791867733001709 + ], + [ + 3.5300440788269043, + 0.35658544301986694, + 0.5236268043518066 + ], + [ + 3.3115086555480957, + 0.38794809579849243, + 0.791867733001709 + ], + [ + 3.3115086555480957, + 0.38794809579849243, + 0.5236268043518066 + ], + [ + 3.3115086555480957, + 0.35658544301986694, + 0.791867733001709 + ], + [ + 3.3115086555480957, + 0.35658544301986694, + 0.5236268043518066 + ] + ], + "center": { + "x": 3.4207763671875, + "y": 0.3722667694091797, + "z": 0.6577472686767578 + }, + "size": { + "x": 0.2185354232788086, + "y": 0.03136265277862549, + "z": 0.26824092864990234 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.5300612449645996, + 0.3566245138645172, + 0.791864812374115 + ], + [ + 3.311540126800537, + 0.3564121127128601, + 0.7918656468391418 + ], + [ + 3.3115391731262207, + 0.35643431544303894, + 0.523626983165741 + ], + [ + 3.530060052871704, + 0.35664671659469604, + 0.5236261487007141 + ], + [ + 3.5300307273864746, + 0.3879645764827728, + 0.7918673753738403 + ], + [ + 3.311509609222412, + 0.3877521753311157, + 0.7918682098388672 + ], + [ + 3.3115086555480957, + 0.38777437806129456, + 0.5236295461654663 + ], + [ + 3.530029773712158, + 0.38798677921295166, + 0.5236287117004395 + ] + ] + } + } + }, + { + "objectId": "Painting|4|7", + "object_info": { + "name": "Painting|4|7", + "position": { + "x": 8.130003929138184, + "y": 2.036191940307617, + "z": 1.6909621953964233 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Wood" + ], + "receptacleObjectIds": null, + "distance": 6.042983531951904, + "objectType": "Painting", + "objectId": "Painting|4|7", + "assetId": "Wall_Decor_Painting_1V", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.129999160766602, + 2.359517812728882, + 2.1521663665771484 + ], + [ + 8.129999160766602, + 2.359517812728882, + 1.2297582626342773 + ], + [ + 8.129999160766602, + 1.7128660678863525, + 2.1521663665771484 + ], + [ + 8.129999160766602, + 1.7128660678863525, + 1.2297582626342773 + ], + [ + 8.098258972167969, + 2.359517812728882, + 2.1521663665771484 + ], + [ + 8.098258972167969, + 2.359517812728882, + 1.2297582626342773 + ], + [ + 8.098258972167969, + 1.7128660678863525, + 2.1521663665771484 + ], + [ + 8.098258972167969, + 1.7128660678863525, + 1.2297582626342773 + ] + ], + "center": { + "x": 8.114129066467285, + "y": 2.036191940307617, + "z": 1.690962314605713 + }, + "size": { + "x": 0.03174018859863281, + "y": 0.6466517448425293, + "z": 0.9224081039428711 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Pillow|surface|7|23", + "object_info": { + "name": "Pillow|surface|7|23", + "position": { + "x": 3.75054931640625, + "y": 0.40584519505500793, + "z": 0.4297727644443512 + }, + "rotation": { + "x": -3.307090707949101e-07, + "y": 7.150779310904909e-06, + "z": -1.8192341144640523e-07 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 2.6043553352355957, + "objectType": "Pillow", + "objectId": "Pillow|surface|7|23", + "assetId": "pillow_17", + "parentReceptacles": [ + "Floor", + "Sofa|7|1" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.9549334049224854, + 0.4583452343940735, + 0.5849737524986267 + ], + [ + 3.9549334049224854, + 0.4583452343940735, + 0.27217233180999756 + ], + [ + 3.9549334049224854, + 0.3522452116012573, + 0.5849737524986267 + ], + [ + 3.9549334049224854, + 0.3522452116012573, + 0.27217233180999756 + ], + [ + 3.5461652278900146, + 0.4583452343940735, + 0.5849737524986267 + ], + [ + 3.5461652278900146, + 0.4583452343940735, + 0.27217233180999756 + ], + [ + 3.5461652278900146, + 0.3522452116012573, + 0.5849737524986267 + ], + [ + 3.5461652278900146, + 0.3522452116012573, + 0.27217233180999756 + ] + ], + "center": { + "x": 3.75054931640625, + "y": 0.4052952229976654, + "z": 0.42857304215431213 + }, + "size": { + "x": 0.4087681770324707, + "y": 0.10610002279281616, + "z": 0.31280142068862915 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.9549334049224854, + 0.3522452116012573, + 0.5849736928939819 + ], + [ + 3.5461652278900146, + 0.3522452116012573, + 0.5849737524986267 + ], + [ + 3.5461652278900146, + 0.3522452116012573, + 0.27217239141464233 + ], + [ + 3.9549334049224854, + 0.3522452116012573, + 0.27217233180999756 + ], + [ + 3.9549334049224854, + 0.4583451747894287, + 0.5849736928939819 + ], + [ + 3.5461652278900146, + 0.4583451747894287, + 0.5849737524986267 + ], + [ + 3.5461652278900146, + 0.4583451747894287, + 0.27217239141464233 + ], + [ + 3.9549334049224854, + 0.4583451747894287, + 0.27217233180999756 + ] + ] + } + } + }, + { + "objectId": "window|4|0", + "object_info": { + "name": "window|4|0", + "position": { + "x": 6.416215896606445, + "y": 0.8567227125167847, + "z": 8.866190910339355e-07 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 4.858941078186035, + "objectType": "Window", + "objectId": "window|4|0", + "assetId": "Window_Fixed_60x48", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.419037818908691, + 2.075921058654785, + 0.03955516591668129 + ], + [ + 6.419037818908691, + 2.075921058654785, + -0.03955516591668129 + ], + [ + 6.419037818908691, + 0.8564743995666504, + 0.03955516591668129 + ], + [ + 6.419037818908691, + 0.8564743995666504, + -0.03955516591668129 + ], + [ + 4.8893938064575195, + 2.075921058654785, + 0.03955516591668129 + ], + [ + 4.8893938064575195, + 2.075921058654785, + -0.03955516591668129 + ], + [ + 4.8893938064575195, + 0.8564743995666504, + 0.03955516591668129 + ], + [ + 4.8893938064575195, + 0.8564743995666504, + -0.03955516591668129 + ] + ], + "center": { + "x": 5.6542158126831055, + "y": 1.4661977291107178, + "z": 0.0 + }, + "size": { + "x": 1.5296440124511719, + "y": 1.2194466590881348, + "z": 0.07911033183336258 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "BaseballBat|surface|4|6", + "object_info": { + "name": "BaseballBat|surface|4|6", + "position": { + "x": 6.730206489562988, + "y": 0.3876258134841919, + "z": 1.8502939939498901 + }, + "rotation": { + "x": 337.6776123046875, + "y": 13.830465316772461, + "z": 122.28216552734375 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.8999999761581421, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 4.55608606338501, + "objectType": "BaseballBat", + "objectId": "BaseballBat|surface|4|6", + "assetId": "BaseballBat_4", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.975695610046387, + 0.5707801580429077, + 2.1715526580810547 + ], + [ + 6.975695610046387, + 0.5707801580429077, + 1.6936867237091064 + ], + [ + 6.975695610046387, + -7.152557373046875e-05, + 2.1715526580810547 + ], + [ + 6.975695610046387, + -7.152557373046875e-05, + 1.6936867237091064 + ], + [ + 6.167231559753418, + 0.5707801580429077, + 2.1715526580810547 + ], + [ + 6.167231559753418, + 0.5707801580429077, + 1.6936867237091064 + ], + [ + 6.167231559753418, + -7.152557373046875e-05, + 2.1715526580810547 + ], + [ + 6.167231559753418, + -7.152557373046875e-05, + 1.6936867237091064 + ] + ], + "center": { + "x": 6.571463584899902, + "y": 0.2853543162345886, + "z": 1.9326196908950806 + }, + "size": { + "x": 0.8084640502929688, + "y": 0.5708516836166382, + "z": 0.47786593437194824 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.927597999572754, + 0.5707855224609375, + 1.774056315422058 + ], + [ + 6.975695610046387, + 0.5076045989990234, + 1.788931131362915 + ], + [ + 6.955909252166748, + 0.47362014651298523, + 1.7085603475570679 + ], + [ + 6.907812118530273, + 0.5368010997772217, + 1.693685531616211 + ], + [ + 6.18701696395874, + 0.09708774089813232, + 2.156679391860962 + ], + [ + 6.235114097595215, + 0.03390681743621826, + 2.1715540885925293 + ], + [ + 6.215328216552734, + -7.76052474975586e-05, + 2.0911834239959717 + ], + [ + 6.167230606079102, + 0.0631033182144165, + 2.076308488845825 + ] + ] + } + } + }, + { + "objectId": "Painting|7|4", + "object_info": { + "name": "Painting|7|4", + "position": { + "x": 4.8793134689331055, + "y": 1.7647161483764648, + "z": 2.6848111152648926 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.7737069129943848, + "objectType": "Painting", + "objectId": "Painting|7|4", + "assetId": "Wall_Decor_Painting_6", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.86333703994751, + 2.065537691116333, + 3.085005760192871 + ], + [ + 4.86333703994751, + 2.065537691116333, + 2.2876110076904297 + ], + [ + 4.86333703994751, + 1.4641544818878174, + 3.085005760192871 + ], + [ + 4.86333703994751, + 1.4641544818878174, + 2.2876110076904297 + ], + [ + 4.855963230133057, + 2.065537691116333, + 3.085005760192871 + ], + [ + 4.855963230133057, + 2.065537691116333, + 2.2876110076904297 + ], + [ + 4.855963230133057, + 1.4641544818878174, + 3.085005760192871 + ], + [ + 4.855963230133057, + 1.4641544818878174, + 2.2876110076904297 + ] + ], + "center": { + "x": 4.859650135040283, + "y": 1.7648460865020752, + "z": 2.6863083839416504 + }, + "size": { + "x": 0.007373809814453125, + "y": 0.6013832092285156, + "z": 0.7973947525024414 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|6|5", + "object_info": { + "name": "Painting|6|5", + "position": { + "x": 4.876166343688965, + "y": 1.7955535650253296, + "z": 3.956955909729004 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.1336395740509033, + "objectType": "Painting", + "objectId": "Painting|6|5", + "assetId": "Wall_Decor_Painting_7", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.875999927520752, + 2.132209300994873, + 4.408702373504639 + ], + [ + 4.875999927520752, + 2.132209300994873, + 3.504917621612549 + ], + [ + 4.875999927520752, + 1.4591739177703857, + 4.408702373504639 + ], + [ + 4.875999927520752, + 1.4591739177703857, + 3.504917621612549 + ], + [ + 4.851780414581299, + 2.132209300994873, + 4.408702373504639 + ], + [ + 4.851780414581299, + 2.132209300994873, + 3.504917621612549 + ], + [ + 4.851780414581299, + 1.4591739177703857, + 4.408702373504639 + ], + [ + 4.851780414581299, + 1.4591739177703857, + 3.504917621612549 + ] + ], + "center": { + "x": 4.863890171051025, + "y": 1.7956916093826294, + "z": 3.9568099975585938 + }, + "size": { + "x": 0.024219512939453125, + "y": 0.6730353832244873, + "z": 0.9037847518920898 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "HousePlant|6|4|0", + "object_info": { + "name": "HousePlant|6|4|0", + "position": { + "x": 4.6880388259887695, + "y": 0.0033127665519714355, + "z": 4.475515365600586 + }, + "rotation": { + "x": 5.877536386833526e-05, + "y": 60.28634262084961, + "z": -0.00012767589942086488 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.0, + "salientMaterials": [ + "Ceramic", + "Organic" + ], + "receptacleObjectIds": null, + "distance": 3.263822317123413, + "objectType": "HousePlant", + "objectId": "HousePlant|6|4|0", + "assetId": "Houseplant_18", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.8062744140625, + 0.8504126071929932, + 4.597064018249512 + ], + [ + 4.8062744140625, + 0.8504126071929932, + 4.361004829406738 + ], + [ + 4.8062744140625, + 2.562999725341797e-06, + 4.597064018249512 + ], + [ + 4.8062744140625, + 2.562999725341797e-06, + 4.361004829406738 + ], + [ + 4.538839340209961, + 0.8504126071929932, + 4.597064018249512 + ], + [ + 4.538839340209961, + 0.8504126071929932, + 4.361004829406738 + ], + [ + 4.538839340209961, + 2.562999725341797e-06, + 4.597064018249512 + ], + [ + 4.538839340209961, + 2.562999725341797e-06, + 4.361004829406738 + ] + ], + "center": { + "x": 4.6725568771362305, + "y": 0.42520758509635925, + "z": 4.479034423828125 + }, + "size": { + "x": 0.26743507385253906, + "y": 0.8504100441932678, + "z": 0.23605918884277344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.855999946594238, + 1.6656704246997833e-06, + 4.4366254806518555 + ], + [ + 4.739696025848389, + 2.1886080503463745e-06, + 4.640414714813232 + ], + [ + 4.526893615722656, + 2.4400651454925537e-06, + 4.518967151641846 + ], + [ + 4.643197059631348, + 1.9171275198459625e-06, + 4.315177917480469 + ], + [ + 4.856001377105713, + 0.8504124283790588, + 4.436624050140381 + ], + [ + 4.7396979331970215, + 0.850412905216217, + 4.640413284301758 + ], + [ + 4.526895046234131, + 0.8504131436347961, + 4.518965721130371 + ], + [ + 4.6431989669799805, + 0.8504126667976379, + 4.315176486968994 + ] + ] + } + } + }, + { + "objectId": "Bed|4|0", + "object_info": { + "name": "Bed|4|0", + "position": { + "x": 7.542730331420898, + "y": 7.62939453125e-06, + "z": 1.0386308431625366 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Fabric", + "Wood" + ], + "receptacleObjectIds": [ + "Book|surface|4|9", + "RemoteControl|surface|4|5", + "RemoteControl|surface|4|4", + "Pillow|surface|4|1" + ], + "distance": 5.564205169677734, + "objectType": "Bed", + "objectId": "Bed|4|0", + "assetId": "RoboTHOR_bed_tarva_v", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.109992980957031, + 0.9211342334747314, + 2.0666117668151855 + ], + [ + 8.109992980957031, + 0.9211342334747314, + 0.025006651878356934 + ], + [ + 8.109992980957031, + 7.569789886474609e-06, + 2.0666117668151855 + ], + [ + 8.109992980957031, + 7.569789886474609e-06, + 0.025006651878356934 + ], + [ + 6.975467681884766, + 0.9211342334747314, + 2.0666117668151855 + ], + [ + 6.975467681884766, + 0.9211342334747314, + 0.025006651878356934 + ], + [ + 6.975467681884766, + 7.569789886474609e-06, + 2.0666117668151855 + ], + [ + 6.975467681884766, + 7.569789886474609e-06, + 0.025006651878356934 + ] + ], + "center": { + "x": 7.542730331420898, + "y": 0.46057090163230896, + "z": 1.0458091497421265 + }, + "size": { + "x": 1.1345252990722656, + "y": 0.921126663684845, + "z": 2.041604995727539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 8.109992980957031, + 7.62939453125e-06, + 2.0666117668151855 + ], + [ + 6.975468158721924, + 7.62939453125e-06, + 2.0666117668151855 + ], + [ + 6.975468158721924, + 7.62939453125e-06, + 0.025006651878356934 + ], + [ + 8.109992980957031, + 7.62939453125e-06, + 0.025006651878356934 + ], + [ + 8.109992980957031, + 0.9211342334747314, + 2.0666117668151855 + ], + [ + 6.975468158721924, + 0.9211342334747314, + 2.0666117668151855 + ], + [ + 6.975468158721924, + 0.9211342334747314, + 0.025006651878356934 + ], + [ + 8.109992980957031, + 0.9211342334747314, + 0.025006651878356934 + ] + ] + } + } + }, + { + "objectId": "Book|surface|4|9", + "object_info": { + "name": "Book|surface|4|9", + "position": { + "x": 7.672718048095703, + "y": 0.5553504228591919, + "z": 1.0559526681900024 + }, + "rotation": { + "x": 0.004763501696288586, + "y": 0.00015095900744199753, + "z": 0.05586046725511551 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 5.6223320960998535, + "objectType": "Book", + "objectId": "Book|surface|4|9", + "assetId": "Book_2", + "parentReceptacles": [ + "Bed|4|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.782362937927246, + 0.5867137908935547, + 1.1900745630264282 + ], + [ + 7.782362937927246, + 0.5867137908935547, + 0.921833872795105 + ], + [ + 7.782362937927246, + 0.5553510189056396, + 1.1900745630264282 + ], + [ + 7.782362937927246, + 0.5553510189056396, + 0.921833872795105 + ], + [ + 7.563828468322754, + 0.5867137908935547, + 1.1900745630264282 + ], + [ + 7.563828468322754, + 0.5867137908935547, + 0.921833872795105 + ], + [ + 7.563828468322754, + 0.5553510189056396, + 1.1900745630264282 + ], + [ + 7.563828468322754, + 0.5553510189056396, + 0.921833872795105 + ] + ], + "center": { + "x": 7.673095703125, + "y": 0.5710324048995972, + "z": 1.0559542179107666 + }, + "size": { + "x": 0.2185344696044922, + "y": 0.03136277198791504, + "z": 0.26824069023132324 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.7823805809021, + 0.5553901791572571, + 1.190071940422058 + ], + [ + 7.563859462738037, + 0.5551770925521851, + 1.1900724172592163 + ], + [ + 7.563858985900879, + 0.5551994442939758, + 0.9218338131904602 + ], + [ + 7.782380104064941, + 0.5554124712944031, + 0.9218332171440125 + ], + [ + 7.782350063323975, + 0.5867302417755127, + 1.1900744438171387 + ], + [ + 7.563828945159912, + 0.5865171551704407, + 1.1900750398635864 + ], + [ + 7.563828468322754, + 0.5865394473075867, + 0.9218363761901855 + ], + [ + 7.782349586486816, + 0.5867525339126587, + 0.9218358397483826 + ] + ] + } + } + }, + { + "objectId": "Sofa|7|1", + "object_info": { + "name": "Sofa|7|1", + "position": { + "x": 3.400536060333252, + "y": -5.3942203521728516e-06, + "z": 0.4518009424209595 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 103.99999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [ + "Book|surface|7|22", + "Pillow|surface|7|23" + ], + "distance": 2.516080856323242, + "objectType": "Sofa", + "objectId": "Sofa|7|1", + "assetId": "RoboTHOR_sofa_vreta", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.304478168487549, + 0.7225294709205627, + 0.8229188919067383 + ], + [ + 4.304478168487549, + 0.7225294709205627, + 0.025164484977722168 + ], + [ + 4.304478168487549, + -5.364418029785156e-06, + 0.8229188919067383 + ], + [ + 4.304478168487549, + -5.364418029785156e-06, + 0.025164484977722168 + ], + [ + 2.530881404876709, + 0.7225294709205627, + 0.8229188919067383 + ], + [ + 2.530881404876709, + 0.7225294709205627, + 0.025164484977722168 + ], + [ + 2.530881404876709, + -5.364418029785156e-06, + 0.8229188919067383 + ], + [ + 2.530881404876709, + -5.364418029785156e-06, + 0.025164484977722168 + ] + ], + "center": { + "x": 3.417679786682129, + "y": 0.3612620532512665, + "z": 0.4240416884422302 + }, + "size": { + "x": 1.7735967636108398, + "y": 0.7225348353385925, + "z": 0.7977544069290161 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.304478168487549, + -5.3942203521728516e-06, + 0.8229190111160278 + ], + [ + 2.53088116645813, + -5.3942203521728516e-06, + 0.8229190111160278 + ], + [ + 2.53088116645813, + -5.3942203521728516e-06, + 0.025164425373077393 + ], + [ + 4.304478168487549, + -5.3942203521728516e-06, + 0.025164425373077393 + ], + [ + 4.304478168487549, + 0.7225296497344971, + 0.8229190111160278 + ], + [ + 2.53088116645813, + 0.7225296497344971, + 0.8229190111160278 + ], + [ + 2.53088116645813, + 0.7225296497344971, + 0.025164425373077393 + ], + [ + 4.304478168487549, + 0.7225296497344971, + 0.025164425373077393 + ] + ] + } + } + }, + { + "objectId": "Ottoman|7|2", + "object_info": { + "name": "Ottoman|7|2", + "position": { + "x": 4.6264448165893555, + "y": 7.450580596923828e-08, + "z": 2.5090413093566895 + }, + "rotation": { + "x": 1.3663732715940569e-05, + "y": 270.0, + "z": 1.4150842616800219e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 2.541529417037964, + "objectType": "Ottoman", + "objectId": "Ottoman|7|2", + "assetId": "Ottoman_205_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.855999946594238, + 0.48462483286857605, + 2.892681837081909 + ], + [ + 4.855999946594238, + 0.48462483286857605, + 2.1254007816314697 + ], + [ + 4.855999946594238, + -5.960464477539063e-08, + 2.892681837081909 + ], + [ + 4.855999946594238, + -5.960464477539063e-08, + 2.1254007816314697 + ], + [ + 4.396889686584473, + 0.48462483286857605, + 2.892681837081909 + ], + [ + 4.396889686584473, + 0.48462483286857605, + 2.1254007816314697 + ], + [ + 4.396889686584473, + -5.960464477539063e-08, + 2.892681837081909 + ], + [ + 4.396889686584473, + -5.960464477539063e-08, + 2.1254007816314697 + ] + ], + "center": { + "x": 4.6264448165893555, + "y": 0.24231238663196564, + "z": 2.5090413093566895 + }, + "size": { + "x": 0.4591102600097656, + "y": 0.4846248924732208, + "z": 0.7672810554504395 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.3968892097473145, + 1.1451318471245031e-07, + 2.89268159866333 + ], + [ + 4.396889686584473, + -7.498891818613629e-08, + 2.1254007816314697 + ], + [ + 4.8560004234313965, + 3.449842367331257e-08, + 2.125401020050049 + ], + [ + 4.855999946594238, + 2.2400053012461285e-07, + 2.892681837081909 + ], + [ + 4.3968892097473145, + 0.48462456464767456, + 2.89268159866333 + ], + [ + 4.396889686584473, + 0.48462438583374023, + 2.1254005432128906 + ], + [ + 4.855999946594238, + 0.4846245050430298, + 2.1254007816314697 + ], + [ + 4.855999946594238, + 0.4846246838569641, + 2.89268159866333 + ] + ] + } + } + }, + { + "objectId": "RemoteControl|surface|4|4", + "object_info": { + "name": "RemoteControl|surface|4|4", + "position": { + "x": 7.412740707397461, + "y": 0.556122899055481, + "z": 1.055951476097107 + }, + "rotation": { + "x": 7.775285666866694e-06, + "y": 90.00006103515625, + "z": -0.000736903166398406 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.15000000596046448, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.371974468231201, + "objectType": "RemoteControl", + "objectId": "RemoteControl|surface|4|4", + "assetId": "Remote_2", + "parentReceptacles": [ + "Bed|4|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.518798351287842, + 0.5792866349220276, + 1.0852338075637817 + ], + [ + 7.518798351287842, + 0.5792866349220276, + 1.026668906211853 + ], + [ + 7.518798351287842, + 0.55537348985672, + 1.0852338075637817 + ], + [ + 7.518798351287842, + 0.55537348985672, + 1.026668906211853 + ], + [ + 7.30668306350708, + 0.5792866349220276, + 1.0852338075637817 + ], + [ + 7.30668306350708, + 0.5792866349220276, + 1.026668906211853 + ], + [ + 7.30668306350708, + 0.55537348985672, + 1.0852338075637817 + ], + [ + 7.30668306350708, + 0.55537348985672, + 1.026668906211853 + ] + ], + "center": { + "x": 7.412740707397461, + "y": 0.5673300623893738, + "z": 1.0559513568878174 + }, + "size": { + "x": 0.21211528778076172, + "y": 0.023913145065307617, + "z": 0.05856490135192871 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.518798351287842, + 0.55537348985672, + 1.0266691446304321 + ], + [ + 7.518798351287842, + 0.555374264717102, + 1.0852335691452026 + ], + [ + 7.30668306350708, + 0.5553743243217468, + 1.0852338075637817 + ], + [ + 7.30668306350708, + 0.5553735494613647, + 1.0266693830490112 + ], + [ + 7.518798351287842, + 0.5792858004570007, + 1.0266687870025635 + ], + [ + 7.518798351287842, + 0.5792865753173828, + 1.085233211517334 + ], + [ + 7.30668306350708, + 0.5792866349220276, + 1.0852335691452026 + ], + [ + 7.30668306350708, + 0.5792858600616455, + 1.0266691446304321 + ] + ] + } + } + }, + { + "objectId": "Safe|4|3", + "object_info": { + "name": "Safe|4|3", + "position": { + "x": 6.662018775939941, + "y": 3.129243850708008e-07, + "z": 0.17459720373153687 + }, + "rotation": { + "x": 5.616228008875623e-06, + "y": 3.2450065191369504e-05, + "z": 3.121611143797054e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 5.068057537078857, + "objectType": "Safe", + "objectId": "Safe|4|3", + "assetId": "Safe_18_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.809785842895508, + 0.30317962169647217, + 0.35963526368141174 + ], + [ + 6.809785842895508, + 0.30317962169647217, + 0.024989783763885498 + ], + [ + 6.809785842895508, + 2.980232238769531e-07, + 0.35963526368141174 + ], + [ + 6.809785842895508, + 2.980232238769531e-07, + 0.024989783763885498 + ], + [ + 6.513216018676758, + 0.30317962169647217, + 0.35963526368141174 + ], + [ + 6.513216018676758, + 0.30317962169647217, + 0.024989783763885498 + ], + [ + 6.513216018676758, + 2.980232238769531e-07, + 0.35963526368141174 + ], + [ + 6.513216018676758, + 2.980232238769531e-07, + 0.024989783763885498 + ] + ], + "center": { + "x": 6.661500930786133, + "y": 0.15158995985984802, + "z": 0.19231252372264862 + }, + "size": { + "x": 0.29656982421875, + "y": 0.3031793236732483, + "z": 0.33464547991752625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.809786319732666, + -4.7202308905980317e-07, + 0.3596360981464386 + ], + [ + 6.513214588165283, + -4.881810014012444e-07, + 0.3596362769603729 + ], + [ + 6.513214588165283, + -4.553784265226568e-07, + 0.024989813566207886 + ], + [ + 6.809785842895508, + -4.3922051418121555e-07, + 0.02498963475227356 + ], + [ + 6.809786319732666, + 0.3031800389289856, + 0.359636127948761 + ], + [ + 6.513214588165283, + 0.3031800389289856, + 0.3596363067626953 + ], + [ + 6.513214588165283, + 0.3031800389289856, + 0.024989843368530273 + ], + [ + 6.809785842895508, + 0.3031800389289856, + 0.024989664554595947 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 1.899999976158142, + "y": 0.9009997844696045, + "z": 2.5 + }, + "agent_rotation": { + "x": -0.0, + "y": 90.00000762939453, + "z": -0.0 + }, + "agent_cameraHorizon": 1.5309449281630805e-06, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 1.899999976158142, + "y": 1.5759997367858887, + "z": 2.5 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "HousePlant|6|4|0", + "Fridge|6|1" + ], + "different_object": [ + "Pillow|surface|4|1", + "Ottoman|7|2", + "Painting|7|4", + "Pillow|surface|7|23", + "Bed|4|0", + "Painting|4|7", + "RemoteControl|surface|4|4", + "door|4|7", + "Painting|6|5", + "RemoteControl|surface|4|5", + "Book|surface|4|9", + "Safe|4|3", + "BaseballBat|surface|4|6", + "Sofa|7|1", + "Book|surface|7|22", + "window|4|0" + ] +} \ No newline at end of file diff --git a/train/train1572/4/0_depth_npy.npy b/train/train1572/4/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..90a2c3590db30d28f0e90838c16c57759e875755 --- /dev/null +++ b/train/train1572/4/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:489515124f71b1b1f63aa2f94e585f7bbf5b8483ccd6f58dcd8de34a5587f60f +size 3145856 diff --git a/train/train1572/4/0_semantic_sensor_npy.npy b/train/train1572/4/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..f0f93c09e8887d06fe064c9d542f0f3111e76613 --- /dev/null +++ b/train/train1572/4/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a981e240dd394526c102476c2a65e68f618239d43063b66bad63d5d677925cb3 +size 2359424 diff --git a/train/train1572/4/1.json b/train/train1572/4/1.json new file mode 100644 index 0000000000000000000000000000000000000000..620ded67a293c0ad933e5f43194302c86d051f0c --- /dev/null +++ b/train/train1572/4/1.json @@ -0,0 +1,1691 @@ +{ + "object": [ + { + "objectId": "Toaster|surface|6|15", + "object_info": { + "name": "Toaster|surface|6|15", + "position": { + "x": 0.48335137963294983, + "y": 0.9374663829803467, + "z": 6.096790313720703 + }, + "rotation": { + "x": 6.118567398516461e-06, + "y": 270.0002746582031, + "z": -2.722681756495149e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 5.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 4.0074028968811035, + "objectType": "Toaster", + "objectId": "Toaster|surface|6|15", + "assetId": "Toaster_23", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.6483819484710693, + 1.1158902645111084, + 6.252886772155762 + ], + [ + 0.6483819484710693, + 1.1158902645111084, + 5.9406938552856445 + ], + [ + 0.6483819484710693, + 0.9374663829803467, + 6.252886772155762 + ], + [ + 0.6483819484710693, + 0.9374663829803467, + 5.9406938552856445 + ], + [ + 0.28451889753341675, + 1.1158902645111084, + 6.252886772155762 + ], + [ + 0.28451889753341675, + 1.1158902645111084, + 5.9406938552856445 + ], + [ + 0.28451889753341675, + 0.9374663829803467, + 6.252886772155762 + ], + [ + 0.28451889753341675, + 0.9374663829803467, + 5.9406938552856445 + ] + ], + "center": { + "x": 0.46645042300224304, + "y": 1.0266783237457275, + "z": 6.096790313720703 + }, + "size": { + "x": 0.3638630509376526, + "y": 0.17842388153076172, + "z": 0.3121929168701172 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.2845197319984436, + 0.9374662041664124, + 6.252886772155762 + ], + [ + 0.28451818227767944, + 0.9374662041664124, + 5.940695762634277 + ], + [ + 0.6483811736106873, + 0.9374662041664124, + 5.9406938552856445 + ], + [ + 0.6483827233314514, + 0.9374662041664124, + 6.252884864807129 + ], + [ + 0.2845197319984436, + 1.1158907413482666, + 6.252886772155762 + ], + [ + 0.28451818227767944, + 1.1158907413482666, + 5.940695762634277 + ], + [ + 0.6483811736106873, + 1.1158907413482666, + 5.9406938552856445 + ], + [ + 0.6483827233314514, + 1.1158907413482666, + 6.252884864807129 + ] + ] + } + } + }, + { + "objectId": "window|6|0", + "object_info": { + "name": "window|6|0", + "position": { + "x": 3.254000663757324, + "y": 0.677517294883728, + "z": 6.549964904785156 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 4.178537845611572, + "objectType": "Window", + "objectId": "window|6|0", + "assetId": "Window_Hung_44x60", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.37552547454834, + 2.2595396041870117, + 7.701807975769043 + ], + [ + 3.37552547454834, + 2.2595396041870117, + 6.5661821365356445 + ], + [ + 3.37552547454834, + 0.6772875785827637, + 7.701807975769043 + ], + [ + 3.37552547454834, + 0.6772875785827637, + 6.5661821365356445 + ], + [ + 3.132474422454834, + 2.2595396041870117, + 7.701807975769043 + ], + [ + 3.132474422454834, + 2.2595396041870117, + 6.5661821365356445 + ], + [ + 3.132474422454834, + 0.6772875785827637, + 7.701807975769043 + ], + [ + 3.132474422454834, + 0.6772875785827637, + 6.5661821365356445 + ] + ], + "center": { + "x": 3.253999948501587, + "y": 1.4684135913848877, + "z": 7.133995056152344 + }, + "size": { + "x": 0.24305105209350586, + "y": 1.582252025604248, + "z": 1.1356258392333984 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Fridge|6|1", + "object_info": { + "name": "Fridge|6|1", + "position": { + "x": 4.54731559753418, + "y": 0.007810354232788086, + "z": 5.77420711517334 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Apple|surface|6|14", + "Tomato|surface|6|19" + ], + "distance": 4.098277568817139, + "objectType": "Fridge", + "objectId": "Fridge|6|1", + "assetId": "Fridge_22", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.855999946594238, + 1.969024896621704, + 6.174583435058594 + ], + [ + 4.855999946594238, + 1.969024896621704, + 5.373834609985352 + ], + [ + 4.855999946594238, + 0.0, + 6.174583435058594 + ], + [ + 4.855999946594238, + 0.0, + 5.373834609985352 + ], + [ + 4.1084184646606445, + 1.969024896621704, + 6.174583435058594 + ], + [ + 4.1084184646606445, + 1.969024896621704, + 5.373834609985352 + ], + [ + 4.1084184646606445, + 0.0, + 6.174583435058594 + ], + [ + 4.1084184646606445, + 0.0, + 5.373834609985352 + ] + ], + "center": { + "x": 4.482209205627441, + "y": 0.984512448310852, + "z": 5.774209022521973 + }, + "size": { + "x": 0.7475814819335938, + "y": 1.969024896621704, + "z": 0.8007488250732422 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Microwave|surface|6|16", + "object_info": { + "name": "Microwave|surface|6|16", + "position": { + "x": 1.3993040323257446, + "y": 0.9374673962593079, + "z": 6.173794746398926 + }, + "rotation": { + "x": 0.0016973018646240234, + "y": 179.99998474121094, + "z": 0.0002006897993851453 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 6.999999523162842, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": [], + "distance": 3.7711777687072754, + "objectType": "Microwave", + "objectId": "Microwave|surface|6|16", + "assetId": "Microwave_3", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.702845811843872, + 1.289890170097351, + 6.353171348571777 + ], + [ + 1.702845811843872, + 1.289890170097351, + 6.007803916931152 + ], + [ + 1.702845811843872, + 0.9374641180038452, + 6.353171348571777 + ], + [ + 1.702845811843872, + 0.9374641180038452, + 6.007803916931152 + ], + [ + 1.0965440273284912, + 1.289890170097351, + 6.353171348571777 + ], + [ + 1.0965440273284912, + 1.289890170097351, + 6.007803916931152 + ], + [ + 1.0965440273284912, + 0.9374641180038452, + 6.353171348571777 + ], + [ + 1.0965440273284912, + 0.9374641180038452, + 6.007803916931152 + ] + ], + "center": { + "x": 1.3996949195861816, + "y": 1.1136771440505981, + "z": 6.180487632751465 + }, + "size": { + "x": 0.6063017845153809, + "y": 0.35242605209350586, + "z": 0.345367431640625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.0965023040771484, + 0.9374606609344482, + 6.007826328277588 + ], + [ + 1.7028299570083618, + 0.9374585151672363, + 6.007826805114746 + ], + [ + 1.7028298377990723, + 0.9374687671661377, + 6.353199481964111 + ], + [ + 1.0965021848678589, + 0.9374708533287048, + 6.353199481964111 + ], + [ + 1.0965036153793335, + 1.2899013757705688, + 6.007816314697266 + ], + [ + 1.7028312683105469, + 1.289899230003357, + 6.007816314697266 + ], + [ + 1.7028310298919678, + 1.2899093627929688, + 6.353189468383789 + ], + [ + 1.096503496170044, + 1.2899115085601807, + 6.353188991546631 + ] + ] + } + } + }, + { + "objectId": "SoapBottle|surface|6|17", + "object_info": { + "name": "SoapBottle|surface|6|17", + "position": { + "x": 0.7123391032218933, + "y": 0.9384679198265076, + "z": 6.403832912445068 + }, + "rotation": { + "x": -0.002704629208892584, + "y": 179.9998779296875, + "z": -0.000979617820121348 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4000000059604645, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 4.195916652679443, + "objectType": "SoapBottle", + "objectId": "SoapBottle|surface|6|17", + "assetId": "Soap_Bottle_19", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.7586783170700073, + 1.1688826084136963, + 6.4352216720581055 + ], + [ + 0.7586783170700073, + 1.1688826084136963, + 6.3649797439575195 + ], + [ + 0.7586783170700073, + 0.9374635219573975, + 6.4352216720581055 + ], + [ + 0.7586783170700073, + 0.9374635219573975, + 6.3649797439575195 + ], + [ + 0.6659975051879883, + 1.1688826084136963, + 6.4352216720581055 + ], + [ + 0.6659975051879883, + 1.1688826084136963, + 6.3649797439575195 + ], + [ + 0.6659975051879883, + 0.9374635219573975, + 6.4352216720581055 + ], + [ + 0.6659975051879883, + 0.9374635219573975, + 6.3649797439575195 + ] + ], + "center": { + "x": 0.7123379111289978, + "y": 1.0531730651855469, + "z": 6.4001007080078125 + }, + "size": { + "x": 0.09268081188201904, + "y": 0.23141908645629883, + "z": 0.07024192810058594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.6659999489784241, + 0.9374665021896362, + 6.364969253540039 + ], + [ + 0.7586783766746521, + 0.9374681115150452, + 6.364969253540039 + ], + [ + 0.7586782574653625, + 0.9374647736549377, + 6.435213088989258 + ], + [ + 0.6659997701644897, + 0.9374632239341736, + 6.435213088989258 + ], + [ + 0.6659959554672241, + 1.1688833236694336, + 6.364980220794678 + ], + [ + 0.7586744427680969, + 1.1688848733901978, + 6.364980220794678 + ], + [ + 0.7586742639541626, + 1.1688815355300903, + 6.4352240562438965 + ], + [ + 0.6659958362579346, + 1.1688799858093262, + 6.4352240562438965 + ] + ] + } + } + }, + { + "objectId": "window|6|1", + "object_info": { + "name": "window|6|1", + "position": { + "x": 2.0123372077941895, + "y": 0.677517294883728, + "z": 6.507999420166016 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 4.021254539489746, + "objectType": "Window", + "objectId": "window|6|1", + "assetId": "Window_Hung_44x60", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.164180278778076, + 2.2595391273498535, + 6.629525184631348 + ], + [ + 3.164180278778076, + 2.2595391273498535, + 6.386474609375 + ], + [ + 3.164180278778076, + 0.6772875785827637, + 6.629525184631348 + ], + [ + 3.164180278778076, + 0.6772875785827637, + 6.386474609375 + ], + [ + 2.0285544395446777, + 2.2595391273498535, + 6.629525184631348 + ], + [ + 2.0285544395446777, + 2.2595391273498535, + 6.386474609375 + ], + [ + 2.0285544395446777, + 0.6772875785827637, + 6.629525184631348 + ], + [ + 2.0285544395446777, + 0.6772875785827637, + 6.386474609375 + ] + ], + "center": { + "x": 2.596367359161377, + "y": 1.4684133529663086, + "z": 6.507999897003174 + }, + "size": { + "x": 1.1356258392333984, + "y": 1.5822515487670898, + "z": 0.24305057525634766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|6|6", + "object_info": { + "name": "Painting|6|6", + "position": { + "x": 0.49719226360321045, + "y": 2.0927956104278564, + "z": 6.503004550933838 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 4.529542922973633, + "objectType": "Painting", + "objectId": "Painting|6|6", + "assetId": "Wall_Decor_Photo_2", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.9759658575057983, + 2.421173334121704, + 6.503000259399414 + ], + [ + 0.9759658575057983, + 2.421173334121704, + 6.471259117126465 + ], + [ + 0.9759658575057983, + 1.7644178867340088, + 6.503000259399414 + ], + [ + 0.9759658575057983, + 1.7644178867340088, + 6.471259117126465 + ], + [ + 0.01841866970062256, + 2.421173334121704, + 6.503000259399414 + ], + [ + 0.01841866970062256, + 2.421173334121704, + 6.471259117126465 + ], + [ + 0.01841866970062256, + 1.7644178867340088, + 6.503000259399414 + ], + [ + 0.01841866970062256, + 1.7644178867340088, + 6.471259117126465 + ] + ], + "center": { + "x": 0.49719226360321045, + "y": 2.0927956104278564, + "z": 6.4871296882629395 + }, + "size": { + "x": 0.9575471878051758, + "y": 0.6567554473876953, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "GarbageBag|6|3", + "object_info": { + "name": "GarbageBag|6|3", + "position": { + "x": 1.5636346340179443, + "y": -0.0016814768314361572, + "z": 4.888552665710449 + }, + "rotation": { + "x": 0.0427066944539547, + "y": 90.00025939941406, + "z": 0.3739077150821686 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.499999761581421, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.644071578979492, + "objectType": "GarbageBag", + "objectId": "GarbageBag|6|3", + "assetId": "GarbageBag_21_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.8204209804534912, + 0.5573246479034424, + 5.135462760925293 + ], + [ + 1.8204209804534912, + 0.5573246479034424, + 4.6247053146362305 + ], + [ + 1.8204209804534912, + -8.046627044677734e-07, + 5.135462760925293 + ], + [ + 1.8204209804534912, + -8.046627044677734e-07, + 4.6247053146362305 + ], + [ + 1.305213212966919, + 0.5573246479034424, + 5.135462760925293 + ], + [ + 1.305213212966919, + 0.5573246479034424, + 4.6247053146362305 + ], + [ + 1.305213212966919, + -8.046627044677734e-07, + 5.135462760925293 + ], + [ + 1.305213212966919, + -8.046627044677734e-07, + 4.6247053146362305 + ] + ], + "center": { + "x": 1.562817096710205, + "y": 0.27866193652153015, + "z": 4.880084037780762 + }, + "size": { + "x": 0.5152077674865723, + "y": 0.5573254823684692, + "z": 0.5107574462890625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.8203009366989136, + 0.0009305241983383894, + 4.623661041259766 + ], + [ + 1.820300817489624, + -0.0024025964085012674, + 5.134405136108398 + ], + [ + 1.3050931692123413, + -0.002018574858084321, + 5.1344075202941895 + ], + [ + 1.3050932884216309, + 0.0013145457487553358, + 4.623663425445557 + ], + [ + 1.8207167387008667, + 0.5588568449020386, + 4.627302169799805 + ], + [ + 1.8207166194915771, + 0.5555237531661987, + 5.1380462646484375 + ], + [ + 1.305509090423584, + 0.5559078454971313, + 5.13804817199707 + ], + [ + 1.3055092096328735, + 0.5592409372329712, + 4.627304553985596 + ] + ] + } + } + }, + { + "objectId": "Pencil|surface|6|18", + "object_info": { + "name": "Pencil|surface|6|18", + "position": { + "x": 1.6282916069030762, + "y": 0.9421939253807068, + "z": 6.173550605773926 + }, + "rotation": { + "x": 0.0002038075908785686, + "y": 180.0, + "z": 0.0035945710260421038 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": null, + "distance": 3.726015567779541, + "objectType": "Pencil", + "objectId": "Pencil|surface|6|18", + "assetId": "Pencil_3", + "parentReceptacles": [ + "CounterTop|6|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.6330194473266602, + 0.9469215273857117, + 6.261507987976074 + ], + [ + 1.6330194473266602, + 0.9469215273857117, + 6.079209327697754 + ], + [ + 1.6330194473266602, + 0.9374663233757019, + 6.261507987976074 + ], + [ + 1.6330194473266602, + 0.9374663233757019, + 6.079209327697754 + ], + [ + 1.6235637664794922, + 0.9469215273857117, + 6.261507987976074 + ], + [ + 1.6235637664794922, + 0.9469215273857117, + 6.079209327697754 + ], + [ + 1.6235637664794922, + 0.9374663233757019, + 6.261507987976074 + ], + [ + 1.6235637664794922, + 0.9374663233757019, + 6.079209327697754 + ] + ], + "center": { + "x": 1.6282916069030762, + "y": 0.9421939253807068, + "z": 6.170358657836914 + }, + "size": { + "x": 0.009455680847167969, + "y": 0.009455204010009766, + "z": 0.1822986602783203 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.623563528060913, + 0.9374660849571228, + 6.079209327697754 + ], + [ + 1.6330190896987915, + 0.937465488910675, + 6.079209327697754 + ], + [ + 1.6330190896987915, + 0.9374661445617676, + 6.261508464813232 + ], + [ + 1.623563528060913, + 0.9374667406082153, + 6.261508464813232 + ], + [ + 1.6235641241073608, + 0.946921706199646, + 6.079209327697754 + ], + [ + 1.6330196857452393, + 0.9469211101531982, + 6.079209327697754 + ], + [ + 1.6330196857452393, + 0.9469217658042908, + 6.261508464813232 + ], + [ + 1.6235641241073608, + 0.9469223618507385, + 6.261508464813232 + ] + ] + } + } + }, + { + "objectId": "CounterTop|6|0", + "object_info": { + "name": "CounterTop|6|0", + "position": { + "x": 0.026035666465759277, + "y": 2.9802322387695312e-08, + "z": 6.481001377105713 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Toaster|surface|6|15", + "Microwave|surface|6|16", + "Potato|surface|6|13", + "Pencil|surface|6|18", + "SoapBottle|surface|6|17" + ], + "distance": 4.648245811462402, + "objectType": "CounterTop", + "objectId": "CounterTop|6|0", + "assetId": "Countertop_I_6x2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.8563636541366577, + 0.9374663829803467, + 6.4830002784729 + ], + [ + 1.8563636541366577, + 0.9374663829803467, + 5.872448444366455 + ], + [ + 1.8563636541366577, + 0.0, + 6.4830002784729 + ], + [ + 1.8563636541366577, + 0.0, + 5.872448444366455 + ], + [ + 0.02499997615814209, + 0.9374663829803467, + 6.4830002784729 + ], + [ + 0.02499997615814209, + 0.9374663829803467, + 5.872448444366455 + ], + [ + 0.02499997615814209, + 0.0, + 6.4830002784729 + ], + [ + 0.02499997615814209, + 0.0, + 5.872448444366455 + ] + ], + "center": { + "x": 0.9406818151473999, + "y": 0.46873319149017334, + "z": 6.177724361419678 + }, + "size": { + "x": 1.8313636779785156, + "y": 0.9374663829803467, + "z": 0.6105518341064453 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "GarbageCan|6|2", + "object_info": { + "name": "GarbageCan|6|2", + "position": { + "x": 0.2706604599952698, + "y": -0.0014638006687164307, + "z": 4.78305721282959 + }, + "rotation": { + "x": -0.0005329452105797827, + "y": 89.99957275390625, + "z": -0.000576408114284277 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.699999988079071, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": [], + "distance": 3.1535022258758545, + "objectType": "GarbageCan", + "objectId": "GarbageCan|6|2", + "assetId": "bin_30", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.5053040981292725, + 0.6572552919387817, + 5.0494585037231445 + ], + [ + 0.5053040981292725, + 0.6572552919387817, + 4.513649940490723 + ], + [ + 0.5053040981292725, + -0.0014638006687164307, + 5.0494585037231445 + ], + [ + 0.5053040981292725, + -0.0014638006687164307, + 4.513649940490723 + ], + [ + 0.02501124143600464, + 0.6572552919387817, + 5.0494585037231445 + ], + [ + 0.02501124143600464, + 0.6572552919387817, + 4.513649940490723 + ], + [ + 0.02501124143600464, + -0.0014638006687164307, + 5.0494585037231445 + ], + [ + 0.02501124143600464, + -0.0014638006687164307, + 4.513649940490723 + ] + ], + "center": { + "x": 0.26515766978263855, + "y": 0.32789573073387146, + "z": 4.781554222106934 + }, + "size": { + "x": 0.4802928566932678, + "y": 0.6587190628051758, + "z": 0.5358085632324219 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.5053040981292725, + -0.0014643283793702722, + 4.5136566162109375 + ], + [ + 0.5053001046180725, + -0.0014589380007237196, + 5.0494608879089355 + ], + [ + 0.025012657046318054, + -0.00146340555511415, + 5.049457550048828 + ], + [ + 0.025016650557518005, + -0.0014687958173453808, + 4.513652801513672 + ], + [ + 0.5052979588508606, + 0.6572574377059937, + 4.513649940490723 + ], + [ + 0.5052939653396606, + 0.6572628021240234, + 5.049454689025879 + ], + [ + 0.025006532669067383, + 0.6572582721710205, + 5.049450874328613 + ], + [ + 0.025010526180267334, + 0.6572529077529907, + 4.513646125793457 + ] + ] + } + } + }, + { + "objectId": "HousePlant|6|4|0", + "object_info": { + "name": "HousePlant|6|4|0", + "position": { + "x": 4.6880388259887695, + "y": 0.0033127665519714355, + "z": 4.475515365600586 + }, + "rotation": { + "x": 5.877536386833526e-05, + "y": 60.28634262084961, + "z": -0.00012767589942086488 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.0, + "salientMaterials": [ + "Ceramic", + "Organic" + ], + "receptacleObjectIds": null, + "distance": 3.263822317123413, + "objectType": "HousePlant", + "objectId": "HousePlant|6|4|0", + "assetId": "Houseplant_18", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.8062744140625, + 0.8504126071929932, + 4.597064018249512 + ], + [ + 4.8062744140625, + 0.8504126071929932, + 4.361004829406738 + ], + [ + 4.8062744140625, + 2.562999725341797e-06, + 4.597064018249512 + ], + [ + 4.8062744140625, + 2.562999725341797e-06, + 4.361004829406738 + ], + [ + 4.538839340209961, + 0.8504126071929932, + 4.597064018249512 + ], + [ + 4.538839340209961, + 0.8504126071929932, + 4.361004829406738 + ], + [ + 4.538839340209961, + 2.562999725341797e-06, + 4.597064018249512 + ], + [ + 4.538839340209961, + 2.562999725341797e-06, + 4.361004829406738 + ] + ], + "center": { + "x": 4.6725568771362305, + "y": 0.42520758509635925, + "z": 4.479034423828125 + }, + "size": { + "x": 0.26743507385253906, + "y": 0.8504100441932678, + "z": 0.23605918884277344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.855999946594238, + 1.6656704246997833e-06, + 4.4366254806518555 + ], + [ + 4.739696025848389, + 2.1886080503463745e-06, + 4.640414714813232 + ], + [ + 4.526893615722656, + 2.4400651454925537e-06, + 4.518967151641846 + ], + [ + 4.643197059631348, + 1.9171275198459625e-06, + 4.315177917480469 + ], + [ + 4.856001377105713, + 0.8504124283790588, + 4.436624050140381 + ], + [ + 4.7396979331970215, + 0.850412905216217, + 4.640413284301758 + ], + [ + 4.526895046234131, + 0.8504131436347961, + 4.518965721130371 + ], + [ + 4.6431989669799805, + 0.8504126667976379, + 4.315176486968994 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 1.899999976158142, + "y": 0.9009997844696045, + "z": 2.5 + }, + "agent_rotation": { + "x": -0.0, + "y": 9.659346687840298e-06, + "z": -0.0 + }, + "agent_cameraHorizon": 1.5309450418499182e-06, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 1.899999976158142, + "y": 1.5759997367858887, + "z": 2.5 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "HousePlant|6|4|0", + "Fridge|6|1" + ], + "different_object": [ + "window|6|0", + "Microwave|surface|6|16", + "Pencil|surface|6|18", + "window|6|1", + "CounterTop|6|0", + "SoapBottle|surface|6|17", + "Toaster|surface|6|15", + "Painting|6|6", + "GarbageCan|6|2", + "GarbageBag|6|3" + ] +} \ No newline at end of file diff --git a/train/train1572/4/1_depth_npy.npy b/train/train1572/4/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..460b3be75fe54dbb3f263a4eb771dc080ca0bb27 --- /dev/null +++ b/train/train1572/4/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bd925817df2dc68ca83d607f665dcb8201caae706cd797c4fa0a3116f84b84cb +size 3145856 diff --git a/train/train1572/4/1_semantic_sensor_npy.npy b/train/train1572/4/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..833a5ef884346786eb9d57d16e3e5db1cd3e4bec --- /dev/null +++ b/train/train1572/4/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c2733b55632f015ab3a619719b6bfc76345361aa0376edcea0a37adfc357c3a4 +size 2359424 diff --git a/train/train1572/4/depth_0.png b/train/train1572/4/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..fe90cce054f219b8f0501bedb48bdf83429eb74a Binary files /dev/null and b/train/train1572/4/depth_0.png differ diff --git a/train/train1572/4/depth_1.png b/train/train1572/4/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..175958786b9779d05a907b4327a717fc87cc6cf1 Binary files /dev/null and b/train/train1572/4/depth_1.png differ diff --git a/train/train1572/4/mask_questions.jsonl b/train/train1572/4/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0af96e838cffcff667ace6e166c139364c0a2255 --- /dev/null +++ b/train/train1572/4/mask_questions.jsonl @@ -0,0 +1,2 @@ +{"id": 2638, "folder_dir": "train1572/4", "pair_name": "0-1:Fridge|6|1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. HousePlant\nB. RemoteControl\nC. Pillow\nD. Fridge", "answer": "D", "object_name": "Fridge", "image_1": "train1572/4/rgb_0.png", "image_2": "train1572/4/rgb_1.png", "mask_image": "train1572/4/rgb_1_mask_Fridge|6|1.png", "options": ["HousePlant", "RemoteControl", "Pillow", "Fridge"]} +{"id": 2639, "folder_dir": "train1572/4", "pair_name": "1-0:Fridge|6|1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Fridge\nB. HousePlant\nC. GarbageCan\nD. Painting", "answer": "A", "object_name": "Fridge", "image_1": "train1572/4/rgb_1.png", "image_2": "train1572/4/rgb_0.png", "mask_image": "train1572/4/rgb_0_mask_Fridge|6|1.png", "options": ["Fridge", "HousePlant", "GarbageCan", "Painting"]} diff --git a/train/train1572/4/questions_direction.jsonl b/train/train1572/4/questions_direction.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..27070223d4b1d7e61d9b10dacdac85b9ac72cb1f --- /dev/null +++ b/train/train1572/4/questions_direction.jsonl @@ -0,0 +1,50 @@ +{"id": 4398, "folder_dir": "train1572/4", "pair_name": "Doorway-Toaster", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Doorway. Where is the centroid position of Toaster in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Doorway", "tgt_object": "Toaster", "src_com": {"x": 5.303654670715332, "y": 1.037670612335205, "z": 1.1714521646499634}, "tgt_com": {"x": 0.46645042300224304, "y": 1.0266783237457275, "z": 6.096790313720703}, "agent_pos": {"x": 1.899999976158142, "y": 1.5759997367858887, "z": 2.5}, "image_1": "train1572/4/rgb_0.png", "image_2": "train1572/4/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4399, "folder_dir": "train1572/4", "pair_name": "Doorway-Microwave", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Doorway. Where is the centroid position of Microwave in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Doorway", "tgt_object": "Microwave", "src_com": {"x": 5.303654670715332, "y": 1.037670612335205, "z": 1.1714521646499634}, "tgt_com": {"x": 1.3996949195861816, "y": 1.1136771440505981, "z": 6.180487632751465}, "agent_pos": {"x": 1.899999976158142, "y": 1.5759997367858887, "z": 2.5}, "image_1": "train1572/4/rgb_0.png", "image_2": "train1572/4/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4400, "folder_dir": "train1572/4", "pair_name": "Doorway-SoapBottle", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Doorway. Where is the centroid position of SoapBottle in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Doorway", "tgt_object": "SoapBottle", "src_com": {"x": 5.303654670715332, "y": 1.037670612335205, "z": 1.1714521646499634}, "tgt_com": {"x": 0.7123379111289978, "y": 1.0531730651855469, "z": 6.4001007080078125}, "agent_pos": {"x": 1.899999976158142, "y": 1.5759997367858887, "z": 2.5}, "image_1": "train1572/4/rgb_0.png", "image_2": "train1572/4/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4401, "folder_dir": "train1572/4", "pair_name": "Doorway-GarbageBag", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Doorway. Where is the centroid position of GarbageBag in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Doorway", "tgt_object": "GarbageBag", "src_com": {"x": 5.303654670715332, "y": 1.037670612335205, "z": 1.1714521646499634}, "tgt_com": {"x": 1.562817096710205, "y": 0.27866193652153015, "z": 4.880084037780762}, "agent_pos": {"x": 1.899999976158142, "y": 1.5759997367858887, "z": 2.5}, "image_1": "train1572/4/rgb_0.png", "image_2": "train1572/4/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4402, "folder_dir": "train1572/4", "pair_name": "Doorway-CounterTop", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Doorway. Where is the centroid position of CounterTop in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Doorway", "tgt_object": "CounterTop", "src_com": {"x": 5.303654670715332, "y": 1.037670612335205, "z": 1.1714521646499634}, "tgt_com": {"x": 0.9406818151473999, "y": 0.46873319149017334, "z": 6.177724361419678}, "agent_pos": {"x": 1.899999976158142, "y": 1.5759997367858887, "z": 2.5}, "image_1": "train1572/4/rgb_0.png", "image_2": "train1572/4/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4403, "folder_dir": "train1572/4", "pair_name": "Doorway-GarbageCan", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Doorway. Where is the centroid position of GarbageCan in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Doorway", "tgt_object": "GarbageCan", "src_com": {"x": 5.303654670715332, "y": 1.037670612335205, "z": 1.1714521646499634}, "tgt_com": {"x": 0.26515766978263855, "y": 0.32789573073387146, "z": 4.781554222106934}, "agent_pos": {"x": 1.899999976158142, "y": 1.5759997367858887, "z": 2.5}, "image_1": "train1572/4/rgb_0.png", "image_2": "train1572/4/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4404, "folder_dir": "train1572/4", "pair_name": "Bed-Toaster", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Bed. Where is the centroid position of Toaster in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Bed", "tgt_object": "Toaster", "src_com": {"x": 7.542730331420898, "y": 0.46057090163230896, "z": 1.0458091497421265}, "tgt_com": {"x": 0.46645042300224304, "y": 1.0266783237457275, "z": 6.096790313720703}, "agent_pos": {"x": 1.899999976158142, "y": 1.5759997367858887, "z": 2.5}, "image_1": "train1572/4/rgb_0.png", "image_2": "train1572/4/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4405, "folder_dir": "train1572/4", "pair_name": "Bed-Microwave", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Bed. Where is the centroid position of Microwave in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Bed", "tgt_object": "Microwave", "src_com": {"x": 7.542730331420898, "y": 0.46057090163230896, "z": 1.0458091497421265}, "tgt_com": {"x": 1.3996949195861816, "y": 1.1136771440505981, "z": 6.180487632751465}, "agent_pos": {"x": 1.899999976158142, "y": 1.5759997367858887, "z": 2.5}, "image_1": "train1572/4/rgb_0.png", "image_2": "train1572/4/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4406, "folder_dir": "train1572/4", "pair_name": "Bed-SoapBottle", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Bed. Where is the centroid position of SoapBottle in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Bed", "tgt_object": "SoapBottle", "src_com": {"x": 7.542730331420898, "y": 0.46057090163230896, "z": 1.0458091497421265}, "tgt_com": {"x": 0.7123379111289978, "y": 1.0531730651855469, "z": 6.4001007080078125}, "agent_pos": {"x": 1.899999976158142, "y": 1.5759997367858887, "z": 2.5}, "image_1": "train1572/4/rgb_0.png", "image_2": "train1572/4/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4407, "folder_dir": "train1572/4", "pair_name": "Bed-GarbageBag", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Bed. Where is the centroid position of GarbageBag in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Bed", "tgt_object": "GarbageBag", "src_com": {"x": 7.542730331420898, "y": 0.46057090163230896, "z": 1.0458091497421265}, "tgt_com": {"x": 1.562817096710205, "y": 0.27866193652153015, "z": 4.880084037780762}, "agent_pos": {"x": 1.899999976158142, "y": 1.5759997367858887, "z": 2.5}, "image_1": "train1572/4/rgb_0.png", "image_2": "train1572/4/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4408, "folder_dir": "train1572/4", "pair_name": "Bed-CounterTop", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Bed. Where is the centroid position of CounterTop in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Bed", "tgt_object": "CounterTop", "src_com": {"x": 7.542730331420898, "y": 0.46057090163230896, "z": 1.0458091497421265}, "tgt_com": {"x": 0.9406818151473999, "y": 0.46873319149017334, "z": 6.177724361419678}, "agent_pos": {"x": 1.899999976158142, "y": 1.5759997367858887, "z": 2.5}, "image_1": "train1572/4/rgb_0.png", "image_2": "train1572/4/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4409, "folder_dir": "train1572/4", "pair_name": "Bed-GarbageCan", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Bed. Where is the centroid position of GarbageCan in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Bed", "tgt_object": "GarbageCan", "src_com": {"x": 7.542730331420898, "y": 0.46057090163230896, "z": 1.0458091497421265}, "tgt_com": {"x": 0.26515766978263855, "y": 0.32789573073387146, "z": 4.781554222106934}, "agent_pos": {"x": 1.899999976158142, "y": 1.5759997367858887, "z": 2.5}, "image_1": "train1572/4/rgb_0.png", "image_2": "train1572/4/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4410, "folder_dir": "train1572/4", "pair_name": "Sofa-Microwave", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Sofa. Where is the centroid position of Microwave in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Sofa", "tgt_object": "Microwave", "src_com": {"x": 3.417679786682129, "y": 0.3612620532512665, "z": 0.4240416884422302}, "tgt_com": {"x": 1.3996949195861816, "y": 1.1136771440505981, "z": 6.180487632751465}, "agent_pos": {"x": 1.899999976158142, "y": 1.5759997367858887, "z": 2.5}, "image_1": "train1572/4/rgb_0.png", "image_2": "train1572/4/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4411, "folder_dir": "train1572/4", "pair_name": "Sofa-SoapBottle", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Sofa. Where is the centroid position of SoapBottle in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Sofa", "tgt_object": "SoapBottle", "src_com": {"x": 3.417679786682129, "y": 0.3612620532512665, "z": 0.4240416884422302}, "tgt_com": {"x": 0.7123379111289978, "y": 1.0531730651855469, "z": 6.4001007080078125}, "agent_pos": {"x": 1.899999976158142, "y": 1.5759997367858887, "z": 2.5}, "image_1": "train1572/4/rgb_0.png", "image_2": "train1572/4/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4412, "folder_dir": "train1572/4", "pair_name": "Sofa-GarbageBag", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Sofa. Where is the centroid position of GarbageBag in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Sofa", "tgt_object": "GarbageBag", "src_com": {"x": 3.417679786682129, "y": 0.3612620532512665, "z": 0.4240416884422302}, "tgt_com": {"x": 1.562817096710205, "y": 0.27866193652153015, "z": 4.880084037780762}, "agent_pos": {"x": 1.899999976158142, "y": 1.5759997367858887, "z": 2.5}, "image_1": "train1572/4/rgb_0.png", "image_2": "train1572/4/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4413, "folder_dir": "train1572/4", "pair_name": "Sofa-CounterTop", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Sofa. Where is the centroid position of CounterTop in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Sofa", "tgt_object": "CounterTop", "src_com": {"x": 3.417679786682129, "y": 0.3612620532512665, "z": 0.4240416884422302}, "tgt_com": {"x": 0.9406818151473999, "y": 0.46873319149017334, "z": 6.177724361419678}, "agent_pos": {"x": 1.899999976158142, "y": 1.5759997367858887, "z": 2.5}, "image_1": "train1572/4/rgb_0.png", "image_2": "train1572/4/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4414, "folder_dir": "train1572/4", "pair_name": "Ottoman-Toaster", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Ottoman. Where is the centroid position of Toaster in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Ottoman", "tgt_object": "Toaster", "src_com": {"x": 4.6264448165893555, "y": 0.24231238663196564, "z": 2.5090413093566895}, "tgt_com": {"x": 0.46645042300224304, "y": 1.0266783237457275, "z": 6.096790313720703}, "agent_pos": {"x": 1.899999976158142, "y": 1.5759997367858887, "z": 2.5}, "image_1": "train1572/4/rgb_0.png", "image_2": "train1572/4/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4415, "folder_dir": "train1572/4", "pair_name": "Ottoman-SoapBottle", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Ottoman. Where is the centroid position of SoapBottle in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Ottoman", "tgt_object": "SoapBottle", "src_com": {"x": 4.6264448165893555, "y": 0.24231238663196564, "z": 2.5090413093566895}, "tgt_com": {"x": 0.7123379111289978, "y": 1.0531730651855469, "z": 6.4001007080078125}, "agent_pos": {"x": 1.899999976158142, "y": 1.5759997367858887, "z": 2.5}, "image_1": "train1572/4/rgb_0.png", "image_2": "train1572/4/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4416, "folder_dir": "train1572/4", "pair_name": "Ottoman-GarbageCan", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Ottoman. Where is the centroid position of GarbageCan in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Ottoman", "tgt_object": "GarbageCan", "src_com": {"x": 4.6264448165893555, "y": 0.24231238663196564, "z": 2.5090413093566895}, "tgt_com": {"x": 0.26515766978263855, "y": 0.32789573073387146, "z": 4.781554222106934}, "agent_pos": {"x": 1.899999976158142, "y": 1.5759997367858887, "z": 2.5}, "image_1": "train1572/4/rgb_0.png", "image_2": "train1572/4/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4417, "folder_dir": "train1572/4", "pair_name": "Safe-Toaster", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Safe. Where is the centroid position of Toaster in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Safe", "tgt_object": "Toaster", "src_com": {"x": 6.661500930786133, "y": 0.15158995985984802, "z": 0.19231252372264862}, "tgt_com": {"x": 0.46645042300224304, "y": 1.0266783237457275, "z": 6.096790313720703}, "agent_pos": {"x": 1.899999976158142, "y": 1.5759997367858887, "z": 2.5}, "image_1": "train1572/4/rgb_0.png", "image_2": "train1572/4/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4418, "folder_dir": "train1572/4", "pair_name": "Safe-Microwave", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Safe. Where is the centroid position of Microwave in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Safe", "tgt_object": "Microwave", "src_com": {"x": 6.661500930786133, "y": 0.15158995985984802, "z": 0.19231252372264862}, "tgt_com": {"x": 1.3996949195861816, "y": 1.1136771440505981, "z": 6.180487632751465}, "agent_pos": {"x": 1.899999976158142, "y": 1.5759997367858887, "z": 2.5}, "image_1": "train1572/4/rgb_0.png", "image_2": "train1572/4/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4419, "folder_dir": "train1572/4", "pair_name": "Safe-SoapBottle", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Safe. Where is the centroid position of SoapBottle in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Safe", "tgt_object": "SoapBottle", "src_com": {"x": 6.661500930786133, "y": 0.15158995985984802, "z": 0.19231252372264862}, "tgt_com": {"x": 0.7123379111289978, "y": 1.0531730651855469, "z": 6.4001007080078125}, "agent_pos": {"x": 1.899999976158142, "y": 1.5759997367858887, "z": 2.5}, "image_1": "train1572/4/rgb_0.png", "image_2": "train1572/4/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4420, "folder_dir": "train1572/4", "pair_name": "Safe-GarbageBag", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Safe. Where is the centroid position of GarbageBag in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Safe", "tgt_object": "GarbageBag", "src_com": {"x": 6.661500930786133, "y": 0.15158995985984802, "z": 0.19231252372264862}, "tgt_com": {"x": 1.562817096710205, "y": 0.27866193652153015, "z": 4.880084037780762}, "agent_pos": {"x": 1.899999976158142, "y": 1.5759997367858887, "z": 2.5}, "image_1": "train1572/4/rgb_0.png", "image_2": "train1572/4/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4421, "folder_dir": "train1572/4", "pair_name": "Safe-CounterTop", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Safe. Where is the centroid position of CounterTop in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Safe", "tgt_object": "CounterTop", "src_com": {"x": 6.661500930786133, "y": 0.15158995985984802, "z": 0.19231252372264862}, "tgt_com": {"x": 0.9406818151473999, "y": 0.46873319149017334, "z": 6.177724361419678}, "agent_pos": {"x": 1.899999976158142, "y": 1.5759997367858887, "z": 2.5}, "image_1": "train1572/4/rgb_0.png", "image_2": "train1572/4/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4422, "folder_dir": "train1572/4", "pair_name": "Safe-GarbageCan", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Safe. Where is the centroid position of GarbageCan in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Safe", "tgt_object": "GarbageCan", "src_com": {"x": 6.661500930786133, "y": 0.15158995985984802, "z": 0.19231252372264862}, "tgt_com": {"x": 0.26515766978263855, "y": 0.32789573073387146, "z": 4.781554222106934}, "agent_pos": {"x": 1.899999976158142, "y": 1.5759997367858887, "z": 2.5}, "image_1": "train1572/4/rgb_0.png", "image_2": "train1572/4/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4423, "folder_dir": "train1572/4", "pair_name": "Toaster-Doorway", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Toaster. Where is the centroid position of Doorway in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Toaster", "tgt_object": "Doorway", "src_com": {"x": 0.46645042300224304, "y": 1.0266783237457275, "z": 6.096790313720703}, "tgt_com": {"x": 5.303654670715332, "y": 1.037670612335205, "z": 1.1714521646499634}, "agent_pos": {"x": 1.899999976158142, "y": 1.5759997367858887, "z": 2.5}, "image_1": "train1572/4/rgb_1.png", "image_2": "train1572/4/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4424, "folder_dir": "train1572/4", "pair_name": "Toaster-Bed", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Toaster. Where is the centroid position of Bed in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Toaster", "tgt_object": "Bed", "src_com": {"x": 0.46645042300224304, "y": 1.0266783237457275, "z": 6.096790313720703}, "tgt_com": {"x": 7.542730331420898, "y": 0.46057090163230896, "z": 1.0458091497421265}, "agent_pos": {"x": 1.899999976158142, "y": 1.5759997367858887, "z": 2.5}, "image_1": "train1572/4/rgb_1.png", "image_2": "train1572/4/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4425, "folder_dir": "train1572/4", "pair_name": "Toaster-Ottoman", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Toaster. Where is the centroid position of Ottoman in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Toaster", "tgt_object": "Ottoman", "src_com": {"x": 0.46645042300224304, "y": 1.0266783237457275, "z": 6.096790313720703}, "tgt_com": {"x": 4.6264448165893555, "y": 0.24231238663196564, "z": 2.5090413093566895}, "agent_pos": {"x": 1.899999976158142, "y": 1.5759997367858887, "z": 2.5}, "image_1": "train1572/4/rgb_1.png", "image_2": "train1572/4/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4426, "folder_dir": "train1572/4", "pair_name": "Toaster-Safe", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Toaster. Where is the centroid position of Safe in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Toaster", "tgt_object": "Safe", "src_com": {"x": 0.46645042300224304, "y": 1.0266783237457275, "z": 6.096790313720703}, "tgt_com": {"x": 6.661500930786133, "y": 0.15158995985984802, "z": 0.19231252372264862}, "agent_pos": {"x": 1.899999976158142, "y": 1.5759997367858887, "z": 2.5}, "image_1": "train1572/4/rgb_1.png", "image_2": "train1572/4/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4427, "folder_dir": "train1572/4", "pair_name": "Microwave-Doorway", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Microwave. Where is the centroid position of Doorway in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Microwave", "tgt_object": "Doorway", "src_com": {"x": 1.3996949195861816, "y": 1.1136771440505981, "z": 6.180487632751465}, "tgt_com": {"x": 5.303654670715332, "y": 1.037670612335205, "z": 1.1714521646499634}, "agent_pos": {"x": 1.899999976158142, "y": 1.5759997367858887, "z": 2.5}, "image_1": "train1572/4/rgb_1.png", "image_2": "train1572/4/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4428, "folder_dir": "train1572/4", "pair_name": "Microwave-Bed", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Microwave. Where is the centroid position of Bed in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Microwave", "tgt_object": "Bed", "src_com": {"x": 1.3996949195861816, "y": 1.1136771440505981, "z": 6.180487632751465}, "tgt_com": {"x": 7.542730331420898, "y": 0.46057090163230896, "z": 1.0458091497421265}, "agent_pos": {"x": 1.899999976158142, "y": 1.5759997367858887, "z": 2.5}, "image_1": "train1572/4/rgb_1.png", "image_2": "train1572/4/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4429, "folder_dir": "train1572/4", "pair_name": "Microwave-Sofa", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Microwave. Where is the centroid position of Sofa in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Microwave", "tgt_object": "Sofa", "src_com": {"x": 1.3996949195861816, "y": 1.1136771440505981, "z": 6.180487632751465}, "tgt_com": {"x": 3.417679786682129, "y": 0.3612620532512665, "z": 0.4240416884422302}, "agent_pos": {"x": 1.899999976158142, "y": 1.5759997367858887, "z": 2.5}, "image_1": "train1572/4/rgb_1.png", "image_2": "train1572/4/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4430, "folder_dir": "train1572/4", "pair_name": "Microwave-Safe", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Microwave. Where is the centroid position of Safe in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Microwave", "tgt_object": "Safe", "src_com": {"x": 1.3996949195861816, "y": 1.1136771440505981, "z": 6.180487632751465}, "tgt_com": {"x": 6.661500930786133, "y": 0.15158995985984802, "z": 0.19231252372264862}, "agent_pos": {"x": 1.899999976158142, "y": 1.5759997367858887, "z": 2.5}, "image_1": "train1572/4/rgb_1.png", "image_2": "train1572/4/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4431, "folder_dir": "train1572/4", "pair_name": "SoapBottle-Doorway", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of SoapBottle. Where is the centroid position of Doorway in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "SoapBottle", "tgt_object": "Doorway", "src_com": {"x": 0.7123379111289978, "y": 1.0531730651855469, "z": 6.4001007080078125}, "tgt_com": {"x": 5.303654670715332, "y": 1.037670612335205, "z": 1.1714521646499634}, "agent_pos": {"x": 1.899999976158142, "y": 1.5759997367858887, "z": 2.5}, "image_1": "train1572/4/rgb_1.png", "image_2": "train1572/4/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4432, "folder_dir": "train1572/4", "pair_name": "SoapBottle-Bed", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of SoapBottle. Where is the centroid position of Bed in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "SoapBottle", "tgt_object": "Bed", "src_com": {"x": 0.7123379111289978, "y": 1.0531730651855469, "z": 6.4001007080078125}, "tgt_com": {"x": 7.542730331420898, "y": 0.46057090163230896, "z": 1.0458091497421265}, "agent_pos": {"x": 1.899999976158142, "y": 1.5759997367858887, "z": 2.5}, "image_1": "train1572/4/rgb_1.png", "image_2": "train1572/4/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4433, "folder_dir": "train1572/4", "pair_name": "SoapBottle-Sofa", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of SoapBottle. Where is the centroid position of Sofa in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "SoapBottle", "tgt_object": "Sofa", "src_com": {"x": 0.7123379111289978, "y": 1.0531730651855469, "z": 6.4001007080078125}, "tgt_com": {"x": 3.417679786682129, "y": 0.3612620532512665, "z": 0.4240416884422302}, "agent_pos": {"x": 1.899999976158142, "y": 1.5759997367858887, "z": 2.5}, "image_1": "train1572/4/rgb_1.png", "image_2": "train1572/4/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4434, "folder_dir": "train1572/4", "pair_name": "SoapBottle-Ottoman", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of SoapBottle. Where is the centroid position of Ottoman in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "SoapBottle", "tgt_object": "Ottoman", "src_com": {"x": 0.7123379111289978, "y": 1.0531730651855469, "z": 6.4001007080078125}, "tgt_com": {"x": 4.6264448165893555, "y": 0.24231238663196564, "z": 2.5090413093566895}, "agent_pos": {"x": 1.899999976158142, "y": 1.5759997367858887, "z": 2.5}, "image_1": "train1572/4/rgb_1.png", "image_2": "train1572/4/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4435, "folder_dir": "train1572/4", "pair_name": "SoapBottle-Safe", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of SoapBottle. Where is the centroid position of Safe in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "SoapBottle", "tgt_object": "Safe", "src_com": {"x": 0.7123379111289978, "y": 1.0531730651855469, "z": 6.4001007080078125}, "tgt_com": {"x": 6.661500930786133, "y": 0.15158995985984802, "z": 0.19231252372264862}, "agent_pos": {"x": 1.899999976158142, "y": 1.5759997367858887, "z": 2.5}, "image_1": "train1572/4/rgb_1.png", "image_2": "train1572/4/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4436, "folder_dir": "train1572/4", "pair_name": "GarbageBag-Doorway", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of GarbageBag. Where is the centroid position of Doorway in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "GarbageBag", "tgt_object": "Doorway", "src_com": {"x": 1.562817096710205, "y": 0.27866193652153015, "z": 4.880084037780762}, "tgt_com": {"x": 5.303654670715332, "y": 1.037670612335205, "z": 1.1714521646499634}, "agent_pos": {"x": 1.899999976158142, "y": 1.5759997367858887, "z": 2.5}, "image_1": "train1572/4/rgb_1.png", "image_2": "train1572/4/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4437, "folder_dir": "train1572/4", "pair_name": "GarbageBag-Bed", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of GarbageBag. Where is the centroid position of Bed in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "GarbageBag", "tgt_object": "Bed", "src_com": {"x": 1.562817096710205, "y": 0.27866193652153015, "z": 4.880084037780762}, "tgt_com": {"x": 7.542730331420898, "y": 0.46057090163230896, "z": 1.0458091497421265}, "agent_pos": {"x": 1.899999976158142, "y": 1.5759997367858887, "z": 2.5}, "image_1": "train1572/4/rgb_1.png", "image_2": "train1572/4/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4438, "folder_dir": "train1572/4", "pair_name": "GarbageBag-Sofa", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of GarbageBag. Where is the centroid position of Sofa in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "GarbageBag", "tgt_object": "Sofa", "src_com": {"x": 1.562817096710205, "y": 0.27866193652153015, "z": 4.880084037780762}, "tgt_com": {"x": 3.417679786682129, "y": 0.3612620532512665, "z": 0.4240416884422302}, "agent_pos": {"x": 1.899999976158142, "y": 1.5759997367858887, "z": 2.5}, "image_1": "train1572/4/rgb_1.png", "image_2": "train1572/4/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4439, "folder_dir": "train1572/4", "pair_name": "GarbageBag-Safe", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of GarbageBag. Where is the centroid position of Safe in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "GarbageBag", "tgt_object": "Safe", "src_com": {"x": 1.562817096710205, "y": 0.27866193652153015, "z": 4.880084037780762}, "tgt_com": {"x": 6.661500930786133, "y": 0.15158995985984802, "z": 0.19231252372264862}, "agent_pos": {"x": 1.899999976158142, "y": 1.5759997367858887, "z": 2.5}, "image_1": "train1572/4/rgb_1.png", "image_2": "train1572/4/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4440, "folder_dir": "train1572/4", "pair_name": "CounterTop-Doorway", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of CounterTop. Where is the centroid position of Doorway in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "CounterTop", "tgt_object": "Doorway", "src_com": {"x": 0.9406818151473999, "y": 0.46873319149017334, "z": 6.177724361419678}, "tgt_com": {"x": 5.303654670715332, "y": 1.037670612335205, "z": 1.1714521646499634}, "agent_pos": {"x": 1.899999976158142, "y": 1.5759997367858887, "z": 2.5}, "image_1": "train1572/4/rgb_1.png", "image_2": "train1572/4/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4441, "folder_dir": "train1572/4", "pair_name": "CounterTop-Bed", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of CounterTop. Where is the centroid position of Bed in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "CounterTop", "tgt_object": "Bed", "src_com": {"x": 0.9406818151473999, "y": 0.46873319149017334, "z": 6.177724361419678}, "tgt_com": {"x": 7.542730331420898, "y": 0.46057090163230896, "z": 1.0458091497421265}, "agent_pos": {"x": 1.899999976158142, "y": 1.5759997367858887, "z": 2.5}, "image_1": "train1572/4/rgb_1.png", "image_2": "train1572/4/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4442, "folder_dir": "train1572/4", "pair_name": "CounterTop-Sofa", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of CounterTop. Where is the centroid position of Sofa in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "CounterTop", "tgt_object": "Sofa", "src_com": {"x": 0.9406818151473999, "y": 0.46873319149017334, "z": 6.177724361419678}, "tgt_com": {"x": 3.417679786682129, "y": 0.3612620532512665, "z": 0.4240416884422302}, "agent_pos": {"x": 1.899999976158142, "y": 1.5759997367858887, "z": 2.5}, "image_1": "train1572/4/rgb_1.png", "image_2": "train1572/4/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4443, "folder_dir": "train1572/4", "pair_name": "CounterTop-Safe", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of CounterTop. Where is the centroid position of Safe in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "CounterTop", "tgt_object": "Safe", "src_com": {"x": 0.9406818151473999, "y": 0.46873319149017334, "z": 6.177724361419678}, "tgt_com": {"x": 6.661500930786133, "y": 0.15158995985984802, "z": 0.19231252372264862}, "agent_pos": {"x": 1.899999976158142, "y": 1.5759997367858887, "z": 2.5}, "image_1": "train1572/4/rgb_1.png", "image_2": "train1572/4/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4444, "folder_dir": "train1572/4", "pair_name": "GarbageCan-Doorway", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of GarbageCan. Where is the centroid position of Doorway in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "GarbageCan", "tgt_object": "Doorway", "src_com": {"x": 0.26515766978263855, "y": 0.32789573073387146, "z": 4.781554222106934}, "tgt_com": {"x": 5.303654670715332, "y": 1.037670612335205, "z": 1.1714521646499634}, "agent_pos": {"x": 1.899999976158142, "y": 1.5759997367858887, "z": 2.5}, "image_1": "train1572/4/rgb_1.png", "image_2": "train1572/4/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4445, "folder_dir": "train1572/4", "pair_name": "GarbageCan-Bed", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of GarbageCan. Where is the centroid position of Bed in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "GarbageCan", "tgt_object": "Bed", "src_com": {"x": 0.26515766978263855, "y": 0.32789573073387146, "z": 4.781554222106934}, "tgt_com": {"x": 7.542730331420898, "y": 0.46057090163230896, "z": 1.0458091497421265}, "agent_pos": {"x": 1.899999976158142, "y": 1.5759997367858887, "z": 2.5}, "image_1": "train1572/4/rgb_1.png", "image_2": "train1572/4/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4446, "folder_dir": "train1572/4", "pair_name": "GarbageCan-Ottoman", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of GarbageCan. Where is the centroid position of Ottoman in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "GarbageCan", "tgt_object": "Ottoman", "src_com": {"x": 0.26515766978263855, "y": 0.32789573073387146, "z": 4.781554222106934}, "tgt_com": {"x": 4.6264448165893555, "y": 0.24231238663196564, "z": 2.5090413093566895}, "agent_pos": {"x": 1.899999976158142, "y": 1.5759997367858887, "z": 2.5}, "image_1": "train1572/4/rgb_1.png", "image_2": "train1572/4/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4447, "folder_dir": "train1572/4", "pair_name": "GarbageCan-Safe", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of GarbageCan. Where is the centroid position of Safe in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "GarbageCan", "tgt_object": "Safe", "src_com": {"x": 0.26515766978263855, "y": 0.32789573073387146, "z": 4.781554222106934}, "tgt_com": {"x": 6.661500930786133, "y": 0.15158995985984802, "z": 0.19231252372264862}, "agent_pos": {"x": 1.899999976158142, "y": 1.5759997367858887, "z": 2.5}, "image_1": "train1572/4/rgb_1.png", "image_2": "train1572/4/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} diff --git a/train/train1572/4/questions_distance.jsonl b/train/train1572/4/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ae0e78a12d699b71d4bbae1ed900ba18d2b2d80f --- /dev/null +++ b/train/train1572/4/questions_distance.jsonl @@ -0,0 +1 @@ +{"id": 1067, "folder_dir": "train1572/4", "query": "Which of the following objects is closest to Fridge in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. HousePlant\nB. Pencil\nC. Microwave\nD. Other\n", "answer": "A", "src_object": "Fridge", "target_object": "HousePlant", "question": "Which of the following objects is closest to Fridge in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "HousePlant", "semantic_id": "HousePlant|6|4|0", "distance": 1.4235629270130525, "com": {"x": 4.6725568771362305, "y": 0.42520758509635925, "z": 4.479034423828125}}, {"text": "Pencil", "semantic_id": "Pencil|surface|6|18", "distance": 2.88159175652135, "com": {"x": 1.6282916069030762, "y": 0.9421939253807068, "z": 6.170358657836914}}, {"text": "Microwave", "semantic_id": "Microwave|surface|6|16", "distance": 3.111854776721434, "com": {"x": 1.3996949195861816, "y": 1.1136771440505981, "z": 6.180487632751465}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1572/4/rgb_0.png", "image_2": "train1572/4/rgb_1.png"} diff --git a/train/train1572/4/rgb_0.png b/train/train1572/4/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..378db8ef3f0f6aa1e0ced3c7670a27c62b43931a --- /dev/null +++ b/train/train1572/4/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:218850985294f4aaf9d9779b0ae7578dafcd3fb1caa878963acd27035aa35271 +size 888338 diff --git a/train/train1572/4/rgb_0_mask_Fridge|6|1.png b/train/train1572/4/rgb_0_mask_Fridge|6|1.png new file mode 100644 index 0000000000000000000000000000000000000000..a6dd77f228bf0f8f2aebd6bb5b50e1162a6fdfad --- /dev/null +++ b/train/train1572/4/rgb_0_mask_Fridge|6|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8d45a26a6814cb86b9c2d4d4f32c7ecdd95dd789d3d21a2b82a8e8c66b7d25ec +size 739181 diff --git a/train/train1572/4/rgb_1.png b/train/train1572/4/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..1b9ad6344415678dd8702be9486e9affeba3c4f1 --- /dev/null +++ b/train/train1572/4/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c263a1353608b762d28aa0b984c86ddf8aa7ae80502bdb5745799c6004ef9291 +size 737267 diff --git a/train/train1572/4/rgb_1_mask_Fridge|6|1.png b/train/train1572/4/rgb_1_mask_Fridge|6|1.png new file mode 100644 index 0000000000000000000000000000000000000000..1ea505dc4c0429676518c7144eccfccc83928b5d --- /dev/null +++ b/train/train1572/4/rgb_1_mask_Fridge|6|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:524521bc5c6ac9c7989d4fc31418346877f6fc1a9788e0cf2b80da3a0a1a7b42 +size 615247 diff --git a/train/train1572/4/semantic_0.png b/train/train1572/4/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..2875c699679bf186c3619699226b9176d74d63a3 Binary files /dev/null and b/train/train1572/4/semantic_0.png differ diff --git a/train/train1572/4/semantic_1.png b/train/train1572/4/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..a60be33d2b350c14870442368b13bcf230d83eb0 Binary files /dev/null and b/train/train1572/4/semantic_1.png differ diff --git a/train/train1572/color_to_object_id.json b/train/train1572/color_to_object_id.json new file mode 100644 index 0000000000000000000000000000000000000000..a7b4ac98e01f316832c0e78e9e8a233a8c8174d8 --- /dev/null +++ b/train/train1572/color_to_object_id.json @@ -0,0 +1,1388 @@ +[ + { + "window|4|0": [ + 148, + 40, + 210 + ] + }, + { + "Window": [ + 200, + 150, + 134 + ] + }, + { + "window|6|1": [ + 102, + 42, + 202 + ] + }, + { + "window|6|0": [ + 43, + 165, + 91 + ] + }, + { + "door|1|7": [ + 53, + 149, + 94 + ] + }, + { + "Doorway": [ + 163, + 222, + 124 + ] + }, + { + "door|4|7": [ + 58, + 70, + 233 + ] + }, + { + "door|4|5": [ + 50, + 233, + 221 + ] + }, + { + "Painting|5|5": [ + 137, + 50, + 249 + ] + }, + { + "Painting": [ + 40, + 117, + 236 + ] + }, + { + "Painting|5|4": [ + 172, + 63, + 26 + ] + }, + { + "Painting|4|9": [ + 34, + 41, + 141 + ] + }, + { + "Painting|4|8": [ + 189, + 103, + 93 + ] + }, + { + "Painting|4|7": [ + 87, + 224, + 210 + ] + }, + { + "Painting|4|6": [ + 111, + 255, + 77 + ] + }, + { + "Painting|6|6": [ + 136, + 191, + 27 + ] + }, + { + "Painting|6|5": [ + 177, + 100, + 11 + ] + }, + { + "Painting|7|6": [ + 172, + 235, + 250 + ] + }, + { + "Painting|7|5": [ + 204, + 249, + 219 + ] + }, + { + "Painting|7|4": [ + 153, + 5, + 3 + ] + }, + { + "Television|4|5": [ + 158, + 232, + 36 + ] + }, + { + "Television": [ + 27, + 245, + 217 + ] + }, + { + "Television|7|3": [ + 45, + 185, + 243 + ] + }, + { + "Ottoman|7|2": [ + 213, + 246, + 129 + ] + }, + { + "Ottoman": [ + 160, + 135, + 174 + ] + }, + { + "Pillow|surface|7|23": [ + 121, + 194, + 59 + ] + }, + { + "Pillow": [ + 217, + 193, + 130 + ] + }, + { + "Book|surface|7|22": [ + 80, + 54, + 235 + ] + }, + { + "Book": [ + 43, + 31, + 148 + ] + }, + { + "Sofa|7|1": [ + 207, + 240, + 173 + ] + }, + { + "Sofa": [ + 82, + 143, + 39 + ] + }, + { + "Bowl|surface|7|21": [ + 149, + 190, + 43 + ] + }, + { + "Bowl": [ + 209, + 182, + 193 + ] + }, + { + "Pen|surface|7|20": [ + 56, + 196, + 83 + ] + }, + { + "Pen": [ + 239, + 130, + 152 + ] + }, + { + "DiningTable|7|0": [ + 119, + 37, + 61 + ] + }, + { + "DiningTable": [ + 83, + 33, + 33 + ] + }, + { + "HousePlant|6|4|0": [ + 196, + 137, + 142 + ] + }, + { + "HousePlant": [ + 73, + 144, + 213 + ] + }, + { + "GarbageBag|6|3": [ + 142, + 231, + 140 + ] + }, + { + "GarbageBag": [ + 250, + 186, + 207 + ] + }, + { + "GarbageCan|6|2": [ + 176, + 47, + 221 + ] + }, + { + "GarbageCan": [ + 225, + 40, + 55 + ] + }, + { + "Tomato|surface|6|19": [ + 15, + 119, + 152 + ] + }, + { + "Tomato": [ + 119, + 189, + 121 + ] + }, + { + "Apple|surface|6|14": [ + 79, + 197, + 20 + ] + }, + { + "Apple": [ + 159, + 98, + 144 + ] + }, + { + "Fridge|6|1": [ + 45, + 15, + 119 + ] + }, + { + "Fridge": [ + 91, + 156, + 207 + ] + }, + { + "Pencil|surface|6|18": [ + 144, + 223, + 93 + ] + }, + { + "Pencil": [ + 177, + 226, + 23 + ] + }, + { + "SoapBottle|surface|6|17": [ + 95, + 76, + 93 + ] + }, + { + "SoapBottle": [ + 168, + 222, + 137 + ] + }, + { + "Microwave|surface|6|16": [ + 48, + 112, + 108 + ] + }, + { + "Microwave": [ + 54, + 96, + 202 + ] + }, + { + "Toaster|surface|6|15": [ + 14, + 171, + 79 + ] + }, + { + "Toaster": [ + 55, + 33, + 114 + ] + }, + { + "Potato|surface|6|13": [ + 92, + 69, + 221 + ] + }, + { + "Potato": [ + 187, + 142, + 9 + ] + }, + { + "CounterTop|6|0": [ + 175, + 244, + 241 + ] + }, + { + "CounterTop": [ + 103, + 209, + 30 + ] + }, + { + "GarbageCan|5|3": [ + 105, + 56, + 81 + ] + }, + { + "Plunger|5|2": [ + 132, + 15, + 154 + ] + }, + { + "Plunger": [ + 74, + 209, + 56 + ] + }, + { + "Faucet|5|1|1": [ + 65, + 42, + 255 + ] + }, + { + "Faucet": [ + 21, + 38, + 98 + ] + }, + { + "Sink|5|1|0___0": [ + 245, + 52, + 66 + ] + }, + { + "SinkBasin": [ + 80, + 192, + 81 + ] + }, + { + "Sink|5|1|0": [ + 201, + 233, + 65 + ] + }, + { + "Sink": [ + 30, + 181, + 88 + ] + }, + { + "PaperTowelRoll|surface|5|12": [ + 151, + 97, + 163 + ] + }, + { + "PaperTowelRoll": [ + 144, + 173, + 28 + ] + }, + { + "ToiletPaper|surface|5|11": [ + 69, + 67, + 115 + ] + }, + { + "ToiletPaper": [ + 162, + 204, + 152 + ] + }, + { + "SprayBottle|surface|5|10": [ + 52, + 237, + 226 + ] + }, + { + "SprayBottle": [ + 89, + 126, + 121 + ] + }, + { + "Toilet|5|0": [ + 241, + 253, + 188 + ] + }, + { + "Toilet": [ + 21, + 27, + 163 + ] + }, + { + "CD|surface|4|2": [ + 153, + 207, + 242 + ] + }, + { + "CD": [ + 65, + 112, + 172 + ] + }, + { + "RemoteControl|surface|4|0": [ + 118, + 194, + 240 + ] + }, + { + "RemoteControl": [ + 187, + 19, + 208 + ] + }, + { + "Desk|4|4___0": [ + 204, + 150, + 141 + ] + }, + { + "Shelf": [ + 39, + 54, + 158 + ] + }, + { + "Desk|4|4": [ + 207, + 58, + 103 + ] + }, + { + "Desk": [ + 14, + 120, + 179 + ] + }, + { + "Safe|4|3": [ + 239, + 103, + 5 + ] + }, + { + "Safe": [ + 198, + 238, + 160 + ] + }, + { + "HousePlant|4|2|0": [ + 31, + 129, + 142 + ] + }, + { + "Bowl|surface|4|8": [ + 104, + 177, + 255 + ] + }, + { + "Watch|surface|4|7": [ + 164, + 123, + 215 + ] + }, + { + "Watch": [ + 242, + 6, + 88 + ] + }, + { + "Pen|surface|4|3": [ + 96, + 17, + 159 + ] + }, + { + "Dresser|4|1___3": [ + 168, + 123, + 185 + ] + }, + { + "Drawer": [ + 155, + 30, + 210 + ] + }, + { + "Dresser|4|1___2": [ + 211, + 252, + 239 + ] + }, + { + "Dresser|4|1___1": [ + 177, + 160, + 107 + ] + }, + { + "Dresser|4|1___0": [ + 198, + 101, + 243 + ] + }, + { + "Dresser|4|1": [ + 68, + 131, + 140 + ] + }, + { + "Dresser": [ + 51, + 128, + 146 + ] + }, + { + "Book|surface|4|9": [ + 204, + 1, + 95 + ] + }, + { + "BaseballBat|surface|4|6": [ + 148, + 155, + 16 + ] + }, + { + "BaseballBat": [ + 171, + 20, + 38 + ] + }, + { + "RemoteControl|surface|4|5": [ + 72, + 41, + 10 + ] + }, + { + "RemoteControl|surface|4|4": [ + 214, + 106, + 195 + ] + }, + { + "Pillow|surface|4|1": [ + 0, + 189, + 44 + ] + }, + { + "Bed|4|0": [ + 197, + 154, + 79 + ] + }, + { + "Bed": [ + 209, + 156, + 101 + ] + }, + { + "Ceiling_room|7|0|2.938189|0": [ + 161, + 167, + 138 + ] + }, + { + "Ceiling": [ + 50, + 55, + 251 + ] + }, + { + "Ceiling_room|6|0|2.938189|0": [ + 127, + 251, + 40 + ] + }, + { + "Ceiling_room|5|0|2.938189|0": [ + 194, + 37, + 56 + ] + }, + { + "Ceiling_room|4|0|2.938189|0": [ + 61, + 229, + 252 + ] + }, + { + "wall|exterior|4.88|8.13|8.13|8.13": [ + 159, + 174, + 3 + ] + }, + { + "Wall": [ + 148, + 232, + 164 + ] + }, + { + "wall|exterior|8.13|4.88|8.13|8.13": [ + 133, + 112, + 97 + ] + }, + { + "wall|exterior|4.88|0.00|8.13|0.00": [ + 194, + 205, + 56 + ] + }, + { + "wall|exterior|8.13|0.00|8.13|4.88": [ + 197, + 126, + 44 + ] + }, + { + "wall|exterior|3.25|6.51|3.25|8.13": [ + 201, + 75, + 205 + ] + }, + { + "wall|exterior|3.25|8.13|4.88|8.13": [ + 73, + 138, + 239 + ] + }, + { + "wall|exterior|0.00|6.51|3.25|6.51": [ + 207, + 182, + 204 + ] + }, + { + "wall|exterior|0.00|3.25|0.00|6.51": [ + 162, + 60, + 199 + ] + }, + { + "wall|exterior|0.00|0.00|0.00|3.25": [ + 13, + 238, + 253 + ] + }, + { + "wall|exterior|0.00|0.00|4.88|0.00": [ + 119, + 222, + 163 + ] + }, + { + "wall|7|0.00|0.00|4.88|0.00": [ + 243, + 104, + 231 + ] + }, + { + "wall|7|4.88|0.00|4.88|3.25": [ + 169, + 240, + 221 + ] + }, + { + "wall|7|0.00|0.00|0.00|3.25": [ + 207, + 75, + 170 + ] + }, + { + "wall|6|4.88|3.25|4.88|4.88": [ + 3, + 80, + 64 + ] + }, + { + "wall|6|4.88|4.88|4.88|8.13": [ + 251, + 180, + 245 + ] + }, + { + "wall|6|3.25|8.13|4.88|8.13": [ + 146, + 252, + 53 + ] + }, + { + "wall|6|3.25|6.51|3.25|8.13": [ + 51, + 223, + 98 + ] + }, + { + "wall|6|0.00|6.51|3.25|6.51": [ + 52, + 132, + 28 + ] + }, + { + "wall|6|0.00|3.25|0.00|6.51": [ + 60, + 238, + 180 + ] + }, + { + "wall|5|4.88|4.88|8.13|4.88": [ + 58, + 19, + 174 + ] + }, + { + "wall|5|8.13|4.88|8.13|8.13": [ + 3, + 3, + 111 + ] + }, + { + "wall|5|4.88|8.13|8.13|8.13": [ + 114, + 205, + 51 + ] + }, + { + "wall|5|4.88|4.88|4.88|8.13": [ + 142, + 219, + 129 + ] + }, + { + "wall|4|4.88|0.00|8.13|0.00": [ + 198, + 62, + 86 + ] + }, + { + "wall|4|8.13|0.00|8.13|4.88": [ + 15, + 156, + 231 + ] + }, + { + "wall|4|4.88|4.88|8.13|4.88": [ + 187, + 72, + 113 + ] + }, + { + "wall|4|4.88|3.25|4.88|4.88": [ + 42, + 187, + 231 + ] + }, + { + "wall|4|4.88|0.00|4.88|3.25": [ + 203, + 127, + 238 + ] + }, + { + "room|7": [ + 183, + 155, + 144 + ] + }, + { + "Floor": [ + 243, + 246, + 208 + ] + }, + { + "room|6": [ + 217, + 194, + 196 + ] + }, + { + "room|5": [ + 190, + 121, + 70 + ] + }, + { + "room|4": [ + 60, + 42, + 179 + ] + }, + { + "TheHand": [ + 255, + 136, + 237 + ] + }, + { + "agent_neck_1": [ + 30, + 64, + 67 + ] + }, + { + "agent_body_1 (shadows)": [ + 134, + 158, + 226 + ] + }, + { + "agent_collarbone_1 (shadows)": [ + 217, + 96, + 80 + ] + }, + { + "agent_head_1 (shadows)": [ + 140, + 210, + 177 + ] + }, + { + "stretch_robot_base_code": [ + 101, + 30, + 126 + ] + }, + { + "agent_head_1": [ + 1, + 149, + 209 + ] + }, + { + "stretch_robot_laser": [ + 140, + 24, + 249 + ] + }, + { + "stretch_robot_mast": [ + 136, + 63, + 93 + ] + }, + { + "stretch_robot_head_1": [ + 0, + 57, + 255 + ] + }, + { + "agent_neck_3": [ + 209, + 228, + 37 + ] + }, + { + "robot_tilt_link_n (shadows)": [ + 202, + 16, + 52 + ] + }, + { + "agent_head_2 (shadows)": [ + 156, + 59, + 238 + ] + }, + { + "stretch_robot_head_3 (shadows)": [ + 83, + 209, + 138 + ] + }, + { + "agent_collarbone_2": [ + 152, + 152, + 185 + ] + }, + { + "agent_neck_2 (shadows)": [ + 244, + 240, + 196 + ] + }, + { + "agent_head_2": [ + 14, + 66, + 230 + ] + }, + { + "stretch_robot_head_2": [ + 73, + 58, + 96 + ] + }, + { + "agent_neck_3 (shadows)": [ + 239, + 35, + 232 + ] + }, + { + "stretch_robot_omniwheel": [ + 227, + 166, + 104 + ] + }, + { + "robot_elbow_link": [ + 231, + 128, + 58 + ] + }, + { + "robot_camera_link_n": [ + 140, + 65, + 197 + ] + }, + { + "robot_finger_r": [ + 122, + 202, + 170 + ] + }, + { + "robot_finger_l": [ + 178, + 169, + 157 + ] + }, + { + "robot_ar_tag": [ + 46, + 234, + 150 + ] + }, + { + "robot_cam_mount_n": [ + 54, + 221, + 114 + ] + }, + { + "robot_battery_n": [ + 165, + 68, + 55 + ] + }, + { + "robot_plate": [ + 211, + 118, + 132 + ] + }, + { + "robot_main_wheel_r_n": [ + 36, + 84, + 49 + ] + }, + { + "robot_shoulder_link": [ + 92, + 95, + 127 + ] + }, + { + "robot_roll_link_n": [ + 135, + 154, + 116 + ] + }, + { + "robot_gripper_link": [ + 241, + 136, + 173 + ] + }, + { + "robot_forearm_link": [ + 149, + 185, + 52 + ] + }, + { + "robot_main_wheel_l_n": [ + 139, + 151, + 200 + ] + }, + { + "robot_main_body": [ + 27, + 62, + 251 + ] + }, + { + "robot_wrist_link": [ + 3, + 195, + 0 + ] + }, + { + "robot_tilt_link_n": [ + 251, + 182, + 71 + ] + }, + { + "agent_collarbone_2 (shadows)": [ + 27, + 29, + 156 + ] + }, + { + "stretch_robot_head_2 (shadows)": [ + 167, + 106, + 44 + ] + }, + { + "stretch_robot_wheel_r": [ + 43, + 10, + 241 + ] + }, + { + "agent_collarbone_3": [ + 33, + 153, + 80 + ] + }, + { + "stretch_robot_wheel_l": [ + 209, + 121, + 111 + ] + }, + { + "agent_collarbone_3 (shadows)": [ + 12, + 185, + 24 + ] + }, + { + "agent_neck_1 (shadows)": [ + 5, + 106, + 127 + ] + }, + { + "agent_body_1": [ + 19, + 85, + 240 + ] + }, + { + "stretch_robot_base": [ + 18, + 223, + 56 + ] + }, + { + "robot_roll_link_n (shadows)": [ + 104, + 6, + 177 + ] + }, + { + "agent_neck_2": [ + 134, + 34, + 121 + ] + }, + { + "agent_collarbone_1": [ + 180, + 251, + 165 + ] + }, + { + "stretch_robot_head_3": [ + 175, + 244, + 187 + ] + }, + { + "robot_camera_link_n (shadows)": [ + 49, + 9, + 106 + ] + } +] \ No newline at end of file diff --git a/train/train1668/0/0.json b/train/train1668/0/0.json new file mode 100644 index 0000000000000000000000000000000000000000..92cf43b585bc8c11ba5e2c86d200e0fd3cadd78a --- /dev/null +++ b/train/train1668/0/0.json @@ -0,0 +1,2626 @@ +{ + "object": [ + { + "objectId": "CellPhone|surface|6|42", + "object_info": { + "name": "CellPhone|surface|6|42", + "position": { + "x": 5.937066555023193, + "y": 0.7060489058494568, + "z": 2.9819302558898926 + }, + "rotation": { + "x": 3.4025484637822956e-05, + "y": 180.0003662109375, + "z": -0.0011204881593585014 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1599999964237213, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 1.2612104415893555, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|6|42", + "assetId": "Cellphone_3", + "parentReceptacles": [ + "Desk|6|2" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.981203079223633, + 0.7156317234039307, + 3.071805477142334 + ], + [ + 5.981203079223633, + 0.7156317234039307, + 2.8920764923095703 + ], + [ + 5.981203079223633, + 0.7060445547103882, + 3.071805477142334 + ], + [ + 5.981203079223633, + 0.7060445547103882, + 2.8920764923095703 + ], + [ + 5.892617225646973, + 0.7156317234039307, + 3.071805477142334 + ], + [ + 5.892617225646973, + 0.7156317234039307, + 2.8920764923095703 + ], + [ + 5.892617225646973, + 0.7060445547103882, + 3.071805477142334 + ], + [ + 5.892617225646973, + 0.7060445547103882, + 2.8920764923095703 + ] + ], + "center": { + "x": 5.936910152435303, + "y": 0.7108381390571594, + "z": 2.981940984725952 + }, + "size": { + "x": 0.08858585357666016, + "y": 0.00958716869354248, + "z": 0.17972898483276367 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.892617225646973, + 0.7060445547103882, + 2.8920769691467285 + ], + [ + 5.981201648712158, + 0.7060462832450867, + 2.8920764923095703 + ], + [ + 5.981202602386475, + 0.7060464024543762, + 3.071805000305176 + ], + [ + 5.892618656158447, + 0.7060446739196777, + 3.071805477142334 + ], + [ + 5.892617225646973, + 0.7156298756599426, + 2.8920769691467285 + ], + [ + 5.981201171875, + 0.7156316041946411, + 2.8920764923095703 + ], + [ + 5.981202602386475, + 0.7156317234039307, + 3.071805000305176 + ], + [ + 5.892618179321289, + 0.7156299948692322, + 3.071805477142334 + ] + ] + } + } + }, + { + "objectId": "Box|surface|6|41", + "object_info": { + "name": "Box|surface|6|41", + "position": { + "x": 7.5326151847839355, + "y": 0.7107917666435242, + "z": 2.116950750350952 + }, + "rotation": { + "x": 359.9910583496094, + "y": 4.610685664374614e-06, + "z": 0.005013210698962212 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.30000001192092896, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": [], + "distance": 1.8299040794372559, + "objectType": "Box", + "objectId": "Box|surface|6|41", + "assetId": "Box_23", + "parentReceptacles": [ + "Bed|6|0|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.749358177185059, + 0.742455244064331, + 2.1571803092956543 + ], + [ + 7.749358177185059, + 0.742455244064331, + 1.9130134582519531 + ], + [ + 7.749358177185059, + 0.5599449872970581, + 2.1571803092956543 + ], + [ + 7.749358177185059, + 0.5599449872970581, + 1.9130134582519531 + ], + [ + 7.313809394836426, + 0.742455244064331, + 2.1571803092956543 + ], + [ + 7.313809394836426, + 0.742455244064331, + 1.9130134582519531 + ], + [ + 7.313809394836426, + 0.5599449872970581, + 2.1571803092956543 + ], + [ + 7.313809394836426, + 0.5599449872970581, + 1.9130134582519531 + ] + ], + "center": { + "x": 7.531583786010742, + "y": 0.6512001156806946, + "z": 2.0350968837738037 + }, + "size": { + "x": 0.4355487823486328, + "y": 0.18251025676727295, + "z": 0.24416685104370117 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.749358654022217, + 0.5600195527076721, + 2.1572089195251465 + ], + [ + 7.313825607299805, + 0.5599814057350159, + 2.1572089195251465 + ], + [ + 7.313825607299805, + 0.5599433183670044, + 1.9130418300628662 + ], + [ + 7.749358654022217, + 0.5599814057350159, + 1.9130418300628662 + ], + [ + 7.749342918395996, + 0.7424745559692383, + 2.1571803092956543 + ], + [ + 7.313809394836426, + 0.7424364686012268, + 2.1571805477142334 + ], + [ + 7.313809394836426, + 0.7423983812332153, + 1.9130134582519531 + ], + [ + 7.749342918395996, + 0.7424364686012268, + 1.9130133390426636 + ] + ] + } + } + }, + { + "objectId": "Desk|6|2", + "object_info": { + "name": "Desk|6|2", + "position": { + "x": 5.937110424041748, + "y": -0.0007331371307373047, + "z": 2.9056951999664307 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 34.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Mug|surface|6|35", + "DeskLamp|surface|6|47", + "Book|surface|6|49", + "Watch|surface|6|43", + "Dumbbell|surface|6|46", + "DeskLamp|surface|6|48", + "CellPhone|surface|6|42" + ], + "distance": 1.477756381034851, + "objectType": "Desk", + "objectId": "Desk|6|2", + "assetId": "Desk_320_2_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.711947441101074, + 0.7060455679893494, + 3.2719976902008057 + ], + [ + 6.711947441101074, + 0.7060455679893494, + 2.5293781757354736 + ], + [ + 6.711947441101074, + 2.086162567138672e-06, + 3.2719976902008057 + ], + [ + 6.711947441101074, + 2.086162567138672e-06, + 2.5293781757354736 + ], + [ + 5.161589622497559, + 0.7060455679893494, + 3.2719976902008057 + ], + [ + 5.161589622497559, + 0.7060455679893494, + 2.5293781757354736 + ], + [ + 5.161589622497559, + 2.086162567138672e-06, + 3.2719976902008057 + ], + [ + 5.161589622497559, + 2.086162567138672e-06, + 2.5293781757354736 + ] + ], + "center": { + "x": 5.936768531799316, + "y": 0.35302382707595825, + "z": 2.9006879329681396 + }, + "size": { + "x": 1.5503578186035156, + "y": 0.7060434818267822, + "z": 0.742619514465332 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.161589622497559, + 2.1457672119140625e-06, + 2.5293784141540527 + ], + [ + 6.711947441101074, + 2.1457672119140625e-06, + 2.5293781757354736 + ], + [ + 6.711947441101074, + 2.1457672119140625e-06, + 3.2719974517822266 + ], + [ + 5.161589622497559, + 2.1457672119140625e-06, + 3.2719976902008057 + ], + [ + 5.161589622497559, + 0.7060456275939941, + 2.5293784141540527 + ], + [ + 6.711947441101074, + 0.7060456275939941, + 2.5293781757354736 + ], + [ + 6.711947441101074, + 0.7060456275939941, + 3.2719974517822266 + ], + [ + 5.161589622497559, + 0.7060456275939941, + 3.2719976902008057 + ] + ] + } + } + }, + { + "objectId": "Watch|surface|6|43", + "object_info": { + "name": "Watch|surface|6|43", + "position": { + "x": 5.743636608123779, + "y": 0.7062540054321289, + "z": 2.6207048892974854 + }, + "rotation": { + "x": 1.8353039026260376, + "y": 179.95281982421875, + "z": 1.2690320014953613 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07000000029802322, + "salientMaterials": [ + "Metal", + "Glass", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 0.8922406435012817, + "objectType": "Watch", + "objectId": "Watch|surface|6|43", + "assetId": "Watch_1", + "parentReceptacles": [ + "Desk|6|2" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.782958030700684, + 0.7414309978485107, + 2.6465563774108887 + ], + [ + 5.782958030700684, + 0.7414309978485107, + 2.598205089569092 + ], + [ + 5.782958030700684, + 0.7058990001678467, + 2.6465563774108887 + ], + [ + 5.782958030700684, + 0.7058990001678467, + 2.598205089569092 + ], + [ + 5.70406436920166, + 0.7414309978485107, + 2.6465563774108887 + ], + [ + 5.70406436920166, + 0.7414309978485107, + 2.598205089569092 + ], + [ + 5.70406436920166, + 0.7058990001678467, + 2.6465563774108887 + ], + [ + 5.70406436920166, + 0.7058990001678467, + 2.598205089569092 + ] + ], + "center": { + "x": 5.743511199951172, + "y": 0.7236649990081787, + "z": 2.6223807334899902 + }, + "size": { + "x": 0.07889366149902344, + "y": 0.03553199768066406, + "z": 0.048351287841796875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.703927516937256, + 0.7052050828933716, + 2.598257064819336 + ], + [ + 5.78246545791626, + 0.7034661769866943, + 2.5983774662017822 + ], + [ + 5.782425403594971, + 0.7050284147262573, + 2.647132158279419 + ], + [ + 5.703887462615967, + 0.7067673206329346, + 2.6470117568969727 + ], + [ + 5.704741477966309, + 0.7418888807296753, + 2.5970823764801025 + ], + [ + 5.7832794189453125, + 0.740149974822998, + 2.5972025394439697 + ], + [ + 5.783239364624023, + 0.741712212562561, + 2.6459574699401855 + ], + [ + 5.7047014236450195, + 0.7434511184692383, + 2.6458370685577393 + ] + ] + } + } + }, + { + "objectId": "Dresser|6|1", + "object_info": { + "name": "Dresser|6|1", + "position": { + "x": 5.613176345825195, + "y": 0.0010976195335388184, + "z": 0.373943567276001 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "AlarmClock|surface|6|40", + "Laptop|surface|6|39" + ], + "distance": 1.6498714685440063, + "objectType": "Dresser", + "objectId": "Dresser|6|1", + "assetId": "Dresser_318_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.002116680145264, + 0.9713932275772095, + 0.7236727476119995 + ], + [ + 6.002116680145264, + 0.9713932275772095, + 0.025004029273986816 + ], + [ + 6.002116680145264, + 1.3709068298339844e-06, + 0.7236727476119995 + ], + [ + 6.002116680145264, + 1.3709068298339844e-06, + 0.025004029273986816 + ], + [ + 5.235853672027588, + 0.9713932275772095, + 0.7236727476119995 + ], + [ + 5.235853672027588, + 0.9713932275772095, + 0.025004029273986816 + ], + [ + 5.235853672027588, + 1.3709068298339844e-06, + 0.7236727476119995 + ], + [ + 5.235853672027588, + 1.3709068298339844e-06, + 0.025004029273986816 + ] + ], + "center": { + "x": 5.618985176086426, + "y": 0.48569729924201965, + "z": 0.37433838844299316 + }, + "size": { + "x": 0.7662630081176758, + "y": 0.9713918566703796, + "z": 0.6986687183380127 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.002116680145264, + 1.430511474609375e-06, + 0.72367262840271 + ], + [ + 5.235853672027588, + 1.430511474609375e-06, + 0.72367262840271 + ], + [ + 5.235853672027588, + 1.430511474609375e-06, + 0.02500411868095398 + ], + [ + 6.002116680145264, + 1.430511474609375e-06, + 0.02500411868095398 + ], + [ + 6.002116680145264, + 0.9713929295539856, + 0.72367262840271 + ], + [ + 5.235853672027588, + 0.9713929295539856, + 0.72367262840271 + ], + [ + 5.235853672027588, + 0.9713929295539856, + 0.02500411868095398 + ], + [ + 6.002116680145264, + 0.9713929295539856, + 0.02500411868095398 + ] + ] + } + } + }, + { + "objectId": "Dresser|6|1___0", + "object_info": { + "name": "Drawer (3)", + "position": { + "x": 5.609915733337402, + "y": 0.2250976264476776, + "z": 0.48612797260284424 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "CreditCard|surface|6|36" + ], + "distance": 1.4400832653045654, + "objectType": "Drawer", + "objectId": "Dresser|6|1___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.964020729064941, + 0.3764910101890564, + 0.6967599391937256 + ], + [ + 5.964020729064941, + 0.3764910101890564, + 0.2743746042251587 + ], + [ + 5.964020729064941, + 0.06970429420471191, + 0.6967599391937256 + ], + [ + 5.964020729064941, + 0.06970429420471191, + 0.2743746042251587 + ], + [ + 5.255810737609863, + 0.3764910101890564, + 0.6967599391937256 + ], + [ + 5.255810737609863, + 0.3764910101890564, + 0.2743746042251587 + ], + [ + 5.255810737609863, + 0.06970429420471191, + 0.6967599391937256 + ], + [ + 5.255810737609863, + 0.06970429420471191, + 0.2743746042251587 + ] + ], + "center": { + "x": 5.609915733337402, + "y": 0.22309765219688416, + "z": 0.48556727170944214 + }, + "size": { + "x": 0.7082099914550781, + "y": 0.3067867159843445, + "z": 0.4223853349685669 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Book|surface|6|45", + "object_info": { + "name": "Book|surface|6|45", + "position": { + "x": 8.020547866821289, + "y": 0.5595605969429016, + "z": 2.116973876953125 + }, + "rotation": { + "x": -0.0021701641380786896, + "y": 4.7507808631053194e-05, + "z": 0.034017592668533325 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 2.3252179622650146, + "objectType": "Book", + "objectId": "Book|surface|6|45", + "assetId": "Book_5", + "parentReceptacles": [ + "Bed|6|0|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.158607482910156, + 0.5979613065719604, + 2.299900531768799 + ], + [ + 8.158607482910156, + 0.5979613065719604, + 1.9340457916259766 + ], + [ + 8.158607482910156, + 0.5598175525665283, + 2.299900531768799 + ], + [ + 8.158607482910156, + 0.5598175525665283, + 1.9340457916259766 + ], + [ + 7.878992080688477, + 0.5979613065719604, + 2.299900531768799 + ], + [ + 7.878992080688477, + 0.5979613065719604, + 1.9340457916259766 + ], + [ + 7.878992080688477, + 0.5598175525665283, + 2.299900531768799 + ], + [ + 7.878992080688477, + 0.5598175525665283, + 1.9340457916259766 + ] + ], + "center": { + "x": 8.018799781799316, + "y": 0.5788894295692444, + "z": 2.1169731616973877 + }, + "size": { + "x": 0.2796154022216797, + "y": 0.03814375400543213, + "z": 0.36585474014282227 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 8.158607482910156, + 0.5599949359893799, + 2.299900531768799 + ], + [ + 7.879014015197754, + 0.5598289370536804, + 2.299901008605957 + ], + [ + 7.879013538360596, + 0.5598150491714478, + 1.9340472221374512 + ], + [ + 8.158607482910156, + 0.5599810481071472, + 1.934046983718872 + ], + [ + 8.158584594726562, + 0.5979788303375244, + 2.299899101257324 + ], + [ + 7.878991603851318, + 0.597812831401825, + 2.2998995780944824 + ], + [ + 7.87899112701416, + 0.5977990031242371, + 1.9340457916259766 + ], + [ + 8.158584594726562, + 0.5979650020599365, + 1.9340455532073975 + ] + ] + } + } + }, + { + "objectId": "GarbageCan|6|5", + "object_info": { + "name": "GarbageCan|6|5", + "position": { + "x": 6.285166263580322, + "y": 2.1457672119140625e-06, + "z": 0.21047767996788025 + }, + "rotation": { + "x": 0.00036735678440891206, + "y": -7.086647201504093e-06, + "z": -0.0006737426738254726 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.699999988079071, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.8623448610305786, + "objectType": "GarbageCan", + "objectId": "GarbageCan|6|5", + "assetId": "bin_23", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.470651626586914, + 0.6559604406356812, + 0.39595985412597656 + ], + [ + 6.470651626586914, + 0.6559604406356812, + 0.024999693036079407 + ], + [ + 6.470651626586914, + -8.344650268554688e-07, + 0.39595985412597656 + ], + [ + 6.470651626586914, + -8.344650268554688e-07, + 0.024999693036079407 + ], + [ + 6.099688529968262, + 0.6559604406356812, + 0.39595985412597656 + ], + [ + 6.099688529968262, + 0.6559604406356812, + 0.024999693036079407 + ], + [ + 6.099688529968262, + -8.344650268554688e-07, + 0.39595985412597656 + ], + [ + 6.099688529968262, + -8.344650268554688e-07, + 0.024999693036079407 + ] + ], + "center": { + "x": 6.285170078277588, + "y": 0.32797980308532715, + "z": 0.21047978103160858 + }, + "size": { + "x": 0.37096309661865234, + "y": 0.655961275100708, + "z": 0.37096017599105835 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.470644474029541, + -2.0589513951563276e-06, + 0.3959560692310333 + ], + [ + 6.099687576293945, + 2.3031382170302095e-06, + 0.39595600962638855 + ], + [ + 6.0996880531311035, + 4.6815584937576205e-06, + 0.024999290704727173 + ], + [ + 6.470644474029541, + 3.1946888157108333e-07, + 0.024999350309371948 + ], + [ + 6.470652103424072, + 0.6559552550315857, + 0.39596027135849 + ], + [ + 6.099695682525635, + 0.6559596657752991, + 0.3959602117538452 + ], + [ + 6.099695682525635, + 0.6559620499610901, + 0.025003492832183838 + ], + [ + 6.470652103424072, + 0.6559576392173767, + 0.025003552436828613 + ] + ] + } + } + }, + { + "objectId": "DeskLamp|surface|6|47", + "object_info": { + "name": "DeskLamp|surface|6|47", + "position": { + "x": 6.324120044708252, + "y": 0.7069703340530396, + "z": 2.801382541656494 + }, + "rotation": { + "x": 359.9281921386719, + "y": 180.0001220703125, + "z": 359.98828125 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": true, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 2.059999942779541, + "salientMaterials": [ + "Metal", + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 1.2135347127914429, + "objectType": "DeskLamp", + "objectId": "DeskLamp|surface|6|47", + "assetId": "Desk_Lamp_4", + "parentReceptacles": [ + "Desk|6|2" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.4325971603393555, + 1.0744657516479492, + 2.89790678024292 + ], + [ + 6.4325971603393555, + 1.0744657516479492, + 2.7049078941345215 + ], + [ + 6.4325971603393555, + 0.7060328722000122, + 2.89790678024292 + ], + [ + 6.4325971603393555, + 0.7060328722000122, + 2.7049078941345215 + ], + [ + 6.215526580810547, + 1.0744657516479492, + 2.89790678024292 + ], + [ + 6.215526580810547, + 1.0744657516479492, + 2.7049078941345215 + ], + [ + 6.215526580810547, + 0.7060328722000122, + 2.89790678024292 + ], + [ + 6.215526580810547, + 0.7060328722000122, + 2.7049078941345215 + ] + ], + "center": { + "x": 6.324061870574951, + "y": 0.8902493119239807, + "z": 2.8014073371887207 + }, + "size": { + "x": 0.2170705795288086, + "y": 0.368432879447937, + "z": 0.19299888610839844 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.215596675872803, + 0.7062172293663025, + 2.704878807067871 + ], + [ + 6.43264102935791, + 0.7062615752220154, + 2.704878568649292 + ], + [ + 6.432641506195068, + 0.7060196995735168, + 2.8978817462921143 + ], + [ + 6.215597152709961, + 0.7059752941131592, + 2.8978822231292725 + ], + [ + 6.215521335601807, + 1.0745681524276733, + 2.705340623855591 + ], + [ + 6.432565689086914, + 1.0746124982833862, + 2.7053401470184326 + ], + [ + 6.432566165924072, + 1.0743706226348877, + 2.898343563079834 + ], + [ + 6.215521812438965, + 1.0743262767791748, + 2.898343801498413 + ] + ] + } + } + }, + { + "objectId": "Mug|surface|6|35", + "object_info": { + "name": "Mug|surface|6|35", + "position": { + "x": 6.130598545074463, + "y": 0.7060458064079285, + "z": 3.0722031593322754 + }, + "rotation": { + "x": 0.0004880391061306, + "y": 180.0001220703125, + "z": -0.0006260685622692108 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 1.3896342515945435, + "objectType": "Mug", + "objectId": "Mug|surface|6|35", + "assetId": "Mug_1", + "parentReceptacles": [ + "Desk|6|2" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.204929351806641, + 0.8096814155578613, + 3.123609781265259 + ], + [ + 6.204929351806641, + 0.8096814155578613, + 3.0210955142974854 + ], + [ + 6.204929351806641, + 0.7060450315475464, + 3.123609781265259 + ], + [ + 6.204929351806641, + 0.7060450315475464, + 3.0210955142974854 + ], + [ + 6.079340934753418, + 0.8096814155578613, + 3.123609781265259 + ], + [ + 6.079340934753418, + 0.8096814155578613, + 3.0210955142974854 + ], + [ + 6.079340934753418, + 0.7060450315475464, + 3.123609781265259 + ], + [ + 6.079340934753418, + 0.7060450315475464, + 3.0210955142974854 + ] + ], + "center": { + "x": 6.142135143280029, + "y": 0.7578632235527039, + "z": 3.072352647781372 + }, + "size": { + "x": 0.12558841705322266, + "y": 0.10363638401031494, + "z": 0.10251426696777344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.079341888427734, + 0.7060447931289673, + 3.021096706390381 + ], + [ + 6.204929351806641, + 0.7060461640357971, + 3.0210962295532227 + ], + [ + 6.204929351806641, + 0.706046998500824, + 3.1236095428466797 + ], + [ + 6.079341888427734, + 0.7060456275939941, + 3.123609781265259 + ], + [ + 6.07934045791626, + 0.8096797466278076, + 3.0210957527160645 + ], + [ + 6.204927921295166, + 0.8096811175346375, + 3.0210955142974854 + ], + [ + 6.204928398132324, + 0.8096819519996643, + 3.1236085891723633 + ], + [ + 6.079340934753418, + 0.8096805810928345, + 3.1236090660095215 + ] + ] + } + } + }, + { + "objectId": "Dresser|6|1___2", + "object_info": { + "name": "Drawer (2)", + "position": { + "x": 5.609915733337402, + "y": 0.5470976233482361, + "z": 0.48612797260284424 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "CD|surface|6|37", + "Watch|surface|6|38" + ], + "distance": 1.319940447807312, + "objectType": "Drawer", + "objectId": "Dresser|6|1___2", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.964020729064941, + 0.6984910368919373, + 0.6967599391937256 + ], + [ + 5.964020729064941, + 0.6984910368919373, + 0.2743746042251587 + ], + [ + 5.964020729064941, + 0.391704261302948, + 0.6967599391937256 + ], + [ + 5.964020729064941, + 0.391704261302948, + 0.2743746042251587 + ], + [ + 5.255810737609863, + 0.6984910368919373, + 0.6967599391937256 + ], + [ + 5.255810737609863, + 0.6984910368919373, + 0.2743746042251587 + ], + [ + 5.255810737609863, + 0.391704261302948, + 0.6967599391937256 + ], + [ + 5.255810737609863, + 0.391704261302948, + 0.2743746042251587 + ] + ], + "center": { + "x": 5.609915733337402, + "y": 0.5450976490974426, + "z": 0.48556727170944214 + }, + "size": { + "x": 0.7082099914550781, + "y": 0.30678677558898926, + "z": 0.4223853349685669 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CellPhone|surface|6|34", + "object_info": { + "name": "CellPhone|surface|6|34", + "position": { + "x": 8.020549774169922, + "y": 0.5606894493103027, + "z": 2.563382863998413 + }, + "rotation": { + "x": 1.2720042832370382e-05, + "y": -3.493730037007481e-05, + "z": -0.0016068851109594107 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1599999964237213, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 2.4357337951660156, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|6|34", + "assetId": "Cellphone_8", + "parentReceptacles": [ + "Bed|6|0|0", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.058788299560547, + 0.5708633661270142, + 2.636294364929199 + ], + [ + 8.058788299560547, + 0.5708633661270142, + 2.490471363067627 + ], + [ + 8.058788299560547, + 0.5599797964096069, + 2.636294364929199 + ], + [ + 8.058788299560547, + 0.5599797964096069, + 2.490471363067627 + ], + [ + 7.982311248779297, + 0.5708633661270142, + 2.636294364929199 + ], + [ + 7.982311248779297, + 0.5708633661270142, + 2.490471363067627 + ], + [ + 7.982311248779297, + 0.5599797964096069, + 2.636294364929199 + ], + [ + 7.982311248779297, + 0.5599797964096069, + 2.490471363067627 + ] + ], + "center": { + "x": 8.020549774169922, + "y": 0.5654215812683105, + "z": 2.563382863998413 + }, + "size": { + "x": 0.07647705078125, + "y": 0.010883569717407227, + "z": 0.14582300186157227 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 8.058788299560547, + 0.5599797964096069, + 2.636294364929199 + ], + [ + 7.982311248779297, + 0.5599819421768188, + 2.63629412651062 + ], + [ + 7.982311248779297, + 0.5599819421768188, + 2.490471363067627 + ], + [ + 8.058788299560547, + 0.5599797964096069, + 2.490471601486206 + ], + [ + 8.058788299560547, + 0.5708612203598022, + 2.636294364929199 + ], + [ + 7.982311725616455, + 0.5708633661270142, + 2.63629412651062 + ], + [ + 7.982311725616455, + 0.5708633661270142, + 2.490471363067627 + ], + [ + 8.058788299560547, + 0.5708612203598022, + 2.490471601486206 + ] + ] + } + } + }, + { + "objectId": "Book|surface|6|49", + "object_info": { + "name": "Book|surface|6|49", + "position": { + "x": 6.324120044708252, + "y": 0.7065019607543945, + "z": 2.981928825378418 + }, + "rotation": { + "x": 359.9932556152344, + "y": 270.0001220703125, + "z": -0.0019491141429170966 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 1.3729864358901978, + "objectType": "Book", + "objectId": "Book|surface|6|49", + "assetId": "Book_4", + "parentReceptacles": [ + "Desk|6|2" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.419182777404785, + 0.7290052175521851, + 3.05483341217041 + ], + [ + 6.419182777404785, + 0.7290052175521851, + 2.9098634719848633 + ], + [ + 6.419182777404785, + 0.706023097038269, + 3.05483341217041 + ], + [ + 6.419182777404785, + 0.706023097038269, + 2.9098634719848633 + ], + [ + 6.228059768676758, + 0.7290052175521851, + 3.05483341217041 + ], + [ + 6.228059768676758, + 0.7290052175521851, + 2.9098634719848633 + ], + [ + 6.228059768676758, + 0.706023097038269, + 3.05483341217041 + ], + [ + 6.228059768676758, + 0.706023097038269, + 2.9098634719848633 + ] + ], + "center": { + "x": 6.3236212730407715, + "y": 0.717514157295227, + "z": 2.9823484420776367 + }, + "size": { + "x": 0.19112300872802734, + "y": 0.022982120513916016, + "z": 0.14496994018554688 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.228059768676758, + 0.7060447335243225, + 3.05483341217041 + ], + [ + 6.2280592918396, + 0.7060496807098389, + 2.909862995147705 + ], + [ + 6.419180393218994, + 0.706027090549469, + 2.909862518310547 + ], + [ + 6.419180870056152, + 0.7060222029685974, + 3.054832935333252 + ], + [ + 6.228062629699707, + 0.7290030717849731, + 3.0548343658447266 + ], + [ + 6.228062152862549, + 0.7290079593658447, + 2.9098637104034424 + ], + [ + 6.419183254241943, + 0.7289854288101196, + 2.909863233566284 + ], + [ + 6.419183731079102, + 0.728980541229248, + 3.0548338890075684 + ] + ] + } + } + }, + { + "objectId": "DogBed|6|3", + "object_info": { + "name": "DogBed|6|3", + "position": { + "x": 7.852978229522705, + "y": 0.0032488107681274414, + "z": 0.3906584084033966 + }, + "rotation": { + "x": -0.0011136221000924706, + "y": 0.0002035521320067346, + "z": 0.0006151953130029142 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.9800000190734863, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 2.660128593444824, + "objectType": "DogBed", + "objectId": "DogBed|6|3", + "assetId": "Dog_Bed_1_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.217996597290039, + 0.1088542640209198, + 0.7556761503219604 + ], + [ + 8.217996597290039, + 0.1088542640209198, + 0.0250014066696167 + ], + [ + 8.217996597290039, + 1.0505318641662598e-06, + 0.7556761503219604 + ], + [ + 8.217996597290039, + 1.0505318641662598e-06, + 0.0250014066696167 + ], + [ + 7.487320899963379, + 0.1088542640209198, + 0.7556761503219604 + ], + [ + 7.487320899963379, + 0.1088542640209198, + 0.0250014066696167 + ], + [ + 7.487320899963379, + 1.0505318641662598e-06, + 0.7556761503219604 + ], + [ + 7.487320899963379, + 1.0505318641662598e-06, + 0.0250014066696167 + ] + ], + "center": { + "x": 7.852658748626709, + "y": 0.05442765727639198, + "z": 0.3903387784957886 + }, + "size": { + "x": 0.7306756973266602, + "y": 0.10885321348905563, + "z": 0.7306747436523438 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 8.217998504638672, + 1.666136085987091e-05, + 0.7556765079498291 + ], + [ + 7.487322807312012, + 8.81589949131012e-06, + 0.7556791305541992 + ], + [ + 7.4873199462890625, + -5.385605618357658e-06, + 0.02500322461128235 + ], + [ + 8.217996597290039, + 2.4598557502031326e-06, + 0.02500060200691223 + ], + [ + 8.217997550964355, + 0.10885684192180634, + 0.755674421787262 + ], + [ + 7.487321376800537, + 0.10884899646043777, + 0.7556770443916321 + ], + [ + 7.487318992614746, + 0.10883479565382004, + 0.025001108646392822 + ], + [ + 8.217994689941406, + 0.1088426411151886, + 0.024998486042022705 + ] + ] + } + } + }, + { + "objectId": "Bed|6|0|0", + "object_info": { + "name": "Bed|6|0|0", + "position": { + "x": 7.532628059387207, + "y": -0.003118574619293213, + "z": 2.364048719406128 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "Pillow|6|0|1", + "Box|surface|6|41", + "Book|surface|6|45", + "CellPhone|surface|6|34" + ], + "distance": 2.0909922122955322, + "objectType": "Bed", + "objectId": "Bed|6|0|0", + "assetId": "Bed_28", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.218000411987305, + 0.6485360860824585, + 3.2720000743865967 + ], + [ + 8.218000411987305, + 0.6485360860824585, + 1.3972227573394775 + ], + [ + 8.218000411987305, + 0.0, + 3.2720000743865967 + ], + [ + 8.218000411987305, + 0.0, + 1.3972227573394775 + ], + [ + 6.846250534057617, + 0.6485360860824585, + 3.2720000743865967 + ], + [ + 6.846250534057617, + 0.6485360860824585, + 1.3972227573394775 + ], + [ + 6.846250534057617, + 0.0, + 3.2720000743865967 + ], + [ + 6.846250534057617, + 0.0, + 1.3972227573394775 + ] + ], + "center": { + "x": 7.532125473022461, + "y": 0.32426804304122925, + "z": 2.334611415863037 + }, + "size": { + "x": 1.3717498779296875, + "y": 0.6485360860824585, + "z": 1.8747773170471191 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.846251010894775, + 0.0, + 1.3972229957580566 + ], + [ + 8.217999458312988, + 0.0, + 1.397222876548767 + ], + [ + 8.217999458312988, + 0.0, + 3.2719998359680176 + ], + [ + 6.846251010894775, + 0.0, + 3.2720000743865967 + ], + [ + 6.846251010894775, + 0.6485360860824585, + 1.3972229957580566 + ], + [ + 8.217999458312988, + 0.6485360860824585, + 1.397222876548767 + ], + [ + 8.217999458312988, + 0.6485360860824585, + 3.2719998359680176 + ], + [ + 6.846251010894775, + 0.6485360860824585, + 3.2720000743865967 + ] + ] + } + } + }, + { + "objectId": "Pillow|6|0|1", + "object_info": { + "name": "Pillow|6|0|1", + "position": { + "x": 7.532125473022461, + "y": 0.6284236311912537, + "z": 2.916109800338745 + }, + "rotation": { + "x": -3.272119329267298e-06, + "y": 180.0, + "z": 1.4005544244355406e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 2.1471099853515625, + "objectType": "Pillow", + "objectId": "Pillow|6|0|1", + "assetId": "pillow_18", + "parentReceptacles": [ + "Bed|6|0|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.753246784210205, + 0.7035236358642578, + 3.0920000076293945 + ], + [ + 7.753246784210205, + 0.7035236358642578, + 2.7402195930480957 + ], + [ + 7.753246784210205, + 0.554323673248291, + 3.0920000076293945 + ], + [ + 7.753246784210205, + 0.554323673248291, + 2.7402195930480957 + ], + [ + 7.311004161834717, + 0.7035236358642578, + 3.0920000076293945 + ], + [ + 7.311004161834717, + 0.7035236358642578, + 2.7402195930480957 + ], + [ + 7.311004161834717, + 0.554323673248291, + 3.0920000076293945 + ], + [ + 7.311004161834717, + 0.554323673248291, + 2.7402195930480957 + ] + ], + "center": { + "x": 7.532125473022461, + "y": 0.6289236545562744, + "z": 2.916109800338745 + }, + "size": { + "x": 0.4422426223754883, + "y": 0.1491999626159668, + "z": 0.35178041458129883 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.311004161834717, + 0.554323673248291, + 2.7402195930480957 + ], + [ + 7.753246784210205, + 0.5543236136436462, + 2.7402195930480957 + ], + [ + 7.753246784210205, + 0.5543236136436462, + 3.0920000076293945 + ], + [ + 7.311004161834717, + 0.5543236136436462, + 3.0920000076293945 + ], + [ + 7.311004161834717, + 0.7035236358642578, + 2.7402195930480957 + ], + [ + 7.753246784210205, + 0.7035236358642578, + 2.7402195930480957 + ], + [ + 7.753246784210205, + 0.7035236358642578, + 3.0920000076293945 + ], + [ + 7.311004161834717, + 0.7035236358642578, + 3.0920000076293945 + ] + ] + } + } + }, + { + "objectId": "DeskLamp|surface|6|48", + "object_info": { + "name": "DeskLamp|surface|6|48", + "position": { + "x": 5.743537902832031, + "y": 0.7067152261734009, + "z": 2.8916592597961426 + }, + "rotation": { + "x": -0.000816758896689862, + "y": 180.00033569335938, + "z": 0.0009129971149377525 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 2.059999942779541, + "salientMaterials": [ + "Metal", + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 1.1580907106399536, + "objectType": "DeskLamp", + "objectId": "DeskLamp|surface|6|48", + "assetId": "Desk_Lamp_2", + "parentReceptacles": [ + "Desk|6|2" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.871587753295898, + 1.1080067157745361, + 3.034360885620117 + ], + [ + 5.871587753295898, + 1.1080067157745361, + 2.7480039596557617 + ], + [ + 5.871587753295898, + 0.7060434818267822, + 3.034360885620117 + ], + [ + 5.871587753295898, + 0.7060434818267822, + 2.7480039596557617 + ], + [ + 5.6171464920043945, + 1.1080067157745361, + 3.034360885620117 + ], + [ + 5.6171464920043945, + 1.1080067157745361, + 2.7480039596557617 + ], + [ + 5.6171464920043945, + 0.7060434818267822, + 3.034360885620117 + ], + [ + 5.6171464920043945, + 0.7060434818267822, + 2.7480039596557617 + ] + ], + "center": { + "x": 5.7443671226501465, + "y": 0.9070250988006592, + "z": 2.8911824226379395 + }, + "size": { + "x": 0.2544412612915039, + "y": 0.4019632339477539, + "z": 0.28635692596435547 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.617140769958496, + 0.7060493230819702, + 2.747999429702759 + ], + [ + 5.871585369110107, + 0.7060452699661255, + 2.747997999191284 + ], + [ + 5.87158727645874, + 0.7060412168502808, + 3.0343573093414307 + ], + [ + 5.617142677307129, + 0.7060452699661255, + 3.0343587398529053 + ], + [ + 5.617147445678711, + 1.1080142259597778, + 2.7480051517486572 + ], + [ + 5.871592044830322, + 1.108010172843933, + 2.7480037212371826 + ], + [ + 5.871593475341797, + 1.1080060005187988, + 3.034363031387329 + ], + [ + 5.6171488761901855, + 1.1080100536346436, + 3.0343644618988037 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 5.800000190734863, + "y": 0.9009997844696045, + "z": 1.899999976158142 + }, + "agent_rotation": { + "x": -0.0, + "y": 90.00000762939453, + "z": 0.0 + }, + "agent_cameraHorizon": 60.000003814697266, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 5.800000190734863, + "y": 1.5759997367858887, + "z": 1.899999976158142 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "CellPhone|surface|6|42", + "Book|surface|6|49", + "Desk|6|2", + "Watch|surface|6|43", + "Mug|surface|6|35", + "DeskLamp|surface|6|47", + "Bed|6|0|0", + "DeskLamp|surface|6|48", + "Pillow|6|0|1" + ], + "different_object": [ + "Dresser|6|1", + "CellPhone|surface|6|34", + "DogBed|6|3", + "Book|surface|6|45", + "Dresser|6|1___2", + "GarbageCan|6|5", + "Dresser|6|1___0", + "Box|surface|6|41" + ] +} \ No newline at end of file diff --git a/train/train1668/0/0_depth_npy.npy b/train/train1668/0/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..7d5d121764a677ea0fd9b2e7d3b1079a9e489749 --- /dev/null +++ b/train/train1668/0/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cf110e8ffbc1ffc20d47633a0759a6a5661c18de8180c2f1b5ae868304bad0a0 +size 3145856 diff --git a/train/train1668/0/0_semantic_sensor_npy.npy b/train/train1668/0/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..5e88b94044c0bc28d9b7130cce464e6cc5ad995e --- /dev/null +++ b/train/train1668/0/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1999c3b408fa4965b989405e68072440f0293f1f649c1e756ea9c44575ad5d77 +size 2359424 diff --git a/train/train1668/0/1.json b/train/train1668/0/1.json new file mode 100644 index 0000000000000000000000000000000000000000..c2c1a7986e836b7369ae44005fec9ec824f40f71 --- /dev/null +++ b/train/train1668/0/1.json @@ -0,0 +1,1723 @@ +{ + "object": [ + { + "objectId": "Dumbbell|surface|6|46", + "object_info": { + "name": "Dumbbell|surface|6|46", + "position": { + "x": 5.356489181518555, + "y": 0.7072564363479614, + "z": 2.711108684539795 + }, + "rotation": { + "x": 9.429193596588448e-05, + "y": 180.00025939941406, + "z": -0.0018494062824174762 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 4.539999961853027, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 1.056464433670044, + "objectType": "Dumbbell", + "objectId": "Dumbbell|surface|6|46", + "assetId": "Dumbbell_1_1", + "parentReceptacles": [ + "Desk|6|2" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.422698974609375, + 0.8384685516357422, + 2.8762903213500977 + ], + [ + 5.422698974609375, + 0.8384685516357422, + 2.5456271171569824 + ], + [ + 5.422698974609375, + 0.7060443162918091, + 2.8762903213500977 + ], + [ + 5.422698974609375, + 0.7060443162918091, + 2.5456271171569824 + ], + [ + 5.290274620056152, + 0.8384685516357422, + 2.8762903213500977 + ], + [ + 5.290274620056152, + 0.8384685516357422, + 2.5456271171569824 + ], + [ + 5.290274620056152, + 0.7060443162918091, + 2.8762903213500977 + ], + [ + 5.290274620056152, + 0.7060443162918091, + 2.5456271171569824 + ] + ], + "center": { + "x": 5.356486797332764, + "y": 0.7722564339637756, + "z": 2.71095871925354 + }, + "size": { + "x": 0.13242435455322266, + "y": 0.1324242353439331, + "z": 0.33066320419311523 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.290277481079102, + 0.706043004989624, + 2.5456275939941406 + ], + [ + 5.422699451446533, + 0.7060472965240479, + 2.5456268787384033 + ], + [ + 5.422700881958008, + 0.7060478329658508, + 2.8762898445129395 + ], + [ + 5.290278911590576, + 0.706043541431427, + 2.8762903213500977 + ], + [ + 5.290273189544678, + 0.8384652137756348, + 2.5456273555755615 + ], + [ + 5.422695159912109, + 0.8384694457054138, + 2.545626640319824 + ], + [ + 5.422697067260742, + 0.8384699821472168, + 2.8762896060943604 + ], + [ + 5.290274620056152, + 0.838465690612793, + 2.8762903213500977 + ] + ] + } + } + }, + { + "objectId": "CellPhone|surface|6|42", + "object_info": { + "name": "CellPhone|surface|6|42", + "position": { + "x": 5.937066555023193, + "y": 0.7060489058494568, + "z": 2.9819302558898926 + }, + "rotation": { + "x": 3.4025484637822956e-05, + "y": 180.0003662109375, + "z": -0.0011204881593585014 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1599999964237213, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 1.2612104415893555, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|6|42", + "assetId": "Cellphone_3", + "parentReceptacles": [ + "Desk|6|2" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.981203079223633, + 0.7156317234039307, + 3.071805477142334 + ], + [ + 5.981203079223633, + 0.7156317234039307, + 2.8920764923095703 + ], + [ + 5.981203079223633, + 0.7060445547103882, + 3.071805477142334 + ], + [ + 5.981203079223633, + 0.7060445547103882, + 2.8920764923095703 + ], + [ + 5.892617225646973, + 0.7156317234039307, + 3.071805477142334 + ], + [ + 5.892617225646973, + 0.7156317234039307, + 2.8920764923095703 + ], + [ + 5.892617225646973, + 0.7060445547103882, + 3.071805477142334 + ], + [ + 5.892617225646973, + 0.7060445547103882, + 2.8920764923095703 + ] + ], + "center": { + "x": 5.936910152435303, + "y": 0.7108381390571594, + "z": 2.981940984725952 + }, + "size": { + "x": 0.08858585357666016, + "y": 0.00958716869354248, + "z": 0.17972898483276367 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.892617225646973, + 0.7060445547103882, + 2.8920769691467285 + ], + [ + 5.981201648712158, + 0.7060462832450867, + 2.8920764923095703 + ], + [ + 5.981202602386475, + 0.7060464024543762, + 3.071805000305176 + ], + [ + 5.892618656158447, + 0.7060446739196777, + 3.071805477142334 + ], + [ + 5.892617225646973, + 0.7156298756599426, + 2.8920769691467285 + ], + [ + 5.981201171875, + 0.7156316041946411, + 2.8920764923095703 + ], + [ + 5.981202602386475, + 0.7156317234039307, + 3.071805000305176 + ], + [ + 5.892618179321289, + 0.7156299948692322, + 3.071805477142334 + ] + ] + } + } + }, + { + "objectId": "Desk|6|2", + "object_info": { + "name": "Desk|6|2", + "position": { + "x": 5.937110424041748, + "y": -0.0007331371307373047, + "z": 2.9056951999664307 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 34.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Mug|surface|6|35", + "DeskLamp|surface|6|47", + "Book|surface|6|49", + "Watch|surface|6|43", + "Dumbbell|surface|6|46", + "DeskLamp|surface|6|48", + "CellPhone|surface|6|42" + ], + "distance": 1.477756381034851, + "objectType": "Desk", + "objectId": "Desk|6|2", + "assetId": "Desk_320_2_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.711947441101074, + 0.7060455679893494, + 3.2719976902008057 + ], + [ + 6.711947441101074, + 0.7060455679893494, + 2.5293781757354736 + ], + [ + 6.711947441101074, + 2.086162567138672e-06, + 3.2719976902008057 + ], + [ + 6.711947441101074, + 2.086162567138672e-06, + 2.5293781757354736 + ], + [ + 5.161589622497559, + 0.7060455679893494, + 3.2719976902008057 + ], + [ + 5.161589622497559, + 0.7060455679893494, + 2.5293781757354736 + ], + [ + 5.161589622497559, + 2.086162567138672e-06, + 3.2719976902008057 + ], + [ + 5.161589622497559, + 2.086162567138672e-06, + 2.5293781757354736 + ] + ], + "center": { + "x": 5.936768531799316, + "y": 0.35302382707595825, + "z": 2.9006879329681396 + }, + "size": { + "x": 1.5503578186035156, + "y": 0.7060434818267822, + "z": 0.742619514465332 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.161589622497559, + 2.1457672119140625e-06, + 2.5293784141540527 + ], + [ + 6.711947441101074, + 2.1457672119140625e-06, + 2.5293781757354736 + ], + [ + 6.711947441101074, + 2.1457672119140625e-06, + 3.2719974517822266 + ], + [ + 5.161589622497559, + 2.1457672119140625e-06, + 3.2719976902008057 + ], + [ + 5.161589622497559, + 0.7060456275939941, + 2.5293784141540527 + ], + [ + 6.711947441101074, + 0.7060456275939941, + 2.5293781757354736 + ], + [ + 6.711947441101074, + 0.7060456275939941, + 3.2719974517822266 + ], + [ + 5.161589622497559, + 0.7060456275939941, + 3.2719976902008057 + ] + ] + } + } + }, + { + "objectId": "Watch|surface|6|43", + "object_info": { + "name": "Watch|surface|6|43", + "position": { + "x": 5.743636608123779, + "y": 0.7062540054321289, + "z": 2.6207048892974854 + }, + "rotation": { + "x": 1.8353039026260376, + "y": 179.95281982421875, + "z": 1.2690320014953613 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07000000029802322, + "salientMaterials": [ + "Metal", + "Glass", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 0.8922406435012817, + "objectType": "Watch", + "objectId": "Watch|surface|6|43", + "assetId": "Watch_1", + "parentReceptacles": [ + "Desk|6|2" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.782958030700684, + 0.7414309978485107, + 2.6465563774108887 + ], + [ + 5.782958030700684, + 0.7414309978485107, + 2.598205089569092 + ], + [ + 5.782958030700684, + 0.7058990001678467, + 2.6465563774108887 + ], + [ + 5.782958030700684, + 0.7058990001678467, + 2.598205089569092 + ], + [ + 5.70406436920166, + 0.7414309978485107, + 2.6465563774108887 + ], + [ + 5.70406436920166, + 0.7414309978485107, + 2.598205089569092 + ], + [ + 5.70406436920166, + 0.7058990001678467, + 2.6465563774108887 + ], + [ + 5.70406436920166, + 0.7058990001678467, + 2.598205089569092 + ] + ], + "center": { + "x": 5.743511199951172, + "y": 0.7236649990081787, + "z": 2.6223807334899902 + }, + "size": { + "x": 0.07889366149902344, + "y": 0.03553199768066406, + "z": 0.048351287841796875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.703927516937256, + 0.7052050828933716, + 2.598257064819336 + ], + [ + 5.78246545791626, + 0.7034661769866943, + 2.5983774662017822 + ], + [ + 5.782425403594971, + 0.7050284147262573, + 2.647132158279419 + ], + [ + 5.703887462615967, + 0.7067673206329346, + 2.6470117568969727 + ], + [ + 5.704741477966309, + 0.7418888807296753, + 2.5970823764801025 + ], + [ + 5.7832794189453125, + 0.740149974822998, + 2.5972025394439697 + ], + [ + 5.783239364624023, + 0.741712212562561, + 2.6459574699401855 + ], + [ + 5.7047014236450195, + 0.7434511184692383, + 2.6458370685577393 + ] + ] + } + } + }, + { + "objectId": "door|5|6", + "object_info": { + "name": "door|5|6", + "position": { + "x": 3.296997308731079, + "y": -0.0005984306335449219, + "z": 2.733199119567871 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.792271852493286, + "objectType": "Doorway", + "objectId": "door|5|6", + "assetId": "Doorway_Double_4", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.215017318725586, + 2.1049137115478516, + 2.757469654083252 + ], + [ + 4.215017318725586, + 2.1049137115478516, + 0.7185471057891846 + ], + [ + 4.215017318725586, + -2.384185791015625e-07, + 2.757469654083252 + ], + [ + 4.215017318725586, + -2.384185791015625e-07, + 0.7185471057891846 + ], + [ + 3.226426124572754, + 2.1049137115478516, + 2.757469654083252 + ], + [ + 3.226426124572754, + 2.1049137115478516, + 0.7185471057891846 + ], + [ + 3.226426124572754, + -2.384185791015625e-07, + 2.757469654083252 + ], + [ + 3.226426124572754, + -2.384185791015625e-07, + 0.7185471057891846 + ] + ], + "center": { + "x": 3.72072172164917, + "y": 1.0524567365646362, + "z": 1.7380083799362183 + }, + "size": { + "x": 0.988591194152832, + "y": 2.1049139499664307, + "z": 2.0389225482940674 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DeskLamp|surface|6|47", + "object_info": { + "name": "DeskLamp|surface|6|47", + "position": { + "x": 6.324120044708252, + "y": 0.7069703340530396, + "z": 2.801382541656494 + }, + "rotation": { + "x": 359.9281921386719, + "y": 180.0001220703125, + "z": 359.98828125 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": true, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 2.059999942779541, + "salientMaterials": [ + "Metal", + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 1.2135347127914429, + "objectType": "DeskLamp", + "objectId": "DeskLamp|surface|6|47", + "assetId": "Desk_Lamp_4", + "parentReceptacles": [ + "Desk|6|2" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.4325971603393555, + 1.0744657516479492, + 2.89790678024292 + ], + [ + 6.4325971603393555, + 1.0744657516479492, + 2.7049078941345215 + ], + [ + 6.4325971603393555, + 0.7060328722000122, + 2.89790678024292 + ], + [ + 6.4325971603393555, + 0.7060328722000122, + 2.7049078941345215 + ], + [ + 6.215526580810547, + 1.0744657516479492, + 2.89790678024292 + ], + [ + 6.215526580810547, + 1.0744657516479492, + 2.7049078941345215 + ], + [ + 6.215526580810547, + 0.7060328722000122, + 2.89790678024292 + ], + [ + 6.215526580810547, + 0.7060328722000122, + 2.7049078941345215 + ] + ], + "center": { + "x": 6.324061870574951, + "y": 0.8902493119239807, + "z": 2.8014073371887207 + }, + "size": { + "x": 0.2170705795288086, + "y": 0.368432879447937, + "z": 0.19299888610839844 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.215596675872803, + 0.7062172293663025, + 2.704878807067871 + ], + [ + 6.43264102935791, + 0.7062615752220154, + 2.704878568649292 + ], + [ + 6.432641506195068, + 0.7060196995735168, + 2.8978817462921143 + ], + [ + 6.215597152709961, + 0.7059752941131592, + 2.8978822231292725 + ], + [ + 6.215521335601807, + 1.0745681524276733, + 2.705340623855591 + ], + [ + 6.432565689086914, + 1.0746124982833862, + 2.7053401470184326 + ], + [ + 6.432566165924072, + 1.0743706226348877, + 2.898343563079834 + ], + [ + 6.215521812438965, + 1.0743262767791748, + 2.898343801498413 + ] + ] + } + } + }, + { + "objectId": "Mug|surface|6|35", + "object_info": { + "name": "Mug|surface|6|35", + "position": { + "x": 6.130598545074463, + "y": 0.7060458064079285, + "z": 3.0722031593322754 + }, + "rotation": { + "x": 0.0004880391061306, + "y": 180.0001220703125, + "z": -0.0006260685622692108 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 1.3896342515945435, + "objectType": "Mug", + "objectId": "Mug|surface|6|35", + "assetId": "Mug_1", + "parentReceptacles": [ + "Desk|6|2" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.204929351806641, + 0.8096814155578613, + 3.123609781265259 + ], + [ + 6.204929351806641, + 0.8096814155578613, + 3.0210955142974854 + ], + [ + 6.204929351806641, + 0.7060450315475464, + 3.123609781265259 + ], + [ + 6.204929351806641, + 0.7060450315475464, + 3.0210955142974854 + ], + [ + 6.079340934753418, + 0.8096814155578613, + 3.123609781265259 + ], + [ + 6.079340934753418, + 0.8096814155578613, + 3.0210955142974854 + ], + [ + 6.079340934753418, + 0.7060450315475464, + 3.123609781265259 + ], + [ + 6.079340934753418, + 0.7060450315475464, + 3.0210955142974854 + ] + ], + "center": { + "x": 6.142135143280029, + "y": 0.7578632235527039, + "z": 3.072352647781372 + }, + "size": { + "x": 0.12558841705322266, + "y": 0.10363638401031494, + "z": 0.10251426696777344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.079341888427734, + 0.7060447931289673, + 3.021096706390381 + ], + [ + 6.204929351806641, + 0.7060461640357971, + 3.0210962295532227 + ], + [ + 6.204929351806641, + 0.706046998500824, + 3.1236095428466797 + ], + [ + 6.079341888427734, + 0.7060456275939941, + 3.123609781265259 + ], + [ + 6.07934045791626, + 0.8096797466278076, + 3.0210957527160645 + ], + [ + 6.204927921295166, + 0.8096811175346375, + 3.0210955142974854 + ], + [ + 6.204928398132324, + 0.8096819519996643, + 3.1236085891723633 + ], + [ + 6.079340934753418, + 0.8096805810928345, + 3.1236090660095215 + ] + ] + } + } + }, + { + "objectId": "Book|surface|6|49", + "object_info": { + "name": "Book|surface|6|49", + "position": { + "x": 6.324120044708252, + "y": 0.7065019607543945, + "z": 2.981928825378418 + }, + "rotation": { + "x": 359.9932556152344, + "y": 270.0001220703125, + "z": -0.0019491141429170966 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 1.3729864358901978, + "objectType": "Book", + "objectId": "Book|surface|6|49", + "assetId": "Book_4", + "parentReceptacles": [ + "Desk|6|2" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.419182777404785, + 0.7290052175521851, + 3.05483341217041 + ], + [ + 6.419182777404785, + 0.7290052175521851, + 2.9098634719848633 + ], + [ + 6.419182777404785, + 0.706023097038269, + 3.05483341217041 + ], + [ + 6.419182777404785, + 0.706023097038269, + 2.9098634719848633 + ], + [ + 6.228059768676758, + 0.7290052175521851, + 3.05483341217041 + ], + [ + 6.228059768676758, + 0.7290052175521851, + 2.9098634719848633 + ], + [ + 6.228059768676758, + 0.706023097038269, + 3.05483341217041 + ], + [ + 6.228059768676758, + 0.706023097038269, + 2.9098634719848633 + ] + ], + "center": { + "x": 6.3236212730407715, + "y": 0.717514157295227, + "z": 2.9823484420776367 + }, + "size": { + "x": 0.19112300872802734, + "y": 0.022982120513916016, + "z": 0.14496994018554688 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.228059768676758, + 0.7060447335243225, + 3.05483341217041 + ], + [ + 6.2280592918396, + 0.7060496807098389, + 2.909862995147705 + ], + [ + 6.419180393218994, + 0.706027090549469, + 2.909862518310547 + ], + [ + 6.419180870056152, + 0.7060222029685974, + 3.054832935333252 + ], + [ + 6.228062629699707, + 0.7290030717849731, + 3.0548343658447266 + ], + [ + 6.228062152862549, + 0.7290079593658447, + 2.9098637104034424 + ], + [ + 6.419183254241943, + 0.7289854288101196, + 2.909863233566284 + ], + [ + 6.419183731079102, + 0.728980541229248, + 3.0548338890075684 + ] + ] + } + } + }, + { + "objectId": "Bed|6|0|0", + "object_info": { + "name": "Bed|6|0|0", + "position": { + "x": 7.532628059387207, + "y": -0.003118574619293213, + "z": 2.364048719406128 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "Pillow|6|0|1", + "Box|surface|6|41", + "Book|surface|6|45", + "CellPhone|surface|6|34" + ], + "distance": 2.0909922122955322, + "objectType": "Bed", + "objectId": "Bed|6|0|0", + "assetId": "Bed_28", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.218000411987305, + 0.6485360860824585, + 3.2720000743865967 + ], + [ + 8.218000411987305, + 0.6485360860824585, + 1.3972227573394775 + ], + [ + 8.218000411987305, + 0.0, + 3.2720000743865967 + ], + [ + 8.218000411987305, + 0.0, + 1.3972227573394775 + ], + [ + 6.846250534057617, + 0.6485360860824585, + 3.2720000743865967 + ], + [ + 6.846250534057617, + 0.6485360860824585, + 1.3972227573394775 + ], + [ + 6.846250534057617, + 0.0, + 3.2720000743865967 + ], + [ + 6.846250534057617, + 0.0, + 1.3972227573394775 + ] + ], + "center": { + "x": 7.532125473022461, + "y": 0.32426804304122925, + "z": 2.334611415863037 + }, + "size": { + "x": 1.3717498779296875, + "y": 0.6485360860824585, + "z": 1.8747773170471191 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.846251010894775, + 0.0, + 1.3972229957580566 + ], + [ + 8.217999458312988, + 0.0, + 1.397222876548767 + ], + [ + 8.217999458312988, + 0.0, + 3.2719998359680176 + ], + [ + 6.846251010894775, + 0.0, + 3.2720000743865967 + ], + [ + 6.846251010894775, + 0.6485360860824585, + 1.3972229957580566 + ], + [ + 8.217999458312988, + 0.6485360860824585, + 1.397222876548767 + ], + [ + 8.217999458312988, + 0.6485360860824585, + 3.2719998359680176 + ], + [ + 6.846251010894775, + 0.6485360860824585, + 3.2720000743865967 + ] + ] + } + } + }, + { + "objectId": "Pillow|6|0|1", + "object_info": { + "name": "Pillow|6|0|1", + "position": { + "x": 7.532125473022461, + "y": 0.6284236311912537, + "z": 2.916109800338745 + }, + "rotation": { + "x": -3.272119329267298e-06, + "y": 180.0, + "z": 1.4005544244355406e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 2.1471099853515625, + "objectType": "Pillow", + "objectId": "Pillow|6|0|1", + "assetId": "pillow_18", + "parentReceptacles": [ + "Bed|6|0|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.753246784210205, + 0.7035236358642578, + 3.0920000076293945 + ], + [ + 7.753246784210205, + 0.7035236358642578, + 2.7402195930480957 + ], + [ + 7.753246784210205, + 0.554323673248291, + 3.0920000076293945 + ], + [ + 7.753246784210205, + 0.554323673248291, + 2.7402195930480957 + ], + [ + 7.311004161834717, + 0.7035236358642578, + 3.0920000076293945 + ], + [ + 7.311004161834717, + 0.7035236358642578, + 2.7402195930480957 + ], + [ + 7.311004161834717, + 0.554323673248291, + 3.0920000076293945 + ], + [ + 7.311004161834717, + 0.554323673248291, + 2.7402195930480957 + ] + ], + "center": { + "x": 7.532125473022461, + "y": 0.6289236545562744, + "z": 2.916109800338745 + }, + "size": { + "x": 0.4422426223754883, + "y": 0.1491999626159668, + "z": 0.35178041458129883 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.311004161834717, + 0.554323673248291, + 2.7402195930480957 + ], + [ + 7.753246784210205, + 0.5543236136436462, + 2.7402195930480957 + ], + [ + 7.753246784210205, + 0.5543236136436462, + 3.0920000076293945 + ], + [ + 7.311004161834717, + 0.5543236136436462, + 3.0920000076293945 + ], + [ + 7.311004161834717, + 0.7035236358642578, + 2.7402195930480957 + ], + [ + 7.753246784210205, + 0.7035236358642578, + 2.7402195930480957 + ], + [ + 7.753246784210205, + 0.7035236358642578, + 3.0920000076293945 + ], + [ + 7.311004161834717, + 0.7035236358642578, + 3.0920000076293945 + ] + ] + } + } + }, + { + "objectId": "DeskLamp|surface|6|48", + "object_info": { + "name": "DeskLamp|surface|6|48", + "position": { + "x": 5.743537902832031, + "y": 0.7067152261734009, + "z": 2.8916592597961426 + }, + "rotation": { + "x": -0.000816758896689862, + "y": 180.00033569335938, + "z": 0.0009129971149377525 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 2.059999942779541, + "salientMaterials": [ + "Metal", + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 1.1580907106399536, + "objectType": "DeskLamp", + "objectId": "DeskLamp|surface|6|48", + "assetId": "Desk_Lamp_2", + "parentReceptacles": [ + "Desk|6|2" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.871587753295898, + 1.1080067157745361, + 3.034360885620117 + ], + [ + 5.871587753295898, + 1.1080067157745361, + 2.7480039596557617 + ], + [ + 5.871587753295898, + 0.7060434818267822, + 3.034360885620117 + ], + [ + 5.871587753295898, + 0.7060434818267822, + 2.7480039596557617 + ], + [ + 5.6171464920043945, + 1.1080067157745361, + 3.034360885620117 + ], + [ + 5.6171464920043945, + 1.1080067157745361, + 2.7480039596557617 + ], + [ + 5.6171464920043945, + 0.7060434818267822, + 3.034360885620117 + ], + [ + 5.6171464920043945, + 0.7060434818267822, + 2.7480039596557617 + ] + ], + "center": { + "x": 5.7443671226501465, + "y": 0.9070250988006592, + "z": 2.8911824226379395 + }, + "size": { + "x": 0.2544412612915039, + "y": 0.4019632339477539, + "z": 0.28635692596435547 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.617140769958496, + 0.7060493230819702, + 2.747999429702759 + ], + [ + 5.871585369110107, + 0.7060452699661255, + 2.747997999191284 + ], + [ + 5.87158727645874, + 0.7060412168502808, + 3.0343573093414307 + ], + [ + 5.617142677307129, + 0.7060452699661255, + 3.0343587398529053 + ], + [ + 5.617147445678711, + 1.1080142259597778, + 2.7480051517486572 + ], + [ + 5.871592044830322, + 1.108010172843933, + 2.7480037212371826 + ], + [ + 5.871593475341797, + 1.1080060005187988, + 3.034363031387329 + ], + [ + 5.6171488761901855, + 1.1080100536346436, + 3.0343644618988037 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 5.800000190734863, + "y": 0.9009997844696045, + "z": 1.7999999523162842 + }, + "agent_rotation": { + "x": -0.0, + "y": 9.659346687840298e-06, + "z": 0.0 + }, + "agent_cameraHorizon": 30.000003814697266, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 5.800000190734863, + "y": 1.5759997367858887, + "z": 1.7999999523162842 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "CellPhone|surface|6|42", + "Book|surface|6|49", + "Desk|6|2", + "Watch|surface|6|43", + "Mug|surface|6|35", + "DeskLamp|surface|6|47", + "Bed|6|0|0", + "DeskLamp|surface|6|48", + "Pillow|6|0|1" + ], + "different_object": [ + "Dumbbell|surface|6|46", + "door|5|6" + ] +} \ No newline at end of file diff --git a/train/train1668/0/1_depth_npy.npy b/train/train1668/0/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..9cfb9ccb5b2f1bf0913bdd569978e9027eab5c88 --- /dev/null +++ b/train/train1668/0/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:89f7189e03f4f69d16929264443f93e1fa78cc667920b9b091017b8ba7e66b7d +size 3145856 diff --git a/train/train1668/0/1_semantic_sensor_npy.npy b/train/train1668/0/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..68df964a1681d7e619db2d82bcf47f591de7c950 --- /dev/null +++ b/train/train1668/0/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8a80b202630b68d650bf04c0abe991f1820819b3805607e558b1aa3b78cf343b +size 2359424 diff --git a/train/train1668/0/depth_0.png b/train/train1668/0/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..362634c5fc70efc54ab1c58d94dba051b2c1c78e Binary files /dev/null and b/train/train1668/0/depth_0.png differ diff --git a/train/train1668/0/depth_1.png b/train/train1668/0/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..0784e42bcce335cba8c82f7bff974ad96f0c1bb0 Binary files /dev/null and b/train/train1668/0/depth_1.png differ diff --git a/train/train1668/0/mask_questions.jsonl b/train/train1668/0/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..861e29692432effe83fffe4ed717d1b6398878fe --- /dev/null +++ b/train/train1668/0/mask_questions.jsonl @@ -0,0 +1,5 @@ +{"id": 2623, "folder_dir": "train1668/0", "pair_name": "0-1:DeskLamp|surface|6|47", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. CellPhone\nB. DogBed\nC. DeskLamp\nD. Book", "answer": "C", "object_name": "DeskLamp", "image_1": "train1668/0/rgb_0.png", "image_2": "train1668/0/rgb_1.png", "mask_image": "train1668/0/rgb_1_mask_DeskLamp|surface|6|47.png", "options": ["CellPhone", "DogBed", "DeskLamp", "Book"]} +{"id": 2624, "folder_dir": "train1668/0", "pair_name": "0-1:DeskLamp|surface|6|48", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. DeskLamp\nB. Drawer\nC. Drawer\nD. CellPhone", "answer": "A", "object_name": "DeskLamp", "image_1": "train1668/0/rgb_0.png", "image_2": "train1668/0/rgb_1.png", "mask_image": "train1668/0/rgb_1_mask_DeskLamp|surface|6|48.png", "options": ["DeskLamp", "Drawer", "Drawer", "CellPhone"]} +{"id": 2625, "folder_dir": "train1668/0", "pair_name": "0-1:Pillow|6|0|1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. CellPhone\nB. Dresser\nC. Box\nD. Pillow", "answer": "D", "object_name": "Pillow", "image_1": "train1668/0/rgb_0.png", "image_2": "train1668/0/rgb_1.png", "mask_image": "train1668/0/rgb_1_mask_Pillow|6|0|1.png", "options": ["CellPhone", "Dresser", "Box", "Pillow"]} +{"id": 2626, "folder_dir": "train1668/0", "pair_name": "1-0:DeskLamp|surface|6|48", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. DeskLamp\nB. Dumbbell\nC. Doorway\nD. CellPhone", "answer": "A", "object_name": "DeskLamp", "image_1": "train1668/0/rgb_1.png", "image_2": "train1668/0/rgb_0.png", "mask_image": "train1668/0/rgb_0_mask_DeskLamp|surface|6|48.png", "options": ["DeskLamp", "Dumbbell", "Doorway", "CellPhone"]} +{"id": 2627, "folder_dir": "train1668/0", "pair_name": "1-0:Pillow|6|0|1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Doorway\nB. Pillow\nC. Dumbbell\nD. CellPhone", "answer": "B", "object_name": "Pillow", "image_1": "train1668/0/rgb_1.png", "image_2": "train1668/0/rgb_0.png", "mask_image": "train1668/0/rgb_0_mask_Pillow|6|0|1.png", "options": ["Doorway", "Pillow", "Dumbbell", "CellPhone"]} diff --git a/train/train1668/0/questions_distance.jsonl b/train/train1668/0/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..91bc1981dfe550cfdcc83660a275ac693bed4e16 --- /dev/null +++ b/train/train1668/0/questions_distance.jsonl @@ -0,0 +1,3 @@ +{"id": 1060, "folder_dir": "train1668/0", "query": "Which of the following objects is closest to Desk 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. Mug\nB. Dumbbell\nC. Watch\nD. Other\n", "answer": "A", "src_object": "Desk", "target_object": "Mug", "question": "Which of the following objects is closest to Desk 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": "Mug", "semantic_id": "Mug|surface|6|35", "distance": 0.4853237644734019, "com": {"x": 6.142135143280029, "y": 0.7578632235527039, "z": 3.072352647781372}}, {"text": "Dumbbell", "semantic_id": "Dumbbell|surface|6|46", "distance": 0.7405943859969681, "com": {"x": 5.356486797332764, "y": 0.7722564339637756, "z": 2.71095871925354}}, {"text": "Watch", "semantic_id": "Watch|surface|6|43", "distance": 0.5021734480493011, "com": {"x": 5.743511199951172, "y": 0.7236649990081787, "z": 2.6223807334899902}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1668/0/rgb_0.png", "image_2": "train1668/0/rgb_1.png"} +{"id": 1061, "folder_dir": "train1668/0", "query": "Which of the following objects is closest to Bed in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Pillow\nB. Mug\nC. Box\nD. Other\n", "answer": "C", "src_object": "Bed", "target_object": "Box", "question": "Which of the following objects is closest to Bed in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Pillow", "semantic_id": "Pillow|6|0|1", "distance": 0.6564719436316105, "com": {"x": 7.532125473022461, "y": 0.6289236545562744, "z": 2.916109800338745}}, {"text": "Mug", "semantic_id": "Mug|surface|6|35", "distance": 1.6322806200566846, "com": {"x": 6.142135143280029, "y": 0.7578632235527039, "z": 3.072352647781372}}, {"text": "Box", "semantic_id": "Box|surface|6|41", "distance": 0.4433890261133982, "com": {"x": 7.531583786010742, "y": 0.6512001156806946, "z": 2.0350968837738037}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1668/0/rgb_0.png", "image_2": "train1668/0/rgb_1.png"} +{"id": 1062, "folder_dir": "train1668/0", "query": "Which of the following objects is closest to Pillow in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Bed\nB. Mug\nC. Box\nD. Other\n", "answer": "A", "src_object": "Pillow", "target_object": "Bed", "question": "Which of the following objects is closest to Pillow in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Bed", "semantic_id": "Bed|6|0|0", "distance": 0.6564719436316105, "com": {"x": 7.532125473022461, "y": 0.32426804304122925, "z": 2.334611415863037}}, {"text": "Mug", "semantic_id": "Mug|surface|6|35", "distance": 1.4046744664182655, "com": {"x": 6.142135143280029, "y": 0.7578632235527039, "z": 3.072352647781372}}, {"text": "Box", "semantic_id": "Box|surface|6|41", "distance": 0.8812946688249684, "com": {"x": 7.531583786010742, "y": 0.6512001156806946, "z": 2.0350968837738037}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1668/0/rgb_0.png", "image_2": "train1668/0/rgb_1.png"} diff --git a/train/train1668/0/rgb_0.png b/train/train1668/0/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..03cd14dca95f95c17756d094eaadcf31acfb2681 --- /dev/null +++ b/train/train1668/0/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a0c2d486e0f0c7c31e02ae6ae32b54f660c76248a7892305681f0b90897d7eda +size 620070 diff --git a/train/train1668/0/rgb_0_mask_DeskLamp|surface|6|48.png b/train/train1668/0/rgb_0_mask_DeskLamp|surface|6|48.png new file mode 100644 index 0000000000000000000000000000000000000000..6585312af8ba8959ae6a4845a25b2a45905b6033 --- /dev/null +++ b/train/train1668/0/rgb_0_mask_DeskLamp|surface|6|48.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6ffb9a70ce96e3a4bae22880711cb8e593ba81e45c9449835b54ca34d4fe3734 +size 544881 diff --git a/train/train1668/0/rgb_0_mask_Pillow|6|0|1.png b/train/train1668/0/rgb_0_mask_Pillow|6|0|1.png new file mode 100644 index 0000000000000000000000000000000000000000..db0d271b92c87620dcad948a7675633f7d4e30c2 --- /dev/null +++ b/train/train1668/0/rgb_0_mask_Pillow|6|0|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a6c195794d2094d5765c820001c7440350c1f68aba9b1fe351c4d16ff247876c +size 537225 diff --git a/train/train1668/0/rgb_1.png b/train/train1668/0/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..2b1bf6a6f4ad5c7e1f5cbc91d0ce7352b62b7cfd --- /dev/null +++ b/train/train1668/0/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c55b628926cee2ba9f09ca86005f17b0705ce232ee2718b8d63351826d10d839 +size 437610 diff --git a/train/train1668/0/rgb_1_mask_DeskLamp|surface|6|47.png b/train/train1668/0/rgb_1_mask_DeskLamp|surface|6|47.png new file mode 100644 index 0000000000000000000000000000000000000000..b0378102fc7524b622e9c9c0ebe7e27da7ed1fd1 --- /dev/null +++ b/train/train1668/0/rgb_1_mask_DeskLamp|surface|6|47.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3edb339916d818d51f08f76e3507365a933db53d189bda80ae9199411a0e25b4 +size 375523 diff --git a/train/train1668/0/rgb_1_mask_DeskLamp|surface|6|48.png b/train/train1668/0/rgb_1_mask_DeskLamp|surface|6|48.png new file mode 100644 index 0000000000000000000000000000000000000000..fd2903d8a3f07c5d0c457b71212b7a6147f0e5e8 --- /dev/null +++ b/train/train1668/0/rgb_1_mask_DeskLamp|surface|6|48.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8f99daff1006f50121aa4c13fdd372ca95d0d0f6626f48220ed6e24ecf70f8d0 +size 379929 diff --git a/train/train1668/0/rgb_1_mask_Pillow|6|0|1.png b/train/train1668/0/rgb_1_mask_Pillow|6|0|1.png new file mode 100644 index 0000000000000000000000000000000000000000..ee8d657e55d7592b47ada24fe6572245f6963abe --- /dev/null +++ b/train/train1668/0/rgb_1_mask_Pillow|6|0|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6267c8e4b02af13a1f212495ec1228dd99418005f2563b2359ef38e81666c3a4 +size 375581 diff --git a/train/train1668/0/semantic_0.png b/train/train1668/0/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..7020d3df2dcd544fccf2e05c9eb57c081da2619d Binary files /dev/null and b/train/train1668/0/semantic_0.png differ diff --git a/train/train1668/0/semantic_1.png b/train/train1668/0/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..38c50aeae3b77e60c1eb2b77f18dfe2ed9dbd1cc Binary files /dev/null and b/train/train1668/0/semantic_1.png differ diff --git a/train/train1668/1/0.json b/train/train1668/1/0.json new file mode 100644 index 0000000000000000000000000000000000000000..f3bb496f9dd1babe372bda41307c9bc89bb524ba --- /dev/null +++ b/train/train1668/1/0.json @@ -0,0 +1,2060 @@ +{ + "object": [ + { + "objectId": "Dumbbell|surface|6|46", + "object_info": { + "name": "Dumbbell|surface|6|46", + "position": { + "x": 5.356489181518555, + "y": 0.7072564363479614, + "z": 2.711108684539795 + }, + "rotation": { + "x": 9.429193596588448e-05, + "y": 180.00025939941406, + "z": -0.0018494062824174762 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 4.539999961853027, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 1.056464433670044, + "objectType": "Dumbbell", + "objectId": "Dumbbell|surface|6|46", + "assetId": "Dumbbell_1_1", + "parentReceptacles": [ + "Desk|6|2" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.422698974609375, + 0.8384685516357422, + 2.8762903213500977 + ], + [ + 5.422698974609375, + 0.8384685516357422, + 2.5456271171569824 + ], + [ + 5.422698974609375, + 0.7060443162918091, + 2.8762903213500977 + ], + [ + 5.422698974609375, + 0.7060443162918091, + 2.5456271171569824 + ], + [ + 5.290274620056152, + 0.8384685516357422, + 2.8762903213500977 + ], + [ + 5.290274620056152, + 0.8384685516357422, + 2.5456271171569824 + ], + [ + 5.290274620056152, + 0.7060443162918091, + 2.8762903213500977 + ], + [ + 5.290274620056152, + 0.7060443162918091, + 2.5456271171569824 + ] + ], + "center": { + "x": 5.356486797332764, + "y": 0.7722564339637756, + "z": 2.71095871925354 + }, + "size": { + "x": 0.13242435455322266, + "y": 0.1324242353439331, + "z": 0.33066320419311523 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.290277481079102, + 0.706043004989624, + 2.5456275939941406 + ], + [ + 5.422699451446533, + 0.7060472965240479, + 2.5456268787384033 + ], + [ + 5.422700881958008, + 0.7060478329658508, + 2.8762898445129395 + ], + [ + 5.290278911590576, + 0.706043541431427, + 2.8762903213500977 + ], + [ + 5.290273189544678, + 0.8384652137756348, + 2.5456273555755615 + ], + [ + 5.422695159912109, + 0.8384694457054138, + 2.545626640319824 + ], + [ + 5.422697067260742, + 0.8384699821472168, + 2.8762896060943604 + ], + [ + 5.290274620056152, + 0.838465690612793, + 2.8762903213500977 + ] + ] + } + } + }, + { + "objectId": "Box|5|4", + "object_info": { + "name": "Box|5|4", + "position": { + "x": 0.17806901037693024, + "y": 1.7136335372924805e-07, + "z": 3.3574905395507812 + }, + "rotation": { + "x": 1.0498879419174045e-05, + "y": 90.00000762939453, + "z": -2.1695677787647583e-07 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.14000000059604645, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": [], + "distance": 5.868751049041748, + "objectType": "Box", + "objectId": "Box|5|4", + "assetId": "DecorativeBox3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.3318299353122711, + 0.1904660314321518, + 3.511014938354492 + ], + [ + 0.3318299353122711, + 0.1904660314321518, + 3.203965187072754 + ], + [ + 0.3318299353122711, + 1.1920928955078125e-07, + 3.511014938354492 + ], + [ + 0.3318299353122711, + 1.1920928955078125e-07, + 3.203965187072754 + ], + [ + 0.02500814199447632, + 0.1904660314321518, + 3.511014938354492 + ], + [ + 0.02500814199447632, + 0.1904660314321518, + 3.203965187072754 + ], + [ + 0.02500814199447632, + 1.1920928955078125e-07, + 3.511014938354492 + ], + [ + 0.02500814199447632, + 1.1920928955078125e-07, + 3.203965187072754 + ] + ], + "center": { + "x": 0.17841903865337372, + "y": 0.09523307532072067, + "z": 3.357490062713623 + }, + "size": { + "x": 0.3068217933177948, + "y": 0.19046591222286224, + "z": 0.3070497512817383 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.33183109760284424, + -1.2561426387946995e-07, + 3.2039637565612793 + ], + [ + 0.331831157207489, + -1.2445158859009098e-07, + 3.5110161304473877 + ], + [ + 0.02500690519809723, + -6.8229098815209e-08, + 3.5110161304473877 + ], + [ + 0.02500687539577484, + -6.939177410458797e-08, + 3.2039637565612793 + ], + [ + 0.331831157207489, + 0.19046738743782043, + 3.2039637565612793 + ], + [ + 0.331831157207489, + 0.19046738743782043, + 3.5110161304473877 + ], + [ + 0.025006935000419617, + 0.1904674470424652, + 3.5110161304473877 + ], + [ + 0.02500690519809723, + 0.1904674470424652, + 3.2039637565612793 + ] + ] + } + } + }, + { + "objectId": "Desk|6|2", + "object_info": { + "name": "Desk|6|2", + "position": { + "x": 5.937110424041748, + "y": -0.0007331371307373047, + "z": 2.9056951999664307 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 34.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Mug|surface|6|35", + "DeskLamp|surface|6|47", + "Book|surface|6|49", + "Watch|surface|6|43", + "Dumbbell|surface|6|46", + "DeskLamp|surface|6|48", + "CellPhone|surface|6|42" + ], + "distance": 1.477756381034851, + "objectType": "Desk", + "objectId": "Desk|6|2", + "assetId": "Desk_320_2_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.711947441101074, + 0.7060455679893494, + 3.2719976902008057 + ], + [ + 6.711947441101074, + 0.7060455679893494, + 2.5293781757354736 + ], + [ + 6.711947441101074, + 2.086162567138672e-06, + 3.2719976902008057 + ], + [ + 6.711947441101074, + 2.086162567138672e-06, + 2.5293781757354736 + ], + [ + 5.161589622497559, + 0.7060455679893494, + 3.2719976902008057 + ], + [ + 5.161589622497559, + 0.7060455679893494, + 2.5293781757354736 + ], + [ + 5.161589622497559, + 2.086162567138672e-06, + 3.2719976902008057 + ], + [ + 5.161589622497559, + 2.086162567138672e-06, + 2.5293781757354736 + ] + ], + "center": { + "x": 5.936768531799316, + "y": 0.35302382707595825, + "z": 2.9006879329681396 + }, + "size": { + "x": 1.5503578186035156, + "y": 0.7060434818267822, + "z": 0.742619514465332 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.161589622497559, + 2.1457672119140625e-06, + 2.5293784141540527 + ], + [ + 6.711947441101074, + 2.1457672119140625e-06, + 2.5293781757354736 + ], + [ + 6.711947441101074, + 2.1457672119140625e-06, + 3.2719974517822266 + ], + [ + 5.161589622497559, + 2.1457672119140625e-06, + 3.2719976902008057 + ], + [ + 5.161589622497559, + 0.7060456275939941, + 2.5293784141540527 + ], + [ + 6.711947441101074, + 0.7060456275939941, + 2.5293781757354736 + ], + [ + 6.711947441101074, + 0.7060456275939941, + 3.2719974517822266 + ], + [ + 5.161589622497559, + 0.7060456275939941, + 3.2719976902008057 + ] + ] + } + } + }, + { + "objectId": "Watch|surface|6|43", + "object_info": { + "name": "Watch|surface|6|43", + "position": { + "x": 5.743636608123779, + "y": 0.7062540054321289, + "z": 2.6207048892974854 + }, + "rotation": { + "x": 1.8353039026260376, + "y": 179.95281982421875, + "z": 1.2690320014953613 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07000000029802322, + "salientMaterials": [ + "Metal", + "Glass", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 0.8922406435012817, + "objectType": "Watch", + "objectId": "Watch|surface|6|43", + "assetId": "Watch_1", + "parentReceptacles": [ + "Desk|6|2" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.782958030700684, + 0.7414309978485107, + 2.6465563774108887 + ], + [ + 5.782958030700684, + 0.7414309978485107, + 2.598205089569092 + ], + [ + 5.782958030700684, + 0.7058990001678467, + 2.6465563774108887 + ], + [ + 5.782958030700684, + 0.7058990001678467, + 2.598205089569092 + ], + [ + 5.70406436920166, + 0.7414309978485107, + 2.6465563774108887 + ], + [ + 5.70406436920166, + 0.7414309978485107, + 2.598205089569092 + ], + [ + 5.70406436920166, + 0.7058990001678467, + 2.6465563774108887 + ], + [ + 5.70406436920166, + 0.7058990001678467, + 2.598205089569092 + ] + ], + "center": { + "x": 5.743511199951172, + "y": 0.7236649990081787, + "z": 2.6223807334899902 + }, + "size": { + "x": 0.07889366149902344, + "y": 0.03553199768066406, + "z": 0.048351287841796875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.703927516937256, + 0.7052050828933716, + 2.598257064819336 + ], + [ + 5.78246545791626, + 0.7034661769866943, + 2.5983774662017822 + ], + [ + 5.782425403594971, + 0.7050284147262573, + 2.647132158279419 + ], + [ + 5.703887462615967, + 0.7067673206329346, + 2.6470117568969727 + ], + [ + 5.704741477966309, + 0.7418888807296753, + 2.5970823764801025 + ], + [ + 5.7832794189453125, + 0.740149974822998, + 2.5972025394439697 + ], + [ + 5.783239364624023, + 0.741712212562561, + 2.6459574699401855 + ], + [ + 5.7047014236450195, + 0.7434511184692383, + 2.6458370685577393 + ] + ] + } + } + }, + { + "objectId": "Dresser|6|1", + "object_info": { + "name": "Dresser|6|1", + "position": { + "x": 5.613176345825195, + "y": 0.0010976195335388184, + "z": 0.373943567276001 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "AlarmClock|surface|6|40", + "Laptop|surface|6|39" + ], + "distance": 1.6498714685440063, + "objectType": "Dresser", + "objectId": "Dresser|6|1", + "assetId": "Dresser_318_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.002116680145264, + 0.9713932275772095, + 0.7236727476119995 + ], + [ + 6.002116680145264, + 0.9713932275772095, + 0.025004029273986816 + ], + [ + 6.002116680145264, + 1.3709068298339844e-06, + 0.7236727476119995 + ], + [ + 6.002116680145264, + 1.3709068298339844e-06, + 0.025004029273986816 + ], + [ + 5.235853672027588, + 0.9713932275772095, + 0.7236727476119995 + ], + [ + 5.235853672027588, + 0.9713932275772095, + 0.025004029273986816 + ], + [ + 5.235853672027588, + 1.3709068298339844e-06, + 0.7236727476119995 + ], + [ + 5.235853672027588, + 1.3709068298339844e-06, + 0.025004029273986816 + ] + ], + "center": { + "x": 5.618985176086426, + "y": 0.48569729924201965, + "z": 0.37433838844299316 + }, + "size": { + "x": 0.7662630081176758, + "y": 0.9713918566703796, + "z": 0.6986687183380127 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.002116680145264, + 1.430511474609375e-06, + 0.72367262840271 + ], + [ + 5.235853672027588, + 1.430511474609375e-06, + 0.72367262840271 + ], + [ + 5.235853672027588, + 1.430511474609375e-06, + 0.02500411868095398 + ], + [ + 6.002116680145264, + 1.430511474609375e-06, + 0.02500411868095398 + ], + [ + 6.002116680145264, + 0.9713929295539856, + 0.72367262840271 + ], + [ + 5.235853672027588, + 0.9713929295539856, + 0.72367262840271 + ], + [ + 5.235853672027588, + 0.9713929295539856, + 0.02500411868095398 + ], + [ + 6.002116680145264, + 0.9713929295539856, + 0.02500411868095398 + ] + ] + } + } + }, + { + "objectId": "Dresser|6|1___0", + "object_info": { + "name": "Drawer (3)", + "position": { + "x": 5.609915733337402, + "y": 0.2250976264476776, + "z": 0.48612797260284424 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "CreditCard|surface|6|36" + ], + "distance": 1.4400832653045654, + "objectType": "Drawer", + "objectId": "Dresser|6|1___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.964020729064941, + 0.3764910101890564, + 0.6967599391937256 + ], + [ + 5.964020729064941, + 0.3764910101890564, + 0.2743746042251587 + ], + [ + 5.964020729064941, + 0.06970429420471191, + 0.6967599391937256 + ], + [ + 5.964020729064941, + 0.06970429420471191, + 0.2743746042251587 + ], + [ + 5.255810737609863, + 0.3764910101890564, + 0.6967599391937256 + ], + [ + 5.255810737609863, + 0.3764910101890564, + 0.2743746042251587 + ], + [ + 5.255810737609863, + 0.06970429420471191, + 0.6967599391937256 + ], + [ + 5.255810737609863, + 0.06970429420471191, + 0.2743746042251587 + ] + ], + "center": { + "x": 5.609915733337402, + "y": 0.22309765219688416, + "z": 0.48556727170944214 + }, + "size": { + "x": 0.7082099914550781, + "y": 0.3067867159843445, + "z": 0.4223853349685669 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|6|1___1", + "object_info": { + "name": "Drawer (1)", + "position": { + "x": 5.609915733337402, + "y": 0.8300976157188416, + "z": 0.48612797260284424 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "CellPhone|surface|6|44" + ], + "distance": 1.2735867500305176, + "objectType": "Drawer", + "objectId": "Dresser|6|1___1", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.964020729064941, + 0.9450600147247314, + 0.6941201090812683 + ], + [ + 5.964020729064941, + 0.9450600147247314, + 0.2770146131515503 + ], + [ + 5.964020729064941, + 0.7111351490020752, + 0.6941201090812683 + ], + [ + 5.964020729064941, + 0.7111351490020752, + 0.2770146131515503 + ], + [ + 5.255810737609863, + 0.9450600147247314, + 0.6941201090812683 + ], + [ + 5.255810737609863, + 0.9450600147247314, + 0.2770146131515503 + ], + [ + 5.255810737609863, + 0.7111351490020752, + 0.6941201090812683 + ], + [ + 5.255810737609863, + 0.7111351490020752, + 0.2770146131515503 + ] + ], + "center": { + "x": 5.609915733337402, + "y": 0.8280975818634033, + "z": 0.4855673611164093 + }, + "size": { + "x": 0.7082099914550781, + "y": 0.23392486572265625, + "z": 0.417105495929718 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "GarbageCan|6|5", + "object_info": { + "name": "GarbageCan|6|5", + "position": { + "x": 6.285166263580322, + "y": 2.1457672119140625e-06, + "z": 0.21047767996788025 + }, + "rotation": { + "x": 0.00036735678440891206, + "y": -7.086647201504093e-06, + "z": -0.0006737426738254726 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.699999988079071, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.8623448610305786, + "objectType": "GarbageCan", + "objectId": "GarbageCan|6|5", + "assetId": "bin_23", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.470651626586914, + 0.6559604406356812, + 0.39595985412597656 + ], + [ + 6.470651626586914, + 0.6559604406356812, + 0.024999693036079407 + ], + [ + 6.470651626586914, + -8.344650268554688e-07, + 0.39595985412597656 + ], + [ + 6.470651626586914, + -8.344650268554688e-07, + 0.024999693036079407 + ], + [ + 6.099688529968262, + 0.6559604406356812, + 0.39595985412597656 + ], + [ + 6.099688529968262, + 0.6559604406356812, + 0.024999693036079407 + ], + [ + 6.099688529968262, + -8.344650268554688e-07, + 0.39595985412597656 + ], + [ + 6.099688529968262, + -8.344650268554688e-07, + 0.024999693036079407 + ] + ], + "center": { + "x": 6.285170078277588, + "y": 0.32797980308532715, + "z": 0.21047978103160858 + }, + "size": { + "x": 0.37096309661865234, + "y": 0.655961275100708, + "z": 0.37096017599105835 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.470644474029541, + -2.0589513951563276e-06, + 0.3959560692310333 + ], + [ + 6.099687576293945, + 2.3031382170302095e-06, + 0.39595600962638855 + ], + [ + 6.0996880531311035, + 4.6815584937576205e-06, + 0.024999290704727173 + ], + [ + 6.470644474029541, + 3.1946888157108333e-07, + 0.024999350309371948 + ], + [ + 6.470652103424072, + 0.6559552550315857, + 0.39596027135849 + ], + [ + 6.099695682525635, + 0.6559596657752991, + 0.3959602117538452 + ], + [ + 6.099695682525635, + 0.6559620499610901, + 0.025003492832183838 + ], + [ + 6.470652103424072, + 0.6559576392173767, + 0.025003552436828613 + ] + ] + } + } + }, + { + "objectId": "door|5|6", + "object_info": { + "name": "door|5|6", + "position": { + "x": 3.296997308731079, + "y": -0.0005984306335449219, + "z": 2.733199119567871 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.792271852493286, + "objectType": "Doorway", + "objectId": "door|5|6", + "assetId": "Doorway_Double_4", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.215017318725586, + 2.1049137115478516, + 2.757469654083252 + ], + [ + 4.215017318725586, + 2.1049137115478516, + 0.7185471057891846 + ], + [ + 4.215017318725586, + -2.384185791015625e-07, + 2.757469654083252 + ], + [ + 4.215017318725586, + -2.384185791015625e-07, + 0.7185471057891846 + ], + [ + 3.226426124572754, + 2.1049137115478516, + 2.757469654083252 + ], + [ + 3.226426124572754, + 2.1049137115478516, + 0.7185471057891846 + ], + [ + 3.226426124572754, + -2.384185791015625e-07, + 2.757469654083252 + ], + [ + 3.226426124572754, + -2.384185791015625e-07, + 0.7185471057891846 + ] + ], + "center": { + "x": 3.72072172164917, + "y": 1.0524567365646362, + "z": 1.7380083799362183 + }, + "size": { + "x": 0.988591194152832, + "y": 2.1049139499664307, + "z": 2.0389225482940674 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bed|5|0", + "object_info": { + "name": "Bed|5|0", + "position": { + "x": 0.956404447555542, + "y": -0.00014960765838623047, + "z": 0.5497106313705444 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "Pillow|surface|5|29" + ], + "distance": 5.023078918457031, + "objectType": "Bed", + "objectId": "Bed|5|0", + "assetId": "Bed_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.9439053535461426, + 0.6464672088623047, + 1.0737876892089844 + ], + [ + 1.9439053535461426, + 0.6464672088623047, + 0.024999797344207764 + ], + [ + 1.9439053535461426, + 2.9802322387695312e-08, + 1.0737876892089844 + ], + [ + 1.9439053535461426, + 2.9802322387695312e-08, + 0.024999797344207764 + ], + [ + 0.02500009536743164, + 0.6464672088623047, + 1.0737876892089844 + ], + [ + 0.02500009536743164, + 0.6464672088623047, + 0.024999797344207764 + ], + [ + 0.02500009536743164, + 2.9802322387695312e-08, + 1.0737876892089844 + ], + [ + 0.02500009536743164, + 2.9802322387695312e-08, + 0.024999797344207764 + ] + ], + "center": { + "x": 0.9844527244567871, + "y": 0.32323363423347473, + "z": 0.5493937134742737 + }, + "size": { + "x": 1.918905258178711, + "y": 0.6464672088623047, + "z": 1.0487878322601318 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.9439051151275635, + 0.0, + 0.024999797344207764 + ], + [ + 1.9439051151275635, + 0.0, + 1.0737875699996948 + ], + [ + 0.024999916553497314, + 0.0, + 1.0737876892089844 + ], + [ + 0.024999797344207764, + 0.0, + 0.02499997615814209 + ], + [ + 1.9439051151275635, + 0.6464670896530151, + 0.024999797344207764 + ], + [ + 1.9439051151275635, + 0.6464670896530151, + 1.0737875699996948 + ], + [ + 0.024999916553497314, + 0.6464670896530151, + 1.0737876892089844 + ], + [ + 0.024999797344207764, + 0.6464670896530151, + 0.02499997615814209 + ] + ] + } + } + }, + { + "objectId": "Laptop|surface|6|39", + "object_info": { + "name": "Laptop|surface|6|39", + "position": { + "x": 5.609941482543945, + "y": 0.9713994860649109, + "z": 0.28864696621894836 + }, + "rotation": { + "x": -0.00041293477988801897, + "y": 89.99986267089844, + "z": 0.0018775358330458403 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 0.1826363354921341, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 2.299999952316284, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 1.4697364568710327, + "objectType": "Laptop", + "objectId": "Laptop|surface|6|39", + "assetId": "Laptop_19", + "parentReceptacles": [ + "Dresser|6|1" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.7781982421875, + 1.1118805408477783, + 0.5156780481338501 + ], + [ + 5.7781982421875, + 1.1118805408477783, + 0.06162053346633911 + ], + [ + 5.7781982421875, + 0.971390962600708, + 0.5156780481338501 + ], + [ + 5.7781982421875, + 0.971390962600708, + 0.06162053346633911 + ], + [ + 5.439300537109375, + 1.1118805408477783, + 0.5156780481338501 + ], + [ + 5.439300537109375, + 1.1118805408477783, + 0.06162053346633911 + ], + [ + 5.439300537109375, + 0.971390962600708, + 0.5156780481338501 + ], + [ + 5.439300537109375, + 0.971390962600708, + 0.06162053346633911 + ] + ], + "center": { + "x": 5.6087493896484375, + "y": 1.0416357517242432, + "z": 0.2886492908000946 + }, + "size": { + "x": 0.338897705078125, + "y": 0.1404895782470703, + "z": 0.454057514667511 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.7781982421875, + 0.9714081287384033, + 0.061621323227882385 + ], + [ + 5.778197288513184, + 0.9713932871818542, + 0.5156733989715576 + ], + [ + 5.439300537109375, + 0.9713908433914185, + 0.5156726241111755 + ], + [ + 5.439301490783691, + 0.9714056849479675, + 0.061620503664016724 + ], + [ + 5.778197288513184, + 1.1118805408477783, + 0.061625927686691284 + ], + [ + 5.778196334838867, + 1.1118656396865845, + 0.5156779885292053 + ], + [ + 5.439299583435059, + 1.111863136291504, + 0.5156772136688232 + ], + [ + 5.439300537109375, + 1.1118780374526978, + 0.06162510812282562 + ] + ] + } + } + }, + { + "objectId": "Dresser|6|1___2", + "object_info": { + "name": "Drawer (2)", + "position": { + "x": 5.609915733337402, + "y": 0.5470976233482361, + "z": 0.48612797260284424 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "CD|surface|6|37", + "Watch|surface|6|38" + ], + "distance": 1.319940447807312, + "objectType": "Drawer", + "objectId": "Dresser|6|1___2", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.964020729064941, + 0.6984910368919373, + 0.6967599391937256 + ], + [ + 5.964020729064941, + 0.6984910368919373, + 0.2743746042251587 + ], + [ + 5.964020729064941, + 0.391704261302948, + 0.6967599391937256 + ], + [ + 5.964020729064941, + 0.391704261302948, + 0.2743746042251587 + ], + [ + 5.255810737609863, + 0.6984910368919373, + 0.6967599391937256 + ], + [ + 5.255810737609863, + 0.6984910368919373, + 0.2743746042251587 + ], + [ + 5.255810737609863, + 0.391704261302948, + 0.6967599391937256 + ], + [ + 5.255810737609863, + 0.391704261302948, + 0.2743746042251587 + ] + ], + "center": { + "x": 5.609915733337402, + "y": 0.5450976490974426, + "z": 0.48556727170944214 + }, + "size": { + "x": 0.7082099914550781, + "y": 0.30678677558898926, + "z": 0.4223853349685669 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "BasketBall|5|1", + "object_info": { + "name": "BasketBall|5|1", + "position": { + "x": 1.2298182249069214, + "y": 0.11968711018562317, + "z": 2.5692527294158936 + }, + "rotation": { + "x": -0.0, + "y": -0.0, + "z": 1.7097413484989943e-09 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6000000238418579, + "salientMaterials": [ + "Rubber" + ], + "receptacleObjectIds": null, + "distance": 4.659792423248291, + "objectType": "BasketBall", + "objectId": "BasketBall|5|1", + "assetId": "RoboTHOR_basketball_rhode_island_novelty_v", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.3495053052902222, + 0.23937422037124634, + 2.6889398097991943 + ], + [ + 1.3495053052902222, + 0.23937422037124634, + 2.4495656490325928 + ], + [ + 1.3495053052902222, + 0.0, + 2.6889398097991943 + ], + [ + 1.3495053052902222, + 0.0, + 2.4495656490325928 + ], + [ + 1.1101311445236206, + 0.23937422037124634, + 2.6889398097991943 + ], + [ + 1.1101311445236206, + 0.23937422037124634, + 2.4495656490325928 + ], + [ + 1.1101311445236206, + 0.0, + 2.6889398097991943 + ], + [ + 1.1101311445236206, + 0.0, + 2.4495656490325928 + ] + ], + "center": { + "x": 1.2298182249069214, + "y": 0.11968711018562317, + "z": 2.5692527294158936 + }, + "size": { + "x": 0.23937416076660156, + "y": 0.23937422037124634, + "z": 0.23937416076660156 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.3495053052902222, + 7.450580596923828e-09, + 2.6889398097991943 + ], + [ + 1.1101311445236206, + 7.450580596923828e-09, + 2.6889398097991943 + ], + [ + 1.1101311445236206, + 7.450580596923828e-09, + 2.4495656490325928 + ], + [ + 1.3495053052902222, + 7.450580596923828e-09, + 2.4495656490325928 + ], + [ + 1.3495053052902222, + 0.23937422037124634, + 2.6889398097991943 + ], + [ + 1.1101311445236206, + 0.23937422037124634, + 2.6889398097991943 + ], + [ + 1.1101311445236206, + 0.23937422037124634, + 2.4495656490325928 + ], + [ + 1.3495053052902222, + 0.23937422037124634, + 2.4495656490325928 + ] + ] + } + } + }, + { + "objectId": "DeskLamp|surface|6|48", + "object_info": { + "name": "DeskLamp|surface|6|48", + "position": { + "x": 5.743537902832031, + "y": 0.7067152261734009, + "z": 2.8916592597961426 + }, + "rotation": { + "x": -0.000816758896689862, + "y": 180.00033569335938, + "z": 0.0009129971149377525 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 2.059999942779541, + "salientMaterials": [ + "Metal", + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 1.1580907106399536, + "objectType": "DeskLamp", + "objectId": "DeskLamp|surface|6|48", + "assetId": "Desk_Lamp_2", + "parentReceptacles": [ + "Desk|6|2" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.871587753295898, + 1.1080067157745361, + 3.034360885620117 + ], + [ + 5.871587753295898, + 1.1080067157745361, + 2.7480039596557617 + ], + [ + 5.871587753295898, + 0.7060434818267822, + 3.034360885620117 + ], + [ + 5.871587753295898, + 0.7060434818267822, + 2.7480039596557617 + ], + [ + 5.6171464920043945, + 1.1080067157745361, + 3.034360885620117 + ], + [ + 5.6171464920043945, + 1.1080067157745361, + 2.7480039596557617 + ], + [ + 5.6171464920043945, + 0.7060434818267822, + 3.034360885620117 + ], + [ + 5.6171464920043945, + 0.7060434818267822, + 2.7480039596557617 + ] + ], + "center": { + "x": 5.7443671226501465, + "y": 0.9070250988006592, + "z": 2.8911824226379395 + }, + "size": { + "x": 0.2544412612915039, + "y": 0.4019632339477539, + "z": 0.28635692596435547 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.617140769958496, + 0.7060493230819702, + 2.747999429702759 + ], + [ + 5.871585369110107, + 0.7060452699661255, + 2.747997999191284 + ], + [ + 5.87158727645874, + 0.7060412168502808, + 3.0343573093414307 + ], + [ + 5.617142677307129, + 0.7060452699661255, + 3.0343587398529053 + ], + [ + 5.617147445678711, + 1.1080142259597778, + 2.7480051517486572 + ], + [ + 5.871592044830322, + 1.108010172843933, + 2.7480037212371826 + ], + [ + 5.871593475341797, + 1.1080060005187988, + 3.034363031387329 + ], + [ + 5.6171488761901855, + 1.1080100536346436, + 3.0343644618988037 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 6.099999904632568, + "y": 0.9009997844696045, + "z": 1.600000023841858 + }, + "agent_rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "agent_cameraHorizon": 60.000003814697266, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 6.099999904632568, + "y": 1.5759997367858887, + "z": 1.600000023841858 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Desk|6|2", + "Dresser|6|1", + "Dresser|6|1___2", + "GarbageCan|6|5", + "Dresser|6|1___0" + ], + "different_object": [ + "Laptop|surface|6|39", + "BasketBall|5|1", + "Watch|surface|6|43", + "Dumbbell|surface|6|46", + "Dresser|6|1___1", + "Box|5|4", + "door|5|6", + "Bed|5|0", + "DeskLamp|surface|6|48" + ] +} \ No newline at end of file diff --git a/train/train1668/1/0_depth_npy.npy b/train/train1668/1/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..541d98e2bef2f31435d8b787434c108384c9d32b --- /dev/null +++ b/train/train1668/1/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:449740053b5cb6a211bbb45599d0a6a6b785fdecf0d1e5f197ad41e2b94fcc31 +size 3145856 diff --git a/train/train1668/1/0_semantic_sensor_npy.npy b/train/train1668/1/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..0683a8799fd3addbc6d57de5ebc3fd7e96c4b835 --- /dev/null +++ b/train/train1668/1/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7671d3f0f3526eb52089ca55cc675589950cbf1fb789d6fd66fec1b0b8e0e62d +size 2359424 diff --git a/train/train1668/1/1.json b/train/train1668/1/1.json new file mode 100644 index 0000000000000000000000000000000000000000..4d7a56acdb6ac720d5d1964d5f85ee56ec14344c --- /dev/null +++ b/train/train1668/1/1.json @@ -0,0 +1,1842 @@ +{ + "object": [ + { + "objectId": "Box|surface|6|41", + "object_info": { + "name": "Box|surface|6|41", + "position": { + "x": 7.5326151847839355, + "y": 0.7107917666435242, + "z": 2.116950750350952 + }, + "rotation": { + "x": 359.9910583496094, + "y": 4.610685664374614e-06, + "z": 0.005013210698962212 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.30000001192092896, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": [], + "distance": 1.8299040794372559, + "objectType": "Box", + "objectId": "Box|surface|6|41", + "assetId": "Box_23", + "parentReceptacles": [ + "Bed|6|0|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.749358177185059, + 0.742455244064331, + 2.1571803092956543 + ], + [ + 7.749358177185059, + 0.742455244064331, + 1.9130134582519531 + ], + [ + 7.749358177185059, + 0.5599449872970581, + 2.1571803092956543 + ], + [ + 7.749358177185059, + 0.5599449872970581, + 1.9130134582519531 + ], + [ + 7.313809394836426, + 0.742455244064331, + 2.1571803092956543 + ], + [ + 7.313809394836426, + 0.742455244064331, + 1.9130134582519531 + ], + [ + 7.313809394836426, + 0.5599449872970581, + 2.1571803092956543 + ], + [ + 7.313809394836426, + 0.5599449872970581, + 1.9130134582519531 + ] + ], + "center": { + "x": 7.531583786010742, + "y": 0.6512001156806946, + "z": 2.0350968837738037 + }, + "size": { + "x": 0.4355487823486328, + "y": 0.18251025676727295, + "z": 0.24416685104370117 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.749358654022217, + 0.5600195527076721, + 2.1572089195251465 + ], + [ + 7.313825607299805, + 0.5599814057350159, + 2.1572089195251465 + ], + [ + 7.313825607299805, + 0.5599433183670044, + 1.9130418300628662 + ], + [ + 7.749358654022217, + 0.5599814057350159, + 1.9130418300628662 + ], + [ + 7.749342918395996, + 0.7424745559692383, + 2.1571803092956543 + ], + [ + 7.313809394836426, + 0.7424364686012268, + 2.1571805477142334 + ], + [ + 7.313809394836426, + 0.7423983812332153, + 1.9130134582519531 + ], + [ + 7.749342918395996, + 0.7424364686012268, + 1.9130133390426636 + ] + ] + } + } + }, + { + "objectId": "Desk|6|2", + "object_info": { + "name": "Desk|6|2", + "position": { + "x": 5.937110424041748, + "y": -0.0007331371307373047, + "z": 2.9056951999664307 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 34.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Mug|surface|6|35", + "DeskLamp|surface|6|47", + "Book|surface|6|49", + "Watch|surface|6|43", + "Dumbbell|surface|6|46", + "DeskLamp|surface|6|48", + "CellPhone|surface|6|42" + ], + "distance": 1.477756381034851, + "objectType": "Desk", + "objectId": "Desk|6|2", + "assetId": "Desk_320_2_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.711947441101074, + 0.7060455679893494, + 3.2719976902008057 + ], + [ + 6.711947441101074, + 0.7060455679893494, + 2.5293781757354736 + ], + [ + 6.711947441101074, + 2.086162567138672e-06, + 3.2719976902008057 + ], + [ + 6.711947441101074, + 2.086162567138672e-06, + 2.5293781757354736 + ], + [ + 5.161589622497559, + 0.7060455679893494, + 3.2719976902008057 + ], + [ + 5.161589622497559, + 0.7060455679893494, + 2.5293781757354736 + ], + [ + 5.161589622497559, + 2.086162567138672e-06, + 3.2719976902008057 + ], + [ + 5.161589622497559, + 2.086162567138672e-06, + 2.5293781757354736 + ] + ], + "center": { + "x": 5.936768531799316, + "y": 0.35302382707595825, + "z": 2.9006879329681396 + }, + "size": { + "x": 1.5503578186035156, + "y": 0.7060434818267822, + "z": 0.742619514465332 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.161589622497559, + 2.1457672119140625e-06, + 2.5293784141540527 + ], + [ + 6.711947441101074, + 2.1457672119140625e-06, + 2.5293781757354736 + ], + [ + 6.711947441101074, + 2.1457672119140625e-06, + 3.2719974517822266 + ], + [ + 5.161589622497559, + 2.1457672119140625e-06, + 3.2719976902008057 + ], + [ + 5.161589622497559, + 0.7060456275939941, + 2.5293784141540527 + ], + [ + 6.711947441101074, + 0.7060456275939941, + 2.5293781757354736 + ], + [ + 6.711947441101074, + 0.7060456275939941, + 3.2719974517822266 + ], + [ + 5.161589622497559, + 0.7060456275939941, + 3.2719976902008057 + ] + ] + } + } + }, + { + "objectId": "Dresser|6|1", + "object_info": { + "name": "Dresser|6|1", + "position": { + "x": 5.613176345825195, + "y": 0.0010976195335388184, + "z": 0.373943567276001 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "AlarmClock|surface|6|40", + "Laptop|surface|6|39" + ], + "distance": 1.6498714685440063, + "objectType": "Dresser", + "objectId": "Dresser|6|1", + "assetId": "Dresser_318_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.002116680145264, + 0.9713932275772095, + 0.7236727476119995 + ], + [ + 6.002116680145264, + 0.9713932275772095, + 0.025004029273986816 + ], + [ + 6.002116680145264, + 1.3709068298339844e-06, + 0.7236727476119995 + ], + [ + 6.002116680145264, + 1.3709068298339844e-06, + 0.025004029273986816 + ], + [ + 5.235853672027588, + 0.9713932275772095, + 0.7236727476119995 + ], + [ + 5.235853672027588, + 0.9713932275772095, + 0.025004029273986816 + ], + [ + 5.235853672027588, + 1.3709068298339844e-06, + 0.7236727476119995 + ], + [ + 5.235853672027588, + 1.3709068298339844e-06, + 0.025004029273986816 + ] + ], + "center": { + "x": 5.618985176086426, + "y": 0.48569729924201965, + "z": 0.37433838844299316 + }, + "size": { + "x": 0.7662630081176758, + "y": 0.9713918566703796, + "z": 0.6986687183380127 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.002116680145264, + 1.430511474609375e-06, + 0.72367262840271 + ], + [ + 5.235853672027588, + 1.430511474609375e-06, + 0.72367262840271 + ], + [ + 5.235853672027588, + 1.430511474609375e-06, + 0.02500411868095398 + ], + [ + 6.002116680145264, + 1.430511474609375e-06, + 0.02500411868095398 + ], + [ + 6.002116680145264, + 0.9713929295539856, + 0.72367262840271 + ], + [ + 5.235853672027588, + 0.9713929295539856, + 0.72367262840271 + ], + [ + 5.235853672027588, + 0.9713929295539856, + 0.02500411868095398 + ], + [ + 6.002116680145264, + 0.9713929295539856, + 0.02500411868095398 + ] + ] + } + } + }, + { + "objectId": "Dresser|6|1___0", + "object_info": { + "name": "Drawer (3)", + "position": { + "x": 5.609915733337402, + "y": 0.2250976264476776, + "z": 0.48612797260284424 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "CreditCard|surface|6|36" + ], + "distance": 1.4400832653045654, + "objectType": "Drawer", + "objectId": "Dresser|6|1___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.964020729064941, + 0.3764910101890564, + 0.6967599391937256 + ], + [ + 5.964020729064941, + 0.3764910101890564, + 0.2743746042251587 + ], + [ + 5.964020729064941, + 0.06970429420471191, + 0.6967599391937256 + ], + [ + 5.964020729064941, + 0.06970429420471191, + 0.2743746042251587 + ], + [ + 5.255810737609863, + 0.3764910101890564, + 0.6967599391937256 + ], + [ + 5.255810737609863, + 0.3764910101890564, + 0.2743746042251587 + ], + [ + 5.255810737609863, + 0.06970429420471191, + 0.6967599391937256 + ], + [ + 5.255810737609863, + 0.06970429420471191, + 0.2743746042251587 + ] + ], + "center": { + "x": 5.609915733337402, + "y": 0.22309765219688416, + "z": 0.48556727170944214 + }, + "size": { + "x": 0.7082099914550781, + "y": 0.3067867159843445, + "z": 0.4223853349685669 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Book|surface|6|45", + "object_info": { + "name": "Book|surface|6|45", + "position": { + "x": 8.020547866821289, + "y": 0.5595605969429016, + "z": 2.116973876953125 + }, + "rotation": { + "x": -0.0021701641380786896, + "y": 4.7507808631053194e-05, + "z": 0.034017592668533325 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 2.3252179622650146, + "objectType": "Book", + "objectId": "Book|surface|6|45", + "assetId": "Book_5", + "parentReceptacles": [ + "Bed|6|0|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.158607482910156, + 0.5979613065719604, + 2.299900531768799 + ], + [ + 8.158607482910156, + 0.5979613065719604, + 1.9340457916259766 + ], + [ + 8.158607482910156, + 0.5598175525665283, + 2.299900531768799 + ], + [ + 8.158607482910156, + 0.5598175525665283, + 1.9340457916259766 + ], + [ + 7.878992080688477, + 0.5979613065719604, + 2.299900531768799 + ], + [ + 7.878992080688477, + 0.5979613065719604, + 1.9340457916259766 + ], + [ + 7.878992080688477, + 0.5598175525665283, + 2.299900531768799 + ], + [ + 7.878992080688477, + 0.5598175525665283, + 1.9340457916259766 + ] + ], + "center": { + "x": 8.018799781799316, + "y": 0.5788894295692444, + "z": 2.1169731616973877 + }, + "size": { + "x": 0.2796154022216797, + "y": 0.03814375400543213, + "z": 0.36585474014282227 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 8.158607482910156, + 0.5599949359893799, + 2.299900531768799 + ], + [ + 7.879014015197754, + 0.5598289370536804, + 2.299901008605957 + ], + [ + 7.879013538360596, + 0.5598150491714478, + 1.9340472221374512 + ], + [ + 8.158607482910156, + 0.5599810481071472, + 1.934046983718872 + ], + [ + 8.158584594726562, + 0.5979788303375244, + 2.299899101257324 + ], + [ + 7.878991603851318, + 0.597812831401825, + 2.2998995780944824 + ], + [ + 7.87899112701416, + 0.5977990031242371, + 1.9340457916259766 + ], + [ + 8.158584594726562, + 0.5979650020599365, + 1.9340455532073975 + ] + ] + } + } + }, + { + "objectId": "GarbageCan|6|5", + "object_info": { + "name": "GarbageCan|6|5", + "position": { + "x": 6.285166263580322, + "y": 2.1457672119140625e-06, + "z": 0.21047767996788025 + }, + "rotation": { + "x": 0.00036735678440891206, + "y": -7.086647201504093e-06, + "z": -0.0006737426738254726 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.699999988079071, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.8623448610305786, + "objectType": "GarbageCan", + "objectId": "GarbageCan|6|5", + "assetId": "bin_23", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.470651626586914, + 0.6559604406356812, + 0.39595985412597656 + ], + [ + 6.470651626586914, + 0.6559604406356812, + 0.024999693036079407 + ], + [ + 6.470651626586914, + -8.344650268554688e-07, + 0.39595985412597656 + ], + [ + 6.470651626586914, + -8.344650268554688e-07, + 0.024999693036079407 + ], + [ + 6.099688529968262, + 0.6559604406356812, + 0.39595985412597656 + ], + [ + 6.099688529968262, + 0.6559604406356812, + 0.024999693036079407 + ], + [ + 6.099688529968262, + -8.344650268554688e-07, + 0.39595985412597656 + ], + [ + 6.099688529968262, + -8.344650268554688e-07, + 0.024999693036079407 + ] + ], + "center": { + "x": 6.285170078277588, + "y": 0.32797980308532715, + "z": 0.21047978103160858 + }, + "size": { + "x": 0.37096309661865234, + "y": 0.655961275100708, + "z": 0.37096017599105835 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.470644474029541, + -2.0589513951563276e-06, + 0.3959560692310333 + ], + [ + 6.099687576293945, + 2.3031382170302095e-06, + 0.39595600962638855 + ], + [ + 6.0996880531311035, + 4.6815584937576205e-06, + 0.024999290704727173 + ], + [ + 6.470644474029541, + 3.1946888157108333e-07, + 0.024999350309371948 + ], + [ + 6.470652103424072, + 0.6559552550315857, + 0.39596027135849 + ], + [ + 6.099695682525635, + 0.6559596657752991, + 0.3959602117538452 + ], + [ + 6.099695682525635, + 0.6559620499610901, + 0.025003492832183838 + ], + [ + 6.470652103424072, + 0.6559576392173767, + 0.025003552436828613 + ] + ] + } + } + }, + { + "objectId": "DeskLamp|surface|6|47", + "object_info": { + "name": "DeskLamp|surface|6|47", + "position": { + "x": 6.324120044708252, + "y": 0.7069703340530396, + "z": 2.801382541656494 + }, + "rotation": { + "x": 359.9281921386719, + "y": 180.0001220703125, + "z": 359.98828125 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": true, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 2.059999942779541, + "salientMaterials": [ + "Metal", + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 1.2135347127914429, + "objectType": "DeskLamp", + "objectId": "DeskLamp|surface|6|47", + "assetId": "Desk_Lamp_4", + "parentReceptacles": [ + "Desk|6|2" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.4325971603393555, + 1.0744657516479492, + 2.89790678024292 + ], + [ + 6.4325971603393555, + 1.0744657516479492, + 2.7049078941345215 + ], + [ + 6.4325971603393555, + 0.7060328722000122, + 2.89790678024292 + ], + [ + 6.4325971603393555, + 0.7060328722000122, + 2.7049078941345215 + ], + [ + 6.215526580810547, + 1.0744657516479492, + 2.89790678024292 + ], + [ + 6.215526580810547, + 1.0744657516479492, + 2.7049078941345215 + ], + [ + 6.215526580810547, + 0.7060328722000122, + 2.89790678024292 + ], + [ + 6.215526580810547, + 0.7060328722000122, + 2.7049078941345215 + ] + ], + "center": { + "x": 6.324061870574951, + "y": 0.8902493119239807, + "z": 2.8014073371887207 + }, + "size": { + "x": 0.2170705795288086, + "y": 0.368432879447937, + "z": 0.19299888610839844 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.215596675872803, + 0.7062172293663025, + 2.704878807067871 + ], + [ + 6.43264102935791, + 0.7062615752220154, + 2.704878568649292 + ], + [ + 6.432641506195068, + 0.7060196995735168, + 2.8978817462921143 + ], + [ + 6.215597152709961, + 0.7059752941131592, + 2.8978822231292725 + ], + [ + 6.215521335601807, + 1.0745681524276733, + 2.705340623855591 + ], + [ + 6.432565689086914, + 1.0746124982833862, + 2.7053401470184326 + ], + [ + 6.432566165924072, + 1.0743706226348877, + 2.898343563079834 + ], + [ + 6.215521812438965, + 1.0743262767791748, + 2.898343801498413 + ] + ] + } + } + }, + { + "objectId": "Dresser|6|1___2", + "object_info": { + "name": "Drawer (2)", + "position": { + "x": 5.609915733337402, + "y": 0.5470976233482361, + "z": 0.48612797260284424 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "CD|surface|6|37", + "Watch|surface|6|38" + ], + "distance": 1.319940447807312, + "objectType": "Drawer", + "objectId": "Dresser|6|1___2", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.964020729064941, + 0.6984910368919373, + 0.6967599391937256 + ], + [ + 5.964020729064941, + 0.6984910368919373, + 0.2743746042251587 + ], + [ + 5.964020729064941, + 0.391704261302948, + 0.6967599391937256 + ], + [ + 5.964020729064941, + 0.391704261302948, + 0.2743746042251587 + ], + [ + 5.255810737609863, + 0.6984910368919373, + 0.6967599391937256 + ], + [ + 5.255810737609863, + 0.6984910368919373, + 0.2743746042251587 + ], + [ + 5.255810737609863, + 0.391704261302948, + 0.6967599391937256 + ], + [ + 5.255810737609863, + 0.391704261302948, + 0.2743746042251587 + ] + ], + "center": { + "x": 5.609915733337402, + "y": 0.5450976490974426, + "z": 0.48556727170944214 + }, + "size": { + "x": 0.7082099914550781, + "y": 0.30678677558898926, + "z": 0.4223853349685669 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CellPhone|surface|6|34", + "object_info": { + "name": "CellPhone|surface|6|34", + "position": { + "x": 8.020549774169922, + "y": 0.5606894493103027, + "z": 2.563382863998413 + }, + "rotation": { + "x": 1.2720042832370382e-05, + "y": -3.493730037007481e-05, + "z": -0.0016068851109594107 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1599999964237213, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 2.4357337951660156, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|6|34", + "assetId": "Cellphone_8", + "parentReceptacles": [ + "Bed|6|0|0", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.058788299560547, + 0.5708633661270142, + 2.636294364929199 + ], + [ + 8.058788299560547, + 0.5708633661270142, + 2.490471363067627 + ], + [ + 8.058788299560547, + 0.5599797964096069, + 2.636294364929199 + ], + [ + 8.058788299560547, + 0.5599797964096069, + 2.490471363067627 + ], + [ + 7.982311248779297, + 0.5708633661270142, + 2.636294364929199 + ], + [ + 7.982311248779297, + 0.5708633661270142, + 2.490471363067627 + ], + [ + 7.982311248779297, + 0.5599797964096069, + 2.636294364929199 + ], + [ + 7.982311248779297, + 0.5599797964096069, + 2.490471363067627 + ] + ], + "center": { + "x": 8.020549774169922, + "y": 0.5654215812683105, + "z": 2.563382863998413 + }, + "size": { + "x": 0.07647705078125, + "y": 0.010883569717407227, + "z": 0.14582300186157227 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 8.058788299560547, + 0.5599797964096069, + 2.636294364929199 + ], + [ + 7.982311248779297, + 0.5599819421768188, + 2.63629412651062 + ], + [ + 7.982311248779297, + 0.5599819421768188, + 2.490471363067627 + ], + [ + 8.058788299560547, + 0.5599797964096069, + 2.490471601486206 + ], + [ + 8.058788299560547, + 0.5708612203598022, + 2.636294364929199 + ], + [ + 7.982311725616455, + 0.5708633661270142, + 2.63629412651062 + ], + [ + 7.982311725616455, + 0.5708633661270142, + 2.490471363067627 + ], + [ + 8.058788299560547, + 0.5708612203598022, + 2.490471601486206 + ] + ] + } + } + }, + { + "objectId": "DogBed|6|3", + "object_info": { + "name": "DogBed|6|3", + "position": { + "x": 7.852978229522705, + "y": 0.0032488107681274414, + "z": 0.3906584084033966 + }, + "rotation": { + "x": -0.0011136221000924706, + "y": 0.0002035521320067346, + "z": 0.0006151953130029142 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.9800000190734863, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 2.660128593444824, + "objectType": "DogBed", + "objectId": "DogBed|6|3", + "assetId": "Dog_Bed_1_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.217996597290039, + 0.1088542640209198, + 0.7556761503219604 + ], + [ + 8.217996597290039, + 0.1088542640209198, + 0.0250014066696167 + ], + [ + 8.217996597290039, + 1.0505318641662598e-06, + 0.7556761503219604 + ], + [ + 8.217996597290039, + 1.0505318641662598e-06, + 0.0250014066696167 + ], + [ + 7.487320899963379, + 0.1088542640209198, + 0.7556761503219604 + ], + [ + 7.487320899963379, + 0.1088542640209198, + 0.0250014066696167 + ], + [ + 7.487320899963379, + 1.0505318641662598e-06, + 0.7556761503219604 + ], + [ + 7.487320899963379, + 1.0505318641662598e-06, + 0.0250014066696167 + ] + ], + "center": { + "x": 7.852658748626709, + "y": 0.05442765727639198, + "z": 0.3903387784957886 + }, + "size": { + "x": 0.7306756973266602, + "y": 0.10885321348905563, + "z": 0.7306747436523438 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 8.217998504638672, + 1.666136085987091e-05, + 0.7556765079498291 + ], + [ + 7.487322807312012, + 8.81589949131012e-06, + 0.7556791305541992 + ], + [ + 7.4873199462890625, + -5.385605618357658e-06, + 0.02500322461128235 + ], + [ + 8.217996597290039, + 2.4598557502031326e-06, + 0.02500060200691223 + ], + [ + 8.217997550964355, + 0.10885684192180634, + 0.755674421787262 + ], + [ + 7.487321376800537, + 0.10884899646043777, + 0.7556770443916321 + ], + [ + 7.487318992614746, + 0.10883479565382004, + 0.025001108646392822 + ], + [ + 8.217994689941406, + 0.1088426411151886, + 0.024998486042022705 + ] + ] + } + } + }, + { + "objectId": "Bed|6|0|0", + "object_info": { + "name": "Bed|6|0|0", + "position": { + "x": 7.532628059387207, + "y": -0.003118574619293213, + "z": 2.364048719406128 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "Pillow|6|0|1", + "Box|surface|6|41", + "Book|surface|6|45", + "CellPhone|surface|6|34" + ], + "distance": 2.0909922122955322, + "objectType": "Bed", + "objectId": "Bed|6|0|0", + "assetId": "Bed_28", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.218000411987305, + 0.6485360860824585, + 3.2720000743865967 + ], + [ + 8.218000411987305, + 0.6485360860824585, + 1.3972227573394775 + ], + [ + 8.218000411987305, + 0.0, + 3.2720000743865967 + ], + [ + 8.218000411987305, + 0.0, + 1.3972227573394775 + ], + [ + 6.846250534057617, + 0.6485360860824585, + 3.2720000743865967 + ], + [ + 6.846250534057617, + 0.6485360860824585, + 1.3972227573394775 + ], + [ + 6.846250534057617, + 0.0, + 3.2720000743865967 + ], + [ + 6.846250534057617, + 0.0, + 1.3972227573394775 + ] + ], + "center": { + "x": 7.532125473022461, + "y": 0.32426804304122925, + "z": 2.334611415863037 + }, + "size": { + "x": 1.3717498779296875, + "y": 0.6485360860824585, + "z": 1.8747773170471191 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.846251010894775, + 0.0, + 1.3972229957580566 + ], + [ + 8.217999458312988, + 0.0, + 1.397222876548767 + ], + [ + 8.217999458312988, + 0.0, + 3.2719998359680176 + ], + [ + 6.846251010894775, + 0.0, + 3.2720000743865967 + ], + [ + 6.846251010894775, + 0.6485360860824585, + 1.3972229957580566 + ], + [ + 8.217999458312988, + 0.6485360860824585, + 1.397222876548767 + ], + [ + 8.217999458312988, + 0.6485360860824585, + 3.2719998359680176 + ], + [ + 6.846251010894775, + 0.6485360860824585, + 3.2720000743865967 + ] + ] + } + } + }, + { + "objectId": "Pillow|6|0|1", + "object_info": { + "name": "Pillow|6|0|1", + "position": { + "x": 7.532125473022461, + "y": 0.6284236311912537, + "z": 2.916109800338745 + }, + "rotation": { + "x": -3.272119329267298e-06, + "y": 180.0, + "z": 1.4005544244355406e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 2.1471099853515625, + "objectType": "Pillow", + "objectId": "Pillow|6|0|1", + "assetId": "pillow_18", + "parentReceptacles": [ + "Bed|6|0|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.753246784210205, + 0.7035236358642578, + 3.0920000076293945 + ], + [ + 7.753246784210205, + 0.7035236358642578, + 2.7402195930480957 + ], + [ + 7.753246784210205, + 0.554323673248291, + 3.0920000076293945 + ], + [ + 7.753246784210205, + 0.554323673248291, + 2.7402195930480957 + ], + [ + 7.311004161834717, + 0.7035236358642578, + 3.0920000076293945 + ], + [ + 7.311004161834717, + 0.7035236358642578, + 2.7402195930480957 + ], + [ + 7.311004161834717, + 0.554323673248291, + 3.0920000076293945 + ], + [ + 7.311004161834717, + 0.554323673248291, + 2.7402195930480957 + ] + ], + "center": { + "x": 7.532125473022461, + "y": 0.6289236545562744, + "z": 2.916109800338745 + }, + "size": { + "x": 0.4422426223754883, + "y": 0.1491999626159668, + "z": 0.35178041458129883 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.311004161834717, + 0.554323673248291, + 2.7402195930480957 + ], + [ + 7.753246784210205, + 0.5543236136436462, + 2.7402195930480957 + ], + [ + 7.753246784210205, + 0.5543236136436462, + 3.0920000076293945 + ], + [ + 7.311004161834717, + 0.5543236136436462, + 3.0920000076293945 + ], + [ + 7.311004161834717, + 0.7035236358642578, + 2.7402195930480957 + ], + [ + 7.753246784210205, + 0.7035236358642578, + 2.7402195930480957 + ], + [ + 7.753246784210205, + 0.7035236358642578, + 3.0920000076293945 + ], + [ + 7.311004161834717, + 0.7035236358642578, + 3.0920000076293945 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 6.099999904632568, + "y": 0.9009997844696045, + "z": 1.600000023841858 + }, + "agent_rotation": { + "x": -0.0, + "y": 90.00000762939453, + "z": 0.0 + }, + "agent_cameraHorizon": 60.000003814697266, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 6.099999904632568, + "y": 1.5759997367858887, + "z": 1.600000023841858 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Desk|6|2", + "Dresser|6|1", + "Dresser|6|1___2", + "GarbageCan|6|5", + "Dresser|6|1___0" + ], + "different_object": [ + "Box|surface|6|41", + "CellPhone|surface|6|34", + "DogBed|6|3", + "DeskLamp|surface|6|47", + "Book|surface|6|45", + "Bed|6|0|0", + "Pillow|6|0|1" + ] +} \ No newline at end of file diff --git a/train/train1668/1/1_depth_npy.npy b/train/train1668/1/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..5aaf426c68cd207674ac2be585061f59aa98cd36 --- /dev/null +++ b/train/train1668/1/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0ae9bdf4bd74b9a1df5607e358fb0d350bd9463fb1fba346d7af03dbfde4f20f +size 3145856 diff --git a/train/train1668/1/1_semantic_sensor_npy.npy b/train/train1668/1/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..4a298811b1a72b8186943c91445520f5f91ee942 --- /dev/null +++ b/train/train1668/1/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:939de427de0198fb6b076816bc4c124a5b02afb7fac74ec79d4a88fd75f23c09 +size 2359424 diff --git a/train/train1668/1/depth_0.png b/train/train1668/1/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..6461870366d3b67cad60b84b747fa0cb40d73aed Binary files /dev/null and b/train/train1668/1/depth_0.png differ diff --git a/train/train1668/1/depth_1.png b/train/train1668/1/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..deec3abe7ec09bfe3ee414a4deaa82644c61b700 Binary files /dev/null and b/train/train1668/1/depth_1.png differ diff --git a/train/train1668/1/mask_questions.jsonl b/train/train1668/1/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6cc98c1c07aed5680325cdc8a7a61b7fb972e014 --- /dev/null +++ b/train/train1668/1/mask_questions.jsonl @@ -0,0 +1,5 @@ +{"id": 2628, "folder_dir": "train1668/1", "pair_name": "0-1:Dresser|6|1___2", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Drawer\nB. DeskLamp\nC. Desk\nD. BasketBall", "answer": "A", "object_name": "Drawer", "image_1": "train1668/1/rgb_0.png", "image_2": "train1668/1/rgb_1.png", "mask_image": "train1668/1/rgb_1_mask_Dresser|6|1___2.png", "options": ["Drawer", "DeskLamp", "Desk", "BasketBall"]} +{"id": 2629, "folder_dir": "train1668/1", "pair_name": "0-1:GarbageCan|6|5", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Desk\nB. GarbageCan\nC. Laptop\nD. Watch", "answer": "B", "object_name": "GarbageCan", "image_1": "train1668/1/rgb_0.png", "image_2": "train1668/1/rgb_1.png", "mask_image": "train1668/1/rgb_1_mask_GarbageCan|6|5.png", "options": ["Desk", "GarbageCan", "Laptop", "Watch"]} +{"id": 2630, "folder_dir": "train1668/1", "pair_name": "0-1:Dresser|6|1___0", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Drawer\nB. DeskLamp\nC. BasketBall\nD. Desk", "answer": "A", "object_name": "Drawer", "image_1": "train1668/1/rgb_0.png", "image_2": "train1668/1/rgb_1.png", "mask_image": "train1668/1/rgb_1_mask_Dresser|6|1___0.png", "options": ["Drawer", "DeskLamp", "BasketBall", "Desk"]} +{"id": 2631, "folder_dir": "train1668/1", "pair_name": "1-0:GarbageCan|6|5", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Pillow\nB. GarbageCan\nC. DeskLamp\nD. Desk", "answer": "B", "object_name": "GarbageCan", "image_1": "train1668/1/rgb_1.png", "image_2": "train1668/1/rgb_0.png", "mask_image": "train1668/1/rgb_0_mask_GarbageCan|6|5.png", "options": ["Pillow", "GarbageCan", "DeskLamp", "Desk"]} +{"id": 2632, "folder_dir": "train1668/1", "pair_name": "1-0:Dresser|6|1___0", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Desk\nB. Drawer\nC. Box\nD. DeskLamp", "answer": "B", "object_name": "Drawer", "image_1": "train1668/1/rgb_1.png", "image_2": "train1668/1/rgb_0.png", "mask_image": "train1668/1/rgb_0_mask_Dresser|6|1___0.png", "options": ["Desk", "Drawer", "Box", "DeskLamp"]} diff --git a/train/train1668/1/questions_distance.jsonl b/train/train1668/1/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0125a062e832f507425e7e4e04231c798465f11e --- /dev/null +++ b/train/train1668/1/questions_distance.jsonl @@ -0,0 +1,2 @@ +{"id": 1063, "folder_dir": "train1668/1", "query": "Which of the following objects is closest to Desk in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Pillow\nB. Dumbbell\nC. Watch\nD. Other\n", "answer": "C", "src_object": "Desk", "target_object": "Watch", "question": "Which of the following objects is closest to Desk in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Pillow", "semantic_id": "Pillow|6|0|1", "distance": 1.6191115831547043, "com": {"x": 7.532125473022461, "y": 0.6289236545562744, "z": 2.916109800338745}}, {"text": "Dumbbell", "semantic_id": "Dumbbell|surface|6|46", "distance": 0.7405943859969681, "com": {"x": 5.356486797332764, "y": 0.7722564339637756, "z": 2.71095871925354}}, {"text": "Watch", "semantic_id": "Watch|surface|6|43", "distance": 0.5021734480493011, "com": {"x": 5.743511199951172, "y": 0.7236649990081787, "z": 2.6223807334899902}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1668/1/rgb_0.png", "image_2": "train1668/1/rgb_1.png"} +{"id": 1064, "folder_dir": "train1668/1", "query": "Which of the following objects is closest to GarbageCan in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Laptop\nB. DogBed\nC. Watch\nD. Other\n", "answer": "A", "src_object": "GarbageCan", "target_object": "Laptop", "question": "Which of the following objects is closest to GarbageCan in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Laptop", "semantic_id": "Laptop|surface|6|39", "distance": 0.9863874661058354, "com": {"x": 5.6087493896484375, "y": 1.0416357517242432, "z": 0.2886492908000946}}, {"text": "DogBed", "semantic_id": "DogBed|6|3", "distance": 1.6013122016391272, "com": {"x": 7.852658748626709, "y": 0.05442765727639198, "z": 0.3903387784957886}}, {"text": "Watch", "semantic_id": "Watch|surface|6|43", "distance": 2.503443092864702, "com": {"x": 5.743511199951172, "y": 0.7236649990081787, "z": 2.6223807334899902}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1668/1/rgb_0.png", "image_2": "train1668/1/rgb_1.png"} diff --git a/train/train1668/1/rgb_0.png b/train/train1668/1/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..d31487634eb4c64b7b6474f42067fea26de50f95 --- /dev/null +++ b/train/train1668/1/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:122b82b661ad886e64e3d88cb8b617e326e779a0c94ab1ff3deb34183f435640 +size 660482 diff --git a/train/train1668/1/rgb_0_mask_Dresser|6|1___0.png b/train/train1668/1/rgb_0_mask_Dresser|6|1___0.png new file mode 100644 index 0000000000000000000000000000000000000000..eb128006e99bbf1c7ec044bfe0513afdfae7c4a2 --- /dev/null +++ b/train/train1668/1/rgb_0_mask_Dresser|6|1___0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d5154260ad1cface414907c9c939e17a68344b7bfd4396e47b88924255906493 +size 564250 diff --git a/train/train1668/1/rgb_0_mask_GarbageCan|6|5.png b/train/train1668/1/rgb_0_mask_GarbageCan|6|5.png new file mode 100644 index 0000000000000000000000000000000000000000..58a171d170c4ccbe9e7188ff7b6f1007a3f90e8a --- /dev/null +++ b/train/train1668/1/rgb_0_mask_GarbageCan|6|5.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b80c0be26c64fa64c498daaf24f25026fbe7b07b7f8529f56757f5ce660e77ee +size 575725 diff --git a/train/train1668/1/rgb_1.png b/train/train1668/1/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..ffd0a519c0ce2b59ffcf9d66391af743c255b333 --- /dev/null +++ b/train/train1668/1/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:febe1bcf3b8e8931f391bd9b149ec6309ceef2e15c26d7d417b09acbae3f0fe2 +size 593598 diff --git a/train/train1668/1/rgb_1_mask_Dresser|6|1___0.png b/train/train1668/1/rgb_1_mask_Dresser|6|1___0.png new file mode 100644 index 0000000000000000000000000000000000000000..ea3f15e80774b008e66d76cd698eef7fea54bcc8 --- /dev/null +++ b/train/train1668/1/rgb_1_mask_Dresser|6|1___0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3e36caa90ab94d740549f06cab01c1a85cd8bac21541f6ce694d298e2cf615e9 +size 513410 diff --git a/train/train1668/1/rgb_1_mask_Dresser|6|1___2.png b/train/train1668/1/rgb_1_mask_Dresser|6|1___2.png new file mode 100644 index 0000000000000000000000000000000000000000..b3626e5c538ac01c188283ed5a48ab92ed94e833 --- /dev/null +++ b/train/train1668/1/rgb_1_mask_Dresser|6|1___2.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4100be0d3e95ae95beda9f0456df6c4588f67fb583752be132a51f617c40eb10 +size 512874 diff --git a/train/train1668/1/rgb_1_mask_GarbageCan|6|5.png b/train/train1668/1/rgb_1_mask_GarbageCan|6|5.png new file mode 100644 index 0000000000000000000000000000000000000000..3ad6d61142059108271f34718f2d347781c4df12 --- /dev/null +++ b/train/train1668/1/rgb_1_mask_GarbageCan|6|5.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ddbc70efc32ededf8c6c3d3510b95df8b7f555c66fd59e70a788b7cba4bfaa4c +size 508542 diff --git a/train/train1668/1/semantic_0.png b/train/train1668/1/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..61985c77f50ea5b60aa073dd027f75689e603537 Binary files /dev/null and b/train/train1668/1/semantic_0.png differ diff --git a/train/train1668/1/semantic_1.png b/train/train1668/1/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..19e63c21cf0e4fa0801a0a255d95045d03511d19 Binary files /dev/null and b/train/train1668/1/semantic_1.png differ diff --git a/train/train1668/2/0.json b/train/train1668/2/0.json new file mode 100644 index 0000000000000000000000000000000000000000..b0e3ed4f055ce6399e587eb6e7a144f0e3555aad --- /dev/null +++ b/train/train1668/2/0.json @@ -0,0 +1,2602 @@ +{ + "object": [ + { + "objectId": "Dumbbell|surface|6|46", + "object_info": { + "name": "Dumbbell|surface|6|46", + "position": { + "x": 5.356489181518555, + "y": 0.7072564363479614, + "z": 2.711108684539795 + }, + "rotation": { + "x": 9.429193596588448e-05, + "y": 180.00025939941406, + "z": -0.0018494062824174762 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 4.539999961853027, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 1.056464433670044, + "objectType": "Dumbbell", + "objectId": "Dumbbell|surface|6|46", + "assetId": "Dumbbell_1_1", + "parentReceptacles": [ + "Desk|6|2" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.422698974609375, + 0.8384685516357422, + 2.8762903213500977 + ], + [ + 5.422698974609375, + 0.8384685516357422, + 2.5456271171569824 + ], + [ + 5.422698974609375, + 0.7060443162918091, + 2.8762903213500977 + ], + [ + 5.422698974609375, + 0.7060443162918091, + 2.5456271171569824 + ], + [ + 5.290274620056152, + 0.8384685516357422, + 2.8762903213500977 + ], + [ + 5.290274620056152, + 0.8384685516357422, + 2.5456271171569824 + ], + [ + 5.290274620056152, + 0.7060443162918091, + 2.8762903213500977 + ], + [ + 5.290274620056152, + 0.7060443162918091, + 2.5456271171569824 + ] + ], + "center": { + "x": 5.356486797332764, + "y": 0.7722564339637756, + "z": 2.71095871925354 + }, + "size": { + "x": 0.13242435455322266, + "y": 0.1324242353439331, + "z": 0.33066320419311523 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.290277481079102, + 0.706043004989624, + 2.5456275939941406 + ], + [ + 5.422699451446533, + 0.7060472965240479, + 2.5456268787384033 + ], + [ + 5.422700881958008, + 0.7060478329658508, + 2.8762898445129395 + ], + [ + 5.290278911590576, + 0.706043541431427, + 2.8762903213500977 + ], + [ + 5.290273189544678, + 0.8384652137756348, + 2.5456273555755615 + ], + [ + 5.422695159912109, + 0.8384694457054138, + 2.545626640319824 + ], + [ + 5.422697067260742, + 0.8384699821472168, + 2.8762896060943604 + ], + [ + 5.290274620056152, + 0.838465690612793, + 2.8762903213500977 + ] + ] + } + } + }, + { + "objectId": "Box|5|4", + "object_info": { + "name": "Box|5|4", + "position": { + "x": 0.17806901037693024, + "y": 1.7136335372924805e-07, + "z": 3.3574905395507812 + }, + "rotation": { + "x": 1.0498879419174045e-05, + "y": 90.00000762939453, + "z": -2.1695677787647583e-07 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.14000000059604645, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": [], + "distance": 5.868751049041748, + "objectType": "Box", + "objectId": "Box|5|4", + "assetId": "DecorativeBox3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.3318299353122711, + 0.1904660314321518, + 3.511014938354492 + ], + [ + 0.3318299353122711, + 0.1904660314321518, + 3.203965187072754 + ], + [ + 0.3318299353122711, + 1.1920928955078125e-07, + 3.511014938354492 + ], + [ + 0.3318299353122711, + 1.1920928955078125e-07, + 3.203965187072754 + ], + [ + 0.02500814199447632, + 0.1904660314321518, + 3.511014938354492 + ], + [ + 0.02500814199447632, + 0.1904660314321518, + 3.203965187072754 + ], + [ + 0.02500814199447632, + 1.1920928955078125e-07, + 3.511014938354492 + ], + [ + 0.02500814199447632, + 1.1920928955078125e-07, + 3.203965187072754 + ] + ], + "center": { + "x": 0.17841903865337372, + "y": 0.09523307532072067, + "z": 3.357490062713623 + }, + "size": { + "x": 0.3068217933177948, + "y": 0.19046591222286224, + "z": 0.3070497512817383 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.33183109760284424, + -1.2561426387946995e-07, + 3.2039637565612793 + ], + [ + 0.331831157207489, + -1.2445158859009098e-07, + 3.5110161304473877 + ], + [ + 0.02500690519809723, + -6.8229098815209e-08, + 3.5110161304473877 + ], + [ + 0.02500687539577484, + -6.939177410458797e-08, + 3.2039637565612793 + ], + [ + 0.331831157207489, + 0.19046738743782043, + 3.2039637565612793 + ], + [ + 0.331831157207489, + 0.19046738743782043, + 3.5110161304473877 + ], + [ + 0.025006935000419617, + 0.1904674470424652, + 3.5110161304473877 + ], + [ + 0.02500690519809723, + 0.1904674470424652, + 3.2039637565612793 + ] + ] + } + } + }, + { + "objectId": "Desk|6|2", + "object_info": { + "name": "Desk|6|2", + "position": { + "x": 5.937110424041748, + "y": -0.0007331371307373047, + "z": 2.9056951999664307 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 34.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Mug|surface|6|35", + "DeskLamp|surface|6|47", + "Book|surface|6|49", + "Watch|surface|6|43", + "Dumbbell|surface|6|46", + "DeskLamp|surface|6|48", + "CellPhone|surface|6|42" + ], + "distance": 1.477756381034851, + "objectType": "Desk", + "objectId": "Desk|6|2", + "assetId": "Desk_320_2_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.711947441101074, + 0.7060455679893494, + 3.2719976902008057 + ], + [ + 6.711947441101074, + 0.7060455679893494, + 2.5293781757354736 + ], + [ + 6.711947441101074, + 2.086162567138672e-06, + 3.2719976902008057 + ], + [ + 6.711947441101074, + 2.086162567138672e-06, + 2.5293781757354736 + ], + [ + 5.161589622497559, + 0.7060455679893494, + 3.2719976902008057 + ], + [ + 5.161589622497559, + 0.7060455679893494, + 2.5293781757354736 + ], + [ + 5.161589622497559, + 2.086162567138672e-06, + 3.2719976902008057 + ], + [ + 5.161589622497559, + 2.086162567138672e-06, + 2.5293781757354736 + ] + ], + "center": { + "x": 5.936768531799316, + "y": 0.35302382707595825, + "z": 2.9006879329681396 + }, + "size": { + "x": 1.5503578186035156, + "y": 0.7060434818267822, + "z": 0.742619514465332 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.161589622497559, + 2.1457672119140625e-06, + 2.5293784141540527 + ], + [ + 6.711947441101074, + 2.1457672119140625e-06, + 2.5293781757354736 + ], + [ + 6.711947441101074, + 2.1457672119140625e-06, + 3.2719974517822266 + ], + [ + 5.161589622497559, + 2.1457672119140625e-06, + 3.2719976902008057 + ], + [ + 5.161589622497559, + 0.7060456275939941, + 2.5293784141540527 + ], + [ + 6.711947441101074, + 0.7060456275939941, + 2.5293781757354736 + ], + [ + 6.711947441101074, + 0.7060456275939941, + 3.2719974517822266 + ], + [ + 5.161589622497559, + 0.7060456275939941, + 3.2719976902008057 + ] + ] + } + } + }, + { + "objectId": "Watch|surface|6|43", + "object_info": { + "name": "Watch|surface|6|43", + "position": { + "x": 5.743636608123779, + "y": 0.7062540054321289, + "z": 2.6207048892974854 + }, + "rotation": { + "x": 1.8353039026260376, + "y": 179.95281982421875, + "z": 1.2690320014953613 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07000000029802322, + "salientMaterials": [ + "Metal", + "Glass", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 0.8922406435012817, + "objectType": "Watch", + "objectId": "Watch|surface|6|43", + "assetId": "Watch_1", + "parentReceptacles": [ + "Desk|6|2" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.782958030700684, + 0.7414309978485107, + 2.6465563774108887 + ], + [ + 5.782958030700684, + 0.7414309978485107, + 2.598205089569092 + ], + [ + 5.782958030700684, + 0.7058990001678467, + 2.6465563774108887 + ], + [ + 5.782958030700684, + 0.7058990001678467, + 2.598205089569092 + ], + [ + 5.70406436920166, + 0.7414309978485107, + 2.6465563774108887 + ], + [ + 5.70406436920166, + 0.7414309978485107, + 2.598205089569092 + ], + [ + 5.70406436920166, + 0.7058990001678467, + 2.6465563774108887 + ], + [ + 5.70406436920166, + 0.7058990001678467, + 2.598205089569092 + ] + ], + "center": { + "x": 5.743511199951172, + "y": 0.7236649990081787, + "z": 2.6223807334899902 + }, + "size": { + "x": 0.07889366149902344, + "y": 0.03553199768066406, + "z": 0.048351287841796875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.703927516937256, + 0.7052050828933716, + 2.598257064819336 + ], + [ + 5.78246545791626, + 0.7034661769866943, + 2.5983774662017822 + ], + [ + 5.782425403594971, + 0.7050284147262573, + 2.647132158279419 + ], + [ + 5.703887462615967, + 0.7067673206329346, + 2.6470117568969727 + ], + [ + 5.704741477966309, + 0.7418888807296753, + 2.5970823764801025 + ], + [ + 5.7832794189453125, + 0.740149974822998, + 2.5972025394439697 + ], + [ + 5.783239364624023, + 0.741712212562561, + 2.6459574699401855 + ], + [ + 5.7047014236450195, + 0.7434511184692383, + 2.6458370685577393 + ] + ] + } + } + }, + { + "objectId": "Dresser|6|1", + "object_info": { + "name": "Dresser|6|1", + "position": { + "x": 5.613176345825195, + "y": 0.0010976195335388184, + "z": 0.373943567276001 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "AlarmClock|surface|6|40", + "Laptop|surface|6|39" + ], + "distance": 1.6498714685440063, + "objectType": "Dresser", + "objectId": "Dresser|6|1", + "assetId": "Dresser_318_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.002116680145264, + 0.9713932275772095, + 0.7236727476119995 + ], + [ + 6.002116680145264, + 0.9713932275772095, + 0.025004029273986816 + ], + [ + 6.002116680145264, + 1.3709068298339844e-06, + 0.7236727476119995 + ], + [ + 6.002116680145264, + 1.3709068298339844e-06, + 0.025004029273986816 + ], + [ + 5.235853672027588, + 0.9713932275772095, + 0.7236727476119995 + ], + [ + 5.235853672027588, + 0.9713932275772095, + 0.025004029273986816 + ], + [ + 5.235853672027588, + 1.3709068298339844e-06, + 0.7236727476119995 + ], + [ + 5.235853672027588, + 1.3709068298339844e-06, + 0.025004029273986816 + ] + ], + "center": { + "x": 5.618985176086426, + "y": 0.48569729924201965, + "z": 0.37433838844299316 + }, + "size": { + "x": 0.7662630081176758, + "y": 0.9713918566703796, + "z": 0.6986687183380127 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.002116680145264, + 1.430511474609375e-06, + 0.72367262840271 + ], + [ + 5.235853672027588, + 1.430511474609375e-06, + 0.72367262840271 + ], + [ + 5.235853672027588, + 1.430511474609375e-06, + 0.02500411868095398 + ], + [ + 6.002116680145264, + 1.430511474609375e-06, + 0.02500411868095398 + ], + [ + 6.002116680145264, + 0.9713929295539856, + 0.72367262840271 + ], + [ + 5.235853672027588, + 0.9713929295539856, + 0.72367262840271 + ], + [ + 5.235853672027588, + 0.9713929295539856, + 0.02500411868095398 + ], + [ + 6.002116680145264, + 0.9713929295539856, + 0.02500411868095398 + ] + ] + } + } + }, + { + "objectId": "Dresser|5|2", + "object_info": { + "name": "Dresser|5|2", + "position": { + "x": 2.9230563640594482, + "y": 0.0010976195335388184, + "z": 3.5814332962036133 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Vase|surface|5|26", + "Mug|surface|5|30", + "Pencil|surface|5|25", + "Book|surface|5|32", + "TissueBox|surface|5|33", + "Pen|surface|5|27" + ], + "distance": 3.486485719680786, + "objectType": "Dresser", + "objectId": "Dresser|5|2", + "assetId": "Dresser_318_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.2719955444335938, + 0.9713932275772095, + 3.9703736305236816 + ], + [ + 3.2719955444335938, + 0.9713932275772095, + 3.204110622406006 + ], + [ + 3.2719955444335938, + 1.430511474609375e-06, + 3.9703736305236816 + ], + [ + 3.2719955444335938, + 1.430511474609375e-06, + 3.204110622406006 + ], + [ + 2.5733275413513184, + 0.9713932275772095, + 3.9703736305236816 + ], + [ + 2.5733275413513184, + 0.9713932275772095, + 3.204110622406006 + ], + [ + 2.5733275413513184, + 1.430511474609375e-06, + 3.9703736305236816 + ], + [ + 2.5733275413513184, + 1.430511474609375e-06, + 3.204110622406006 + ] + ], + "center": { + "x": 2.922661542892456, + "y": 0.48569732904434204, + "z": 3.5872421264648438 + }, + "size": { + "x": 0.6986680030822754, + "y": 0.9713917970657349, + "z": 0.7662630081176758 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.5733273029327393, + 1.430511474609375e-06, + 3.9703736305236816 + ], + [ + 2.5733273029327393, + 1.430511474609375e-06, + 3.2041103839874268 + ], + [ + 3.271996021270752, + 1.430511474609375e-06, + 3.2041103839874268 + ], + [ + 3.271995782852173, + 1.430511474609375e-06, + 3.9703738689422607 + ], + [ + 2.5733273029327393, + 0.9713929295539856, + 3.9703736305236816 + ], + [ + 2.5733273029327393, + 0.9713929295539856, + 3.2041103839874268 + ], + [ + 3.271996021270752, + 0.9713929295539856, + 3.2041103839874268 + ], + [ + 3.271995782852173, + 0.9713929295539856, + 3.9703738689422607 + ] + ] + } + } + }, + { + "objectId": "Dresser|6|1___0", + "object_info": { + "name": "Drawer (3)", + "position": { + "x": 5.609915733337402, + "y": 0.2250976264476776, + "z": 0.48612797260284424 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "CreditCard|surface|6|36" + ], + "distance": 1.4400832653045654, + "objectType": "Drawer", + "objectId": "Dresser|6|1___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.964020729064941, + 0.3764910101890564, + 0.6967599391937256 + ], + [ + 5.964020729064941, + 0.3764910101890564, + 0.2743746042251587 + ], + [ + 5.964020729064941, + 0.06970429420471191, + 0.6967599391937256 + ], + [ + 5.964020729064941, + 0.06970429420471191, + 0.2743746042251587 + ], + [ + 5.255810737609863, + 0.3764910101890564, + 0.6967599391937256 + ], + [ + 5.255810737609863, + 0.3764910101890564, + 0.2743746042251587 + ], + [ + 5.255810737609863, + 0.06970429420471191, + 0.6967599391937256 + ], + [ + 5.255810737609863, + 0.06970429420471191, + 0.2743746042251587 + ] + ], + "center": { + "x": 5.609915733337402, + "y": 0.22309765219688416, + "z": 0.48556727170944214 + }, + "size": { + "x": 0.7082099914550781, + "y": 0.3067867159843445, + "z": 0.4223853349685669 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|6|1___1", + "object_info": { + "name": "Drawer (1)", + "position": { + "x": 5.609915733337402, + "y": 0.8300976157188416, + "z": 0.48612797260284424 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "CellPhone|surface|6|44" + ], + "distance": 1.2735867500305176, + "objectType": "Drawer", + "objectId": "Dresser|6|1___1", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.964020729064941, + 0.9450600147247314, + 0.6941201090812683 + ], + [ + 5.964020729064941, + 0.9450600147247314, + 0.2770146131515503 + ], + [ + 5.964020729064941, + 0.7111351490020752, + 0.6941201090812683 + ], + [ + 5.964020729064941, + 0.7111351490020752, + 0.2770146131515503 + ], + [ + 5.255810737609863, + 0.9450600147247314, + 0.6941201090812683 + ], + [ + 5.255810737609863, + 0.9450600147247314, + 0.2770146131515503 + ], + [ + 5.255810737609863, + 0.7111351490020752, + 0.6941201090812683 + ], + [ + 5.255810737609863, + 0.7111351490020752, + 0.2770146131515503 + ] + ], + "center": { + "x": 5.609915733337402, + "y": 0.8280975818634033, + "z": 0.4855673611164093 + }, + "size": { + "x": 0.7082099914550781, + "y": 0.23392486572265625, + "z": 0.417105495929718 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Pillow|surface|5|29", + "object_info": { + "name": "Pillow|surface|5|29", + "position": { + "x": 1.1645339727401733, + "y": 0.4712802767753601, + "z": 0.6754803657531738 + }, + "rotation": { + "x": -7.388253493445518e-07, + "y": 180.0, + "z": -1.296429672947852e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 4.729244232177734, + "objectType": "Pillow", + "objectId": "Pillow|surface|5|29", + "assetId": "pillow_13", + "parentReceptacles": [ + "Bed|5|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.3473739624023438, + 0.5321699380874634, + 0.8660040497779846 + ], + [ + 1.3473739624023438, + 0.5321699380874634, + 0.48495668172836304 + ], + [ + 1.3473739624023438, + 0.41039061546325684, + 0.8660040497779846 + ], + [ + 1.3473739624023438, + 0.41039061546325684, + 0.48495668172836304 + ], + [ + 0.9816939830780029, + 0.5321699380874634, + 0.8660040497779846 + ], + [ + 0.9816939830780029, + 0.5321699380874634, + 0.48495668172836304 + ], + [ + 0.9816939830780029, + 0.41039061546325684, + 0.8660040497779846 + ], + [ + 0.9816939830780029, + 0.41039061546325684, + 0.48495668172836304 + ] + ], + "center": { + "x": 1.1645339727401733, + "y": 0.4712802767753601, + "z": 0.6754803657531738 + }, + "size": { + "x": 0.3656799793243408, + "y": 0.12177932262420654, + "z": 0.3810473680496216 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.9816939234733582, + 0.41039058566093445, + 0.4849567413330078 + ], + [ + 1.3473739624023438, + 0.41039058566093445, + 0.48495668172836304 + ], + [ + 1.3473739624023438, + 0.41039058566093445, + 0.8660039901733398 + ], + [ + 0.9816939830780029, + 0.41039058566093445, + 0.8660040497779846 + ], + [ + 0.9816939234733582, + 0.5321699380874634, + 0.4849567413330078 + ], + [ + 1.3473739624023438, + 0.5321699976921082, + 0.48495668172836304 + ], + [ + 1.3473739624023438, + 0.5321699380874634, + 0.8660039901733398 + ], + [ + 0.9816939830780029, + 0.5321699380874634, + 0.8660040497779846 + ] + ] + } + } + }, + { + "objectId": "AlarmClock|surface|6|40", + "object_info": { + "name": "AlarmClock|surface|6|40", + "position": { + "x": 5.703815460205078, + "y": 0.9722461700439453, + "z": 0.5490552186965942 + }, + "rotation": { + "x": 359.77325439453125, + "y": 180.00018310546875, + "z": 0.0017135022208094597 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.800000011920929, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 1.2039424180984497, + "objectType": "AlarmClock", + "objectId": "AlarmClock|surface|6|40", + "assetId": "Alarm_Clock_21", + "parentReceptacles": [ + "Dresser|6|1" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.791537761688232, + 1.1349537372589111, + 0.5793263912200928 + ], + [ + 5.791537761688232, + 1.1349537372589111, + 0.5312154293060303 + ], + [ + 5.791537761688232, + 0.9713852405548096, + 0.5793263912200928 + ], + [ + 5.791537761688232, + 0.9713852405548096, + 0.5312154293060303 + ], + [ + 5.616093158721924, + 1.1349537372589111, + 0.5793263912200928 + ], + [ + 5.616093158721924, + 1.1349537372589111, + 0.5312154293060303 + ], + [ + 5.616093158721924, + 0.9713852405548096, + 0.5793263912200928 + ], + [ + 5.616093158721924, + 0.9713852405548096, + 0.5312154293060303 + ] + ], + "center": { + "x": 5.703815460205078, + "y": 1.0531694889068604, + "z": 0.5552709102630615 + }, + "size": { + "x": 0.1754446029663086, + "y": 0.16356849670410156, + "z": 0.0481109619140625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.616093635559082, + 0.9715318083763123, + 0.5312159657478333 + ], + [ + 5.791537284851074, + 0.971526563167572, + 0.5312153697013855 + ], + [ + 5.791537284851074, + 0.9713385701179504, + 0.5787135362625122 + ], + [ + 5.616093635559082, + 0.9713438153266907, + 0.57871413230896 + ], + [ + 5.616098403930664, + 1.1350799798965454, + 0.5318632125854492 + ], + [ + 5.791542053222656, + 1.1350747346878052, + 0.5318626165390015 + ], + [ + 5.791542053222656, + 1.1348867416381836, + 0.5793607831001282 + ], + [ + 5.616098880767822, + 1.1348919868469238, + 0.5793613791465759 + ] + ] + } + } + }, + { + "objectId": "window|5|0", + "object_info": { + "name": "window|5|0", + "position": { + "x": 6.83011364799313e-07, + "y": 0.7084227800369263, + "z": 3.518590211868286 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 6.018927574157715, + "objectType": "Window", + "objectId": "window|5|0", + "assetId": "Window_Hung_44x60", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.12152539938688278, + 2.29044508934021, + 4.670433044433594 + ], + [ + 0.12152539938688278, + 2.29044508934021, + 3.5348072052001953 + ], + [ + 0.12152539938688278, + 0.7081930637359619, + 4.670433044433594 + ], + [ + 0.12152539938688278, + 0.7081930637359619, + 3.5348072052001953 + ], + [ + -0.12152548879384995, + 2.29044508934021, + 4.670433044433594 + ], + [ + -0.12152548879384995, + 2.29044508934021, + 3.5348072052001953 + ], + [ + -0.12152548879384995, + 0.7081930637359619, + 4.670433044433594 + ], + [ + -0.12152548879384995, + 0.7081930637359619, + 3.5348072052001953 + ] + ], + "center": { + "x": -4.470348358154297e-08, + "y": 1.499319076538086, + "z": 4.1026201248168945 + }, + "size": { + "x": 0.24305088818073273, + "y": 1.582252025604248, + "z": 1.1356258392333984 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "BaseballBat|5|3", + "object_info": { + "name": "BaseballBat|5|3", + "position": { + "x": 0.05189048498868942, + "y": 0.2752835154533386, + "z": 1.2230607271194458 + }, + "rotation": { + "x": 15.677070617675781, + "y": 180.0865020751953, + "z": 0.03711382672190666 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.8999999761581421, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.756530284881592, + "objectType": "BaseballBat", + "objectId": "BaseballBat|5|3", + "assetId": "BaseballBat_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.09040220081806183, + 0.9473104476928711, + 1.3400006294250488 + ], + [ + 0.09040220081806183, + 0.9473104476928711, + 0.9946694374084473 + ], + [ + 0.09040220081806183, + -2.6464462280273438e-05, + 1.3400006294250488 + ], + [ + 0.09040220081806183, + -2.6464462280273438e-05, + 0.9946694374084473 + ], + [ + 0.00926324725151062, + 0.9473104476928711, + 1.3400006294250488 + ], + [ + 0.00926324725151062, + 0.9473104476928711, + 0.9946694374084473 + ], + [ + 0.00926324725151062, + -2.6464462280273438e-05, + 1.3400006294250488 + ], + [ + 0.00926324725151062, + -2.6464462280273438e-05, + 0.9946694374084473 + ] + ], + "center": { + "x": 0.049832724034786224, + "y": 0.4736419916152954, + "z": 1.167335033416748 + }, + "size": { + "x": 0.08113895356655121, + "y": 0.9473369121551514, + "z": 0.34533119201660156 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.009263195097446442, + 2.3931264877319336e-05, + 1.2538535594940186 + ], + [ + 0.09004227817058563, + -2.6434659957885742e-05, + 1.253745675086975 + ], + [ + 0.09017233550548553, + 0.024151265621185303, + 1.339892864227295 + ], + [ + 0.009393256157636642, + 0.024201631546020508, + 1.3400007486343384 + ], + [ + 0.009493108838796616, + 0.9231327176094055, + 0.9947773218154907 + ], + [ + 0.09027218818664551, + 0.9230822920799255, + 0.9946694374084473 + ], + [ + 0.09040225297212601, + 0.9472599625587463, + 1.080816626548767 + ], + [ + 0.009623169898986816, + 0.9473103880882263, + 1.0809245109558105 + ] + ] + } + } + }, + { + "objectId": "door|5|6", + "object_info": { + "name": "door|5|6", + "position": { + "x": 3.296997308731079, + "y": -0.0005984306335449219, + "z": 2.733199119567871 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.792271852493286, + "objectType": "Doorway", + "objectId": "door|5|6", + "assetId": "Doorway_Double_4", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.215017318725586, + 2.1049137115478516, + 2.757469654083252 + ], + [ + 4.215017318725586, + 2.1049137115478516, + 0.7185471057891846 + ], + [ + 4.215017318725586, + -2.384185791015625e-07, + 2.757469654083252 + ], + [ + 4.215017318725586, + -2.384185791015625e-07, + 0.7185471057891846 + ], + [ + 3.226426124572754, + 2.1049137115478516, + 2.757469654083252 + ], + [ + 3.226426124572754, + 2.1049137115478516, + 0.7185471057891846 + ], + [ + 3.226426124572754, + -2.384185791015625e-07, + 2.757469654083252 + ], + [ + 3.226426124572754, + -2.384185791015625e-07, + 0.7185471057891846 + ] + ], + "center": { + "x": 3.72072172164917, + "y": 1.0524567365646362, + "z": 1.7380083799362183 + }, + "size": { + "x": 0.988591194152832, + "y": 2.1049139499664307, + "z": 2.0389225482940674 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bed|5|0", + "object_info": { + "name": "Bed|5|0", + "position": { + "x": 0.956404447555542, + "y": -0.00014960765838623047, + "z": 0.5497106313705444 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "Pillow|surface|5|29" + ], + "distance": 5.023078918457031, + "objectType": "Bed", + "objectId": "Bed|5|0", + "assetId": "Bed_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.9439053535461426, + 0.6464672088623047, + 1.0737876892089844 + ], + [ + 1.9439053535461426, + 0.6464672088623047, + 0.024999797344207764 + ], + [ + 1.9439053535461426, + 2.9802322387695312e-08, + 1.0737876892089844 + ], + [ + 1.9439053535461426, + 2.9802322387695312e-08, + 0.024999797344207764 + ], + [ + 0.02500009536743164, + 0.6464672088623047, + 1.0737876892089844 + ], + [ + 0.02500009536743164, + 0.6464672088623047, + 0.024999797344207764 + ], + [ + 0.02500009536743164, + 2.9802322387695312e-08, + 1.0737876892089844 + ], + [ + 0.02500009536743164, + 2.9802322387695312e-08, + 0.024999797344207764 + ] + ], + "center": { + "x": 0.9844527244567871, + "y": 0.32323363423347473, + "z": 0.5493937134742737 + }, + "size": { + "x": 1.918905258178711, + "y": 0.6464672088623047, + "z": 1.0487878322601318 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.9439051151275635, + 0.0, + 0.024999797344207764 + ], + [ + 1.9439051151275635, + 0.0, + 1.0737875699996948 + ], + [ + 0.024999916553497314, + 0.0, + 1.0737876892089844 + ], + [ + 0.024999797344207764, + 0.0, + 0.02499997615814209 + ], + [ + 1.9439051151275635, + 0.6464670896530151, + 0.024999797344207764 + ], + [ + 1.9439051151275635, + 0.6464670896530151, + 1.0737875699996948 + ], + [ + 0.024999916553497314, + 0.6464670896530151, + 1.0737876892089844 + ], + [ + 0.024999797344207764, + 0.6464670896530151, + 0.02499997615814209 + ] + ] + } + } + }, + { + "objectId": "Laptop|surface|6|39", + "object_info": { + "name": "Laptop|surface|6|39", + "position": { + "x": 5.609941482543945, + "y": 0.9713994860649109, + "z": 0.28864696621894836 + }, + "rotation": { + "x": -0.00041293477988801897, + "y": 89.99986267089844, + "z": 0.0018775358330458403 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 0.1826363354921341, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 2.299999952316284, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 1.4697364568710327, + "objectType": "Laptop", + "objectId": "Laptop|surface|6|39", + "assetId": "Laptop_19", + "parentReceptacles": [ + "Dresser|6|1" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.7781982421875, + 1.1118805408477783, + 0.5156780481338501 + ], + [ + 5.7781982421875, + 1.1118805408477783, + 0.06162053346633911 + ], + [ + 5.7781982421875, + 0.971390962600708, + 0.5156780481338501 + ], + [ + 5.7781982421875, + 0.971390962600708, + 0.06162053346633911 + ], + [ + 5.439300537109375, + 1.1118805408477783, + 0.5156780481338501 + ], + [ + 5.439300537109375, + 1.1118805408477783, + 0.06162053346633911 + ], + [ + 5.439300537109375, + 0.971390962600708, + 0.5156780481338501 + ], + [ + 5.439300537109375, + 0.971390962600708, + 0.06162053346633911 + ] + ], + "center": { + "x": 5.6087493896484375, + "y": 1.0416357517242432, + "z": 0.2886492908000946 + }, + "size": { + "x": 0.338897705078125, + "y": 0.1404895782470703, + "z": 0.454057514667511 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.7781982421875, + 0.9714081287384033, + 0.061621323227882385 + ], + [ + 5.778197288513184, + 0.9713932871818542, + 0.5156733989715576 + ], + [ + 5.439300537109375, + 0.9713908433914185, + 0.5156726241111755 + ], + [ + 5.439301490783691, + 0.9714056849479675, + 0.061620503664016724 + ], + [ + 5.778197288513184, + 1.1118805408477783, + 0.061625927686691284 + ], + [ + 5.778196334838867, + 1.1118656396865845, + 0.5156779885292053 + ], + [ + 5.439299583435059, + 1.111863136291504, + 0.5156772136688232 + ], + [ + 5.439300537109375, + 1.1118780374526978, + 0.06162510812282562 + ] + ] + } + } + }, + { + "objectId": "Dresser|6|1___2", + "object_info": { + "name": "Drawer (2)", + "position": { + "x": 5.609915733337402, + "y": 0.5470976233482361, + "z": 0.48612797260284424 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "CD|surface|6|37", + "Watch|surface|6|38" + ], + "distance": 1.319940447807312, + "objectType": "Drawer", + "objectId": "Dresser|6|1___2", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.964020729064941, + 0.6984910368919373, + 0.6967599391937256 + ], + [ + 5.964020729064941, + 0.6984910368919373, + 0.2743746042251587 + ], + [ + 5.964020729064941, + 0.391704261302948, + 0.6967599391937256 + ], + [ + 5.964020729064941, + 0.391704261302948, + 0.2743746042251587 + ], + [ + 5.255810737609863, + 0.6984910368919373, + 0.6967599391937256 + ], + [ + 5.255810737609863, + 0.6984910368919373, + 0.2743746042251587 + ], + [ + 5.255810737609863, + 0.391704261302948, + 0.6967599391937256 + ], + [ + 5.255810737609863, + 0.391704261302948, + 0.2743746042251587 + ] + ], + "center": { + "x": 5.609915733337402, + "y": 0.5450976490974426, + "z": 0.48556727170944214 + }, + "size": { + "x": 0.7082099914550781, + "y": 0.30678677558898926, + "z": 0.4223853349685669 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|5|6", + "object_info": { + "name": "Painting|5|6", + "position": { + "x": 0.004995774477720261, + "y": 1.517546534538269, + "z": 2.281242847442627 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Wood" + ], + "receptacleObjectIds": null, + "distance": 5.802363395690918, + "objectType": "Painting", + "objectId": "Painting|5|6", + "assetId": "Wall_Decor_Painting_1V", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.036741048097610474, + 1.8408724069595337, + 2.7424468994140625 + ], + [ + 0.036741048097610474, + 1.8408724069595337, + 1.8200387954711914 + ], + [ + 0.036741048097610474, + 1.1942206621170044, + 2.7424468994140625 + ], + [ + 0.036741048097610474, + 1.1942206621170044, + 1.8200387954711914 + ], + [ + 0.004999935626983643, + 1.8408724069595337, + 2.7424468994140625 + ], + [ + 0.004999935626983643, + 1.8408724069595337, + 1.8200387954711914 + ], + [ + 0.004999935626983643, + 1.1942206621170044, + 2.7424468994140625 + ], + [ + 0.004999935626983643, + 1.1942206621170044, + 1.8200387954711914 + ] + ], + "center": { + "x": 0.020870491862297058, + "y": 1.517546534538269, + "z": 2.281242847442627 + }, + "size": { + "x": 0.03174111247062683, + "y": 0.6466517448425293, + "z": 0.9224081039428711 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "BasketBall|5|1", + "object_info": { + "name": "BasketBall|5|1", + "position": { + "x": 1.2298182249069214, + "y": 0.11968711018562317, + "z": 2.5692527294158936 + }, + "rotation": { + "x": -0.0, + "y": -0.0, + "z": 1.7097413484989943e-09 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6000000238418579, + "salientMaterials": [ + "Rubber" + ], + "receptacleObjectIds": null, + "distance": 4.659792423248291, + "objectType": "BasketBall", + "objectId": "BasketBall|5|1", + "assetId": "RoboTHOR_basketball_rhode_island_novelty_v", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.3495053052902222, + 0.23937422037124634, + 2.6889398097991943 + ], + [ + 1.3495053052902222, + 0.23937422037124634, + 2.4495656490325928 + ], + [ + 1.3495053052902222, + 0.0, + 2.6889398097991943 + ], + [ + 1.3495053052902222, + 0.0, + 2.4495656490325928 + ], + [ + 1.1101311445236206, + 0.23937422037124634, + 2.6889398097991943 + ], + [ + 1.1101311445236206, + 0.23937422037124634, + 2.4495656490325928 + ], + [ + 1.1101311445236206, + 0.0, + 2.6889398097991943 + ], + [ + 1.1101311445236206, + 0.0, + 2.4495656490325928 + ] + ], + "center": { + "x": 1.2298182249069214, + "y": 0.11968711018562317, + "z": 2.5692527294158936 + }, + "size": { + "x": 0.23937416076660156, + "y": 0.23937422037124634, + "z": 0.23937416076660156 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.3495053052902222, + 7.450580596923828e-09, + 2.6889398097991943 + ], + [ + 1.1101311445236206, + 7.450580596923828e-09, + 2.6889398097991943 + ], + [ + 1.1101311445236206, + 7.450580596923828e-09, + 2.4495656490325928 + ], + [ + 1.3495053052902222, + 7.450580596923828e-09, + 2.4495656490325928 + ], + [ + 1.3495053052902222, + 0.23937422037124634, + 2.6889398097991943 + ], + [ + 1.1101311445236206, + 0.23937422037124634, + 2.6889398097991943 + ], + [ + 1.1101311445236206, + 0.23937422037124634, + 2.4495656490325928 + ], + [ + 1.3495053052902222, + 0.23937422037124634, + 2.4495656490325928 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 6.300000190734863, + "y": 0.9009997844696045, + "z": 1.399999976158142 + }, + "agent_rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "agent_cameraHorizon": 30.00000762939453, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 6.300000190734863, + "y": 1.5759997367858887, + "z": 1.399999976158142 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "AlarmClock|surface|6|40", + "Laptop|surface|6|39", + "Dresser|6|1", + "Dresser|6|1___2", + "Dresser|6|1___1", + "door|5|6", + "Dresser|6|1___0" + ], + "different_object": [ + "BasketBall|5|1", + "Desk|6|2", + "Watch|surface|6|43", + "Dumbbell|surface|6|46", + "Dresser|5|2", + "BaseballBat|5|3", + "Pillow|surface|5|29", + "Painting|5|6", + "Box|5|4", + "window|5|0", + "Bed|5|0" + ] +} \ No newline at end of file diff --git a/train/train1668/2/0_depth_npy.npy b/train/train1668/2/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..487149b1f62287f22655b28acc4f2a31aea7a94c --- /dev/null +++ b/train/train1668/2/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:af3ee4b2b27f4e3d23de9257603d59b8dbf822308a18ea42ce1ceb0c9d3ef9e1 +size 3145856 diff --git a/train/train1668/2/0_semantic_sensor_npy.npy b/train/train1668/2/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..6c84a9d1cbc15d3ac4e03974a21918d6ed2755d2 --- /dev/null +++ b/train/train1668/2/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:56ba1a912992dc70fa9047093d081d2d941a1be9b60e0b595437eec92ac90699 +size 2359424 diff --git a/train/train1668/2/1.json b/train/train1668/2/1.json new file mode 100644 index 0000000000000000000000000000000000000000..7a9283b1b8d028e0da5bdac2d0c4bc66b51cf110 --- /dev/null +++ b/train/train1668/2/1.json @@ -0,0 +1,1430 @@ +{ + "object": [ + { + "objectId": "Dresser|6|1", + "object_info": { + "name": "Dresser|6|1", + "position": { + "x": 5.613176345825195, + "y": 0.0010976195335388184, + "z": 0.373943567276001 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "AlarmClock|surface|6|40", + "Laptop|surface|6|39" + ], + "distance": 1.6498714685440063, + "objectType": "Dresser", + "objectId": "Dresser|6|1", + "assetId": "Dresser_318_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.002116680145264, + 0.9713932275772095, + 0.7236727476119995 + ], + [ + 6.002116680145264, + 0.9713932275772095, + 0.025004029273986816 + ], + [ + 6.002116680145264, + 1.3709068298339844e-06, + 0.7236727476119995 + ], + [ + 6.002116680145264, + 1.3709068298339844e-06, + 0.025004029273986816 + ], + [ + 5.235853672027588, + 0.9713932275772095, + 0.7236727476119995 + ], + [ + 5.235853672027588, + 0.9713932275772095, + 0.025004029273986816 + ], + [ + 5.235853672027588, + 1.3709068298339844e-06, + 0.7236727476119995 + ], + [ + 5.235853672027588, + 1.3709068298339844e-06, + 0.025004029273986816 + ] + ], + "center": { + "x": 5.618985176086426, + "y": 0.48569729924201965, + "z": 0.37433838844299316 + }, + "size": { + "x": 0.7662630081176758, + "y": 0.9713918566703796, + "z": 0.6986687183380127 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.002116680145264, + 1.430511474609375e-06, + 0.72367262840271 + ], + [ + 5.235853672027588, + 1.430511474609375e-06, + 0.72367262840271 + ], + [ + 5.235853672027588, + 1.430511474609375e-06, + 0.02500411868095398 + ], + [ + 6.002116680145264, + 1.430511474609375e-06, + 0.02500411868095398 + ], + [ + 6.002116680145264, + 0.9713929295539856, + 0.72367262840271 + ], + [ + 5.235853672027588, + 0.9713929295539856, + 0.72367262840271 + ], + [ + 5.235853672027588, + 0.9713929295539856, + 0.02500411868095398 + ], + [ + 6.002116680145264, + 0.9713929295539856, + 0.02500411868095398 + ] + ] + } + } + }, + { + "objectId": "Dresser|6|1___0", + "object_info": { + "name": "Drawer (3)", + "position": { + "x": 5.609915733337402, + "y": 0.2250976264476776, + "z": 0.48612797260284424 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "CreditCard|surface|6|36" + ], + "distance": 1.4400832653045654, + "objectType": "Drawer", + "objectId": "Dresser|6|1___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.964020729064941, + 0.3764910101890564, + 0.6967599391937256 + ], + [ + 5.964020729064941, + 0.3764910101890564, + 0.2743746042251587 + ], + [ + 5.964020729064941, + 0.06970429420471191, + 0.6967599391937256 + ], + [ + 5.964020729064941, + 0.06970429420471191, + 0.2743746042251587 + ], + [ + 5.255810737609863, + 0.3764910101890564, + 0.6967599391937256 + ], + [ + 5.255810737609863, + 0.3764910101890564, + 0.2743746042251587 + ], + [ + 5.255810737609863, + 0.06970429420471191, + 0.6967599391937256 + ], + [ + 5.255810737609863, + 0.06970429420471191, + 0.2743746042251587 + ] + ], + "center": { + "x": 5.609915733337402, + "y": 0.22309765219688416, + "z": 0.48556727170944214 + }, + "size": { + "x": 0.7082099914550781, + "y": 0.3067867159843445, + "z": 0.4223853349685669 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|6|1___1", + "object_info": { + "name": "Drawer (1)", + "position": { + "x": 5.609915733337402, + "y": 0.8300976157188416, + "z": 0.48612797260284424 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "CellPhone|surface|6|44" + ], + "distance": 1.2735867500305176, + "objectType": "Drawer", + "objectId": "Dresser|6|1___1", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.964020729064941, + 0.9450600147247314, + 0.6941201090812683 + ], + [ + 5.964020729064941, + 0.9450600147247314, + 0.2770146131515503 + ], + [ + 5.964020729064941, + 0.7111351490020752, + 0.6941201090812683 + ], + [ + 5.964020729064941, + 0.7111351490020752, + 0.2770146131515503 + ], + [ + 5.255810737609863, + 0.9450600147247314, + 0.6941201090812683 + ], + [ + 5.255810737609863, + 0.9450600147247314, + 0.2770146131515503 + ], + [ + 5.255810737609863, + 0.7111351490020752, + 0.6941201090812683 + ], + [ + 5.255810737609863, + 0.7111351490020752, + 0.2770146131515503 + ] + ], + "center": { + "x": 5.609915733337402, + "y": 0.8280975818634033, + "z": 0.4855673611164093 + }, + "size": { + "x": 0.7082099914550781, + "y": 0.23392486572265625, + "z": 0.417105495929718 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "AlarmClock|surface|6|40", + "object_info": { + "name": "AlarmClock|surface|6|40", + "position": { + "x": 5.703815460205078, + "y": 0.9722461700439453, + "z": 0.5490552186965942 + }, + "rotation": { + "x": 359.77325439453125, + "y": 180.00018310546875, + "z": 0.0017135022208094597 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.800000011920929, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 1.2039424180984497, + "objectType": "AlarmClock", + "objectId": "AlarmClock|surface|6|40", + "assetId": "Alarm_Clock_21", + "parentReceptacles": [ + "Dresser|6|1" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.791537761688232, + 1.1349537372589111, + 0.5793263912200928 + ], + [ + 5.791537761688232, + 1.1349537372589111, + 0.5312154293060303 + ], + [ + 5.791537761688232, + 0.9713852405548096, + 0.5793263912200928 + ], + [ + 5.791537761688232, + 0.9713852405548096, + 0.5312154293060303 + ], + [ + 5.616093158721924, + 1.1349537372589111, + 0.5793263912200928 + ], + [ + 5.616093158721924, + 1.1349537372589111, + 0.5312154293060303 + ], + [ + 5.616093158721924, + 0.9713852405548096, + 0.5793263912200928 + ], + [ + 5.616093158721924, + 0.9713852405548096, + 0.5312154293060303 + ] + ], + "center": { + "x": 5.703815460205078, + "y": 1.0531694889068604, + "z": 0.5552709102630615 + }, + "size": { + "x": 0.1754446029663086, + "y": 0.16356849670410156, + "z": 0.0481109619140625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.616093635559082, + 0.9715318083763123, + 0.5312159657478333 + ], + [ + 5.791537284851074, + 0.971526563167572, + 0.5312153697013855 + ], + [ + 5.791537284851074, + 0.9713385701179504, + 0.5787135362625122 + ], + [ + 5.616093635559082, + 0.9713438153266907, + 0.57871413230896 + ], + [ + 5.616098403930664, + 1.1350799798965454, + 0.5318632125854492 + ], + [ + 5.791542053222656, + 1.1350747346878052, + 0.5318626165390015 + ], + [ + 5.791542053222656, + 1.1348867416381836, + 0.5793607831001282 + ], + [ + 5.616098880767822, + 1.1348919868469238, + 0.5793613791465759 + ] + ] + } + } + }, + { + "objectId": "GarbageCan|6|5", + "object_info": { + "name": "GarbageCan|6|5", + "position": { + "x": 6.285166263580322, + "y": 2.1457672119140625e-06, + "z": 0.21047767996788025 + }, + "rotation": { + "x": 0.00036735678440891206, + "y": -7.086647201504093e-06, + "z": -0.0006737426738254726 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.699999988079071, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.8623448610305786, + "objectType": "GarbageCan", + "objectId": "GarbageCan|6|5", + "assetId": "bin_23", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.470651626586914, + 0.6559604406356812, + 0.39595985412597656 + ], + [ + 6.470651626586914, + 0.6559604406356812, + 0.024999693036079407 + ], + [ + 6.470651626586914, + -8.344650268554688e-07, + 0.39595985412597656 + ], + [ + 6.470651626586914, + -8.344650268554688e-07, + 0.024999693036079407 + ], + [ + 6.099688529968262, + 0.6559604406356812, + 0.39595985412597656 + ], + [ + 6.099688529968262, + 0.6559604406356812, + 0.024999693036079407 + ], + [ + 6.099688529968262, + -8.344650268554688e-07, + 0.39595985412597656 + ], + [ + 6.099688529968262, + -8.344650268554688e-07, + 0.024999693036079407 + ] + ], + "center": { + "x": 6.285170078277588, + "y": 0.32797980308532715, + "z": 0.21047978103160858 + }, + "size": { + "x": 0.37096309661865234, + "y": 0.655961275100708, + "z": 0.37096017599105835 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.470644474029541, + -2.0589513951563276e-06, + 0.3959560692310333 + ], + [ + 6.099687576293945, + 2.3031382170302095e-06, + 0.39595600962638855 + ], + [ + 6.0996880531311035, + 4.6815584937576205e-06, + 0.024999290704727173 + ], + [ + 6.470644474029541, + 3.1946888157108333e-07, + 0.024999350309371948 + ], + [ + 6.470652103424072, + 0.6559552550315857, + 0.39596027135849 + ], + [ + 6.099695682525635, + 0.6559596657752991, + 0.3959602117538452 + ], + [ + 6.099695682525635, + 0.6559620499610901, + 0.025003492832183838 + ], + [ + 6.470652103424072, + 0.6559576392173767, + 0.025003552436828613 + ] + ] + } + } + }, + { + "objectId": "door|5|6", + "object_info": { + "name": "door|5|6", + "position": { + "x": 3.296997308731079, + "y": -0.0005984306335449219, + "z": 2.733199119567871 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.792271852493286, + "objectType": "Doorway", + "objectId": "door|5|6", + "assetId": "Doorway_Double_4", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.215017318725586, + 2.1049137115478516, + 2.757469654083252 + ], + [ + 4.215017318725586, + 2.1049137115478516, + 0.7185471057891846 + ], + [ + 4.215017318725586, + -2.384185791015625e-07, + 2.757469654083252 + ], + [ + 4.215017318725586, + -2.384185791015625e-07, + 0.7185471057891846 + ], + [ + 3.226426124572754, + 2.1049137115478516, + 2.757469654083252 + ], + [ + 3.226426124572754, + 2.1049137115478516, + 0.7185471057891846 + ], + [ + 3.226426124572754, + -2.384185791015625e-07, + 2.757469654083252 + ], + [ + 3.226426124572754, + -2.384185791015625e-07, + 0.7185471057891846 + ] + ], + "center": { + "x": 3.72072172164917, + "y": 1.0524567365646362, + "z": 1.7380083799362183 + }, + "size": { + "x": 0.988591194152832, + "y": 2.1049139499664307, + "z": 2.0389225482940674 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Laptop|surface|6|39", + "object_info": { + "name": "Laptop|surface|6|39", + "position": { + "x": 5.609941482543945, + "y": 0.9713994860649109, + "z": 0.28864696621894836 + }, + "rotation": { + "x": -0.00041293477988801897, + "y": 89.99986267089844, + "z": 0.0018775358330458403 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 0.1826363354921341, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 2.299999952316284, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 1.4697364568710327, + "objectType": "Laptop", + "objectId": "Laptop|surface|6|39", + "assetId": "Laptop_19", + "parentReceptacles": [ + "Dresser|6|1" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.7781982421875, + 1.1118805408477783, + 0.5156780481338501 + ], + [ + 5.7781982421875, + 1.1118805408477783, + 0.06162053346633911 + ], + [ + 5.7781982421875, + 0.971390962600708, + 0.5156780481338501 + ], + [ + 5.7781982421875, + 0.971390962600708, + 0.06162053346633911 + ], + [ + 5.439300537109375, + 1.1118805408477783, + 0.5156780481338501 + ], + [ + 5.439300537109375, + 1.1118805408477783, + 0.06162053346633911 + ], + [ + 5.439300537109375, + 0.971390962600708, + 0.5156780481338501 + ], + [ + 5.439300537109375, + 0.971390962600708, + 0.06162053346633911 + ] + ], + "center": { + "x": 5.6087493896484375, + "y": 1.0416357517242432, + "z": 0.2886492908000946 + }, + "size": { + "x": 0.338897705078125, + "y": 0.1404895782470703, + "z": 0.454057514667511 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.7781982421875, + 0.9714081287384033, + 0.061621323227882385 + ], + [ + 5.778197288513184, + 0.9713932871818542, + 0.5156733989715576 + ], + [ + 5.439300537109375, + 0.9713908433914185, + 0.5156726241111755 + ], + [ + 5.439301490783691, + 0.9714056849479675, + 0.061620503664016724 + ], + [ + 5.778197288513184, + 1.1118805408477783, + 0.061625927686691284 + ], + [ + 5.778196334838867, + 1.1118656396865845, + 0.5156779885292053 + ], + [ + 5.439299583435059, + 1.111863136291504, + 0.5156772136688232 + ], + [ + 5.439300537109375, + 1.1118780374526978, + 0.06162510812282562 + ] + ] + } + } + }, + { + "objectId": "Dresser|6|1___2", + "object_info": { + "name": "Drawer (2)", + "position": { + "x": 5.609915733337402, + "y": 0.5470976233482361, + "z": 0.48612797260284424 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "CD|surface|6|37", + "Watch|surface|6|38" + ], + "distance": 1.319940447807312, + "objectType": "Drawer", + "objectId": "Dresser|6|1___2", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.964020729064941, + 0.6984910368919373, + 0.6967599391937256 + ], + [ + 5.964020729064941, + 0.6984910368919373, + 0.2743746042251587 + ], + [ + 5.964020729064941, + 0.391704261302948, + 0.6967599391937256 + ], + [ + 5.964020729064941, + 0.391704261302948, + 0.2743746042251587 + ], + [ + 5.255810737609863, + 0.6984910368919373, + 0.6967599391937256 + ], + [ + 5.255810737609863, + 0.6984910368919373, + 0.2743746042251587 + ], + [ + 5.255810737609863, + 0.391704261302948, + 0.6967599391937256 + ], + [ + 5.255810737609863, + 0.391704261302948, + 0.2743746042251587 + ] + ], + "center": { + "x": 5.609915733337402, + "y": 0.5450976490974426, + "z": 0.48556727170944214 + }, + "size": { + "x": 0.7082099914550781, + "y": 0.30678677558898926, + "z": 0.4223853349685669 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DogBed|6|3", + "object_info": { + "name": "DogBed|6|3", + "position": { + "x": 7.852978229522705, + "y": 0.0032488107681274414, + "z": 0.3906584084033966 + }, + "rotation": { + "x": -0.0011136221000924706, + "y": 0.0002035521320067346, + "z": 0.0006151953130029142 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.9800000190734863, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 2.660128593444824, + "objectType": "DogBed", + "objectId": "DogBed|6|3", + "assetId": "Dog_Bed_1_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.217996597290039, + 0.1088542640209198, + 0.7556761503219604 + ], + [ + 8.217996597290039, + 0.1088542640209198, + 0.0250014066696167 + ], + [ + 8.217996597290039, + 1.0505318641662598e-06, + 0.7556761503219604 + ], + [ + 8.217996597290039, + 1.0505318641662598e-06, + 0.0250014066696167 + ], + [ + 7.487320899963379, + 0.1088542640209198, + 0.7556761503219604 + ], + [ + 7.487320899963379, + 0.1088542640209198, + 0.0250014066696167 + ], + [ + 7.487320899963379, + 1.0505318641662598e-06, + 0.7556761503219604 + ], + [ + 7.487320899963379, + 1.0505318641662598e-06, + 0.0250014066696167 + ] + ], + "center": { + "x": 7.852658748626709, + "y": 0.05442765727639198, + "z": 0.3903387784957886 + }, + "size": { + "x": 0.7306756973266602, + "y": 0.10885321348905563, + "z": 0.7306747436523438 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 8.217998504638672, + 1.666136085987091e-05, + 0.7556765079498291 + ], + [ + 7.487322807312012, + 8.81589949131012e-06, + 0.7556791305541992 + ], + [ + 7.4873199462890625, + -5.385605618357658e-06, + 0.02500322461128235 + ], + [ + 8.217996597290039, + 2.4598557502031326e-06, + 0.02500060200691223 + ], + [ + 8.217997550964355, + 0.10885684192180634, + 0.755674421787262 + ], + [ + 7.487321376800537, + 0.10884899646043777, + 0.7556770443916321 + ], + [ + 7.487318992614746, + 0.10883479565382004, + 0.025001108646392822 + ], + [ + 8.217994689941406, + 0.1088426411151886, + 0.024998486042022705 + ] + ] + } + } + }, + { + "objectId": "Bed|6|0|0", + "object_info": { + "name": "Bed|6|0|0", + "position": { + "x": 7.532628059387207, + "y": -0.003118574619293213, + "z": 2.364048719406128 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "Pillow|6|0|1", + "Box|surface|6|41", + "Book|surface|6|45", + "CellPhone|surface|6|34" + ], + "distance": 2.0909922122955322, + "objectType": "Bed", + "objectId": "Bed|6|0|0", + "assetId": "Bed_28", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.218000411987305, + 0.6485360860824585, + 3.2720000743865967 + ], + [ + 8.218000411987305, + 0.6485360860824585, + 1.3972227573394775 + ], + [ + 8.218000411987305, + 0.0, + 3.2720000743865967 + ], + [ + 8.218000411987305, + 0.0, + 1.3972227573394775 + ], + [ + 6.846250534057617, + 0.6485360860824585, + 3.2720000743865967 + ], + [ + 6.846250534057617, + 0.6485360860824585, + 1.3972227573394775 + ], + [ + 6.846250534057617, + 0.0, + 3.2720000743865967 + ], + [ + 6.846250534057617, + 0.0, + 1.3972227573394775 + ] + ], + "center": { + "x": 7.532125473022461, + "y": 0.32426804304122925, + "z": 2.334611415863037 + }, + "size": { + "x": 1.3717498779296875, + "y": 0.6485360860824585, + "z": 1.8747773170471191 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.846251010894775, + 0.0, + 1.3972229957580566 + ], + [ + 8.217999458312988, + 0.0, + 1.397222876548767 + ], + [ + 8.217999458312988, + 0.0, + 3.2719998359680176 + ], + [ + 6.846251010894775, + 0.0, + 3.2720000743865967 + ], + [ + 6.846251010894775, + 0.6485360860824585, + 1.3972229957580566 + ], + [ + 8.217999458312988, + 0.6485360860824585, + 1.397222876548767 + ], + [ + 8.217999458312988, + 0.6485360860824585, + 3.2719998359680176 + ], + [ + 6.846251010894775, + 0.6485360860824585, + 3.2720000743865967 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 6.300000190734863, + "y": 0.9009997844696045, + "z": 1.399999976158142 + }, + "agent_rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "agent_cameraHorizon": 60.00001525878906, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 6.300000190734863, + "y": 1.5759997367858887, + "z": 1.399999976158142 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "AlarmClock|surface|6|40", + "Laptop|surface|6|39", + "Dresser|6|1", + "Dresser|6|1___2", + "Dresser|6|1___1", + "door|5|6", + "Dresser|6|1___0" + ], + "different_object": [ + "Bed|6|0|0", + "GarbageCan|6|5", + "DogBed|6|3" + ] +} \ No newline at end of file diff --git a/train/train1668/2/1_depth_npy.npy b/train/train1668/2/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..d6bbd003b522d0c1b64890c918b30c8a6a455d37 --- /dev/null +++ b/train/train1668/2/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fa7cb9a5b80636d1c811a44267d378b22c0fe6671967354c82d9db76e3df5aad +size 3145856 diff --git a/train/train1668/2/1_semantic_sensor_npy.npy b/train/train1668/2/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..9caae68711d0017dd626de5d2d6efe89821aecb0 --- /dev/null +++ b/train/train1668/2/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d1c8c2c147d3d125599200e0eed32f6ad569773bb2ced6041d8431e21842f6ee +size 2359424 diff --git a/train/train1668/2/depth_0.png b/train/train1668/2/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..b36259505481a63a7d416d835ee54f726d2e94c4 Binary files /dev/null and b/train/train1668/2/depth_0.png differ diff --git a/train/train1668/2/depth_1.png b/train/train1668/2/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..f144a796e5db2bae7511d4d2b36b4b2b7edf10eb Binary files /dev/null and b/train/train1668/2/depth_1.png differ diff --git a/train/train1668/2/mask_questions.jsonl b/train/train1668/2/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8656569d7b4e1715c70d3e6190062b6b008eda94 --- /dev/null +++ b/train/train1668/2/mask_questions.jsonl @@ -0,0 +1,4 @@ +{"id": 2633, "folder_dir": "train1668/2", "pair_name": "0-1:AlarmClock|surface|6|40", "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. AlarmClock\nC. Laptop\nD. BasketBall", "answer": "B", "object_name": "AlarmClock", "image_1": "train1668/2/rgb_0.png", "image_2": "train1668/2/rgb_1.png", "mask_image": "train1668/2/rgb_1_mask_AlarmClock|surface|6|40.png", "options": ["Painting", "AlarmClock", "Laptop", "BasketBall"]} +{"id": 2634, "folder_dir": "train1668/2", "pair_name": "0-1:Dresser|6|1___2", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. AlarmClock\nB. Watch\nC. Drawer\nD. Dumbbell", "answer": "C", "object_name": "Drawer", "image_1": "train1668/2/rgb_0.png", "image_2": "train1668/2/rgb_1.png", "mask_image": "train1668/2/rgb_1_mask_Dresser|6|1___2.png", "options": ["AlarmClock", "Watch", "Drawer", "Dumbbell"]} +{"id": 2635, "folder_dir": "train1668/2", "pair_name": "0-1:Dresser|6|1___1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Box\nB. AlarmClock\nC. Drawer\nD. BasketBall", "answer": "C", "object_name": "Drawer", "image_1": "train1668/2/rgb_0.png", "image_2": "train1668/2/rgb_1.png", "mask_image": "train1668/2/rgb_1_mask_Dresser|6|1___1.png", "options": ["Box", "AlarmClock", "Drawer", "BasketBall"]} +{"id": 2636, "folder_dir": "train1668/2", "pair_name": "0-1:Dresser|6|1___0", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. AlarmClock\nB. BaseballBat\nC. Drawer\nD. Desk", "answer": "C", "object_name": "Drawer", "image_1": "train1668/2/rgb_0.png", "image_2": "train1668/2/rgb_1.png", "mask_image": "train1668/2/rgb_1_mask_Dresser|6|1___0.png", "options": ["AlarmClock", "BaseballBat", "Drawer", "Desk"]} diff --git a/train/train1668/2/questions_distance.jsonl b/train/train1668/2/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5c64b38a561548132c3862f80ecb7138d8cc07eb --- /dev/null +++ b/train/train1668/2/questions_distance.jsonl @@ -0,0 +1,2 @@ +{"id": 1065, "folder_dir": "train1668/2", "query": "Which of the following objects is closest to AlarmClock in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. GarbageCan\nB. Watch\nC. Laptop\nD. Other\n", "answer": "C", "src_object": "AlarmClock", "target_object": "Laptop", "question": "Which of the following objects is closest to AlarmClock in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "GarbageCan", "semantic_id": "GarbageCan|6|5", "distance": 0.9913395962902259, "com": {"x": 6.285170078277588, "y": 0.32797980308532715, "z": 0.21047978103160858}}, {"text": "Watch", "semantic_id": "Watch|surface|6|43", "distance": 2.0935835263725795, "com": {"x": 5.743511199951172, "y": 0.7236649990081787, "z": 2.6223807334899902}}, {"text": "Laptop", "semantic_id": "Laptop|surface|6|39", "distance": 0.28329785179124284, "com": {"x": 5.6087493896484375, "y": 1.0416357517242432, "z": 0.2886492908000946}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1668/2/rgb_0.png", "image_2": "train1668/2/rgb_1.png"} +{"id": 1066, "folder_dir": "train1668/2", "query": "Which of the following objects is closest to Laptop 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. AlarmClock\nB. Watch\nC. GarbageCan\nD. Other\n", "answer": "A", "src_object": "Laptop", "target_object": "AlarmClock", "question": "Which of the following objects is closest to Laptop 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": "AlarmClock", "semantic_id": "AlarmClock|surface|6|40", "distance": 0.28329785179124284, "com": {"x": 5.703815460205078, "y": 1.0531694889068604, "z": 0.5552709102630615}}, {"text": "Watch", "semantic_id": "Watch|surface|6|43", "distance": 2.3591457334591164, "com": {"x": 5.743511199951172, "y": 0.7236649990081787, "z": 2.6223807334899902}}, {"text": "GarbageCan", "semantic_id": "GarbageCan|6|5", "distance": 0.9863874661058354, "com": {"x": 6.285170078277588, "y": 0.32797980308532715, "z": 0.21047978103160858}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1668/2/rgb_0.png", "image_2": "train1668/2/rgb_1.png"} diff --git a/train/train1668/2/rgb_0.png b/train/train1668/2/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..c0e681957313324d17f4bcfef0c9b9be265c532f --- /dev/null +++ b/train/train1668/2/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:18e466099f9fb97ca7ae5c44be699bf227342e5becaa8d8c56ef526d92ddc8ca +size 585220 diff --git a/train/train1668/2/rgb_1.png b/train/train1668/2/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..81617418a005e18b0e0915542fe6d44450ade7bd --- /dev/null +++ b/train/train1668/2/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:17defaee5de21f6bfe9b0e158ecfa52204c990a8fb3d8f7fe803f90730fd7faa +size 615376 diff --git a/train/train1668/2/rgb_1_mask_AlarmClock|surface|6|40.png b/train/train1668/2/rgb_1_mask_AlarmClock|surface|6|40.png new file mode 100644 index 0000000000000000000000000000000000000000..f1034553da19d4f6df079f6ef6c1c535eb0cbb41 --- /dev/null +++ b/train/train1668/2/rgb_1_mask_AlarmClock|surface|6|40.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c1255c65d4ed0483abaabb6491f21d9aff34b0d7bf682f3ec74e4a9ed80d7232 +size 542836 diff --git a/train/train1668/2/rgb_1_mask_Dresser|6|1___0.png b/train/train1668/2/rgb_1_mask_Dresser|6|1___0.png new file mode 100644 index 0000000000000000000000000000000000000000..fdefcf020935fffc37e26d70704ff7574959e23e --- /dev/null +++ b/train/train1668/2/rgb_1_mask_Dresser|6|1___0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9a4b486293f5db890507e8ae7939d21279b4c86821097a6eefd349d32523ec90 +size 541562 diff --git a/train/train1668/2/rgb_1_mask_Dresser|6|1___1.png b/train/train1668/2/rgb_1_mask_Dresser|6|1___1.png new file mode 100644 index 0000000000000000000000000000000000000000..ec7f4500c0a115794a13cef83d638e799c48208a --- /dev/null +++ b/train/train1668/2/rgb_1_mask_Dresser|6|1___1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:92d86f76b9938d7ffdadcffd3df782f3bcab921c645551b45ebf5bf214c71969 +size 532805 diff --git a/train/train1668/2/rgb_1_mask_Dresser|6|1___2.png b/train/train1668/2/rgb_1_mask_Dresser|6|1___2.png new file mode 100644 index 0000000000000000000000000000000000000000..bc1e1a0d807f2a2971ae6db1aa4fcc03eda84348 --- /dev/null +++ b/train/train1668/2/rgb_1_mask_Dresser|6|1___2.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e8d87f20b9f5d35f4310663de48a44831a2471294678d98f122a5ddf1cb08d28 +size 534629 diff --git a/train/train1668/2/semantic_0.png b/train/train1668/2/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..075c524a21a8329328aff69a1b6767f68e079e37 Binary files /dev/null and b/train/train1668/2/semantic_0.png differ diff --git a/train/train1668/2/semantic_1.png b/train/train1668/2/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..4f0cc14336074599124cc7691f16235fa7aeed4a Binary files /dev/null and b/train/train1668/2/semantic_1.png differ diff --git a/train/train1668/3/0.json b/train/train1668/3/0.json new file mode 100644 index 0000000000000000000000000000000000000000..065e75c39161bc22668c39eadeae164b2f5ada17 --- /dev/null +++ b/train/train1668/3/0.json @@ -0,0 +1,1571 @@ +{ + "object": [ + { + "objectId": "Box|surface|6|41", + "object_info": { + "name": "Box|surface|6|41", + "position": { + "x": 7.5326151847839355, + "y": 0.7107917666435242, + "z": 2.116950750350952 + }, + "rotation": { + "x": 359.9910583496094, + "y": 4.610685664374614e-06, + "z": 0.005013210698962212 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.30000001192092896, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": [], + "distance": 1.8299040794372559, + "objectType": "Box", + "objectId": "Box|surface|6|41", + "assetId": "Box_23", + "parentReceptacles": [ + "Bed|6|0|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.749358177185059, + 0.742455244064331, + 2.1571803092956543 + ], + [ + 7.749358177185059, + 0.742455244064331, + 1.9130134582519531 + ], + [ + 7.749358177185059, + 0.5599449872970581, + 2.1571803092956543 + ], + [ + 7.749358177185059, + 0.5599449872970581, + 1.9130134582519531 + ], + [ + 7.313809394836426, + 0.742455244064331, + 2.1571803092956543 + ], + [ + 7.313809394836426, + 0.742455244064331, + 1.9130134582519531 + ], + [ + 7.313809394836426, + 0.5599449872970581, + 2.1571803092956543 + ], + [ + 7.313809394836426, + 0.5599449872970581, + 1.9130134582519531 + ] + ], + "center": { + "x": 7.531583786010742, + "y": 0.6512001156806946, + "z": 2.0350968837738037 + }, + "size": { + "x": 0.4355487823486328, + "y": 0.18251025676727295, + "z": 0.24416685104370117 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.749358654022217, + 0.5600195527076721, + 2.1572089195251465 + ], + [ + 7.313825607299805, + 0.5599814057350159, + 2.1572089195251465 + ], + [ + 7.313825607299805, + 0.5599433183670044, + 1.9130418300628662 + ], + [ + 7.749358654022217, + 0.5599814057350159, + 1.9130418300628662 + ], + [ + 7.749342918395996, + 0.7424745559692383, + 2.1571803092956543 + ], + [ + 7.313809394836426, + 0.7424364686012268, + 2.1571805477142334 + ], + [ + 7.313809394836426, + 0.7423983812332153, + 1.9130134582519531 + ], + [ + 7.749342918395996, + 0.7424364686012268, + 1.9130133390426636 + ] + ] + } + } + }, + { + "objectId": "Desk|6|2", + "object_info": { + "name": "Desk|6|2", + "position": { + "x": 5.937110424041748, + "y": -0.0007331371307373047, + "z": 2.9056951999664307 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 34.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Mug|surface|6|35", + "DeskLamp|surface|6|47", + "Book|surface|6|49", + "Watch|surface|6|43", + "Dumbbell|surface|6|46", + "DeskLamp|surface|6|48", + "CellPhone|surface|6|42" + ], + "distance": 1.477756381034851, + "objectType": "Desk", + "objectId": "Desk|6|2", + "assetId": "Desk_320_2_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.711947441101074, + 0.7060455679893494, + 3.2719976902008057 + ], + [ + 6.711947441101074, + 0.7060455679893494, + 2.5293781757354736 + ], + [ + 6.711947441101074, + 2.086162567138672e-06, + 3.2719976902008057 + ], + [ + 6.711947441101074, + 2.086162567138672e-06, + 2.5293781757354736 + ], + [ + 5.161589622497559, + 0.7060455679893494, + 3.2719976902008057 + ], + [ + 5.161589622497559, + 0.7060455679893494, + 2.5293781757354736 + ], + [ + 5.161589622497559, + 2.086162567138672e-06, + 3.2719976902008057 + ], + [ + 5.161589622497559, + 2.086162567138672e-06, + 2.5293781757354736 + ] + ], + "center": { + "x": 5.936768531799316, + "y": 0.35302382707595825, + "z": 2.9006879329681396 + }, + "size": { + "x": 1.5503578186035156, + "y": 0.7060434818267822, + "z": 0.742619514465332 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.161589622497559, + 2.1457672119140625e-06, + 2.5293784141540527 + ], + [ + 6.711947441101074, + 2.1457672119140625e-06, + 2.5293781757354736 + ], + [ + 6.711947441101074, + 2.1457672119140625e-06, + 3.2719974517822266 + ], + [ + 5.161589622497559, + 2.1457672119140625e-06, + 3.2719976902008057 + ], + [ + 5.161589622497559, + 0.7060456275939941, + 2.5293784141540527 + ], + [ + 6.711947441101074, + 0.7060456275939941, + 2.5293781757354736 + ], + [ + 6.711947441101074, + 0.7060456275939941, + 3.2719974517822266 + ], + [ + 5.161589622497559, + 0.7060456275939941, + 3.2719976902008057 + ] + ] + } + } + }, + { + "objectId": "Dresser|6|1", + "object_info": { + "name": "Dresser|6|1", + "position": { + "x": 5.613176345825195, + "y": 0.0010976195335388184, + "z": 0.373943567276001 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "AlarmClock|surface|6|40", + "Laptop|surface|6|39" + ], + "distance": 1.6498714685440063, + "objectType": "Dresser", + "objectId": "Dresser|6|1", + "assetId": "Dresser_318_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.002116680145264, + 0.9713932275772095, + 0.7236727476119995 + ], + [ + 6.002116680145264, + 0.9713932275772095, + 0.025004029273986816 + ], + [ + 6.002116680145264, + 1.3709068298339844e-06, + 0.7236727476119995 + ], + [ + 6.002116680145264, + 1.3709068298339844e-06, + 0.025004029273986816 + ], + [ + 5.235853672027588, + 0.9713932275772095, + 0.7236727476119995 + ], + [ + 5.235853672027588, + 0.9713932275772095, + 0.025004029273986816 + ], + [ + 5.235853672027588, + 1.3709068298339844e-06, + 0.7236727476119995 + ], + [ + 5.235853672027588, + 1.3709068298339844e-06, + 0.025004029273986816 + ] + ], + "center": { + "x": 5.618985176086426, + "y": 0.48569729924201965, + "z": 0.37433838844299316 + }, + "size": { + "x": 0.7662630081176758, + "y": 0.9713918566703796, + "z": 0.6986687183380127 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.002116680145264, + 1.430511474609375e-06, + 0.72367262840271 + ], + [ + 5.235853672027588, + 1.430511474609375e-06, + 0.72367262840271 + ], + [ + 5.235853672027588, + 1.430511474609375e-06, + 0.02500411868095398 + ], + [ + 6.002116680145264, + 1.430511474609375e-06, + 0.02500411868095398 + ], + [ + 6.002116680145264, + 0.9713929295539856, + 0.72367262840271 + ], + [ + 5.235853672027588, + 0.9713929295539856, + 0.72367262840271 + ], + [ + 5.235853672027588, + 0.9713929295539856, + 0.02500411868095398 + ], + [ + 6.002116680145264, + 0.9713929295539856, + 0.02500411868095398 + ] + ] + } + } + }, + { + "objectId": "Dresser|6|1___0", + "object_info": { + "name": "Drawer (3)", + "position": { + "x": 5.609915733337402, + "y": 0.2250976264476776, + "z": 0.48612797260284424 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "CreditCard|surface|6|36" + ], + "distance": 1.4400832653045654, + "objectType": "Drawer", + "objectId": "Dresser|6|1___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.964020729064941, + 0.3764910101890564, + 0.6967599391937256 + ], + [ + 5.964020729064941, + 0.3764910101890564, + 0.2743746042251587 + ], + [ + 5.964020729064941, + 0.06970429420471191, + 0.6967599391937256 + ], + [ + 5.964020729064941, + 0.06970429420471191, + 0.2743746042251587 + ], + [ + 5.255810737609863, + 0.3764910101890564, + 0.6967599391937256 + ], + [ + 5.255810737609863, + 0.3764910101890564, + 0.2743746042251587 + ], + [ + 5.255810737609863, + 0.06970429420471191, + 0.6967599391937256 + ], + [ + 5.255810737609863, + 0.06970429420471191, + 0.2743746042251587 + ] + ], + "center": { + "x": 5.609915733337402, + "y": 0.22309765219688416, + "z": 0.48556727170944214 + }, + "size": { + "x": 0.7082099914550781, + "y": 0.3067867159843445, + "z": 0.4223853349685669 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Book|surface|6|45", + "object_info": { + "name": "Book|surface|6|45", + "position": { + "x": 8.020547866821289, + "y": 0.5595605969429016, + "z": 2.116973876953125 + }, + "rotation": { + "x": -0.0021701641380786896, + "y": 4.7507808631053194e-05, + "z": 0.034017592668533325 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 2.3252179622650146, + "objectType": "Book", + "objectId": "Book|surface|6|45", + "assetId": "Book_5", + "parentReceptacles": [ + "Bed|6|0|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.158607482910156, + 0.5979613065719604, + 2.299900531768799 + ], + [ + 8.158607482910156, + 0.5979613065719604, + 1.9340457916259766 + ], + [ + 8.158607482910156, + 0.5598175525665283, + 2.299900531768799 + ], + [ + 8.158607482910156, + 0.5598175525665283, + 1.9340457916259766 + ], + [ + 7.878992080688477, + 0.5979613065719604, + 2.299900531768799 + ], + [ + 7.878992080688477, + 0.5979613065719604, + 1.9340457916259766 + ], + [ + 7.878992080688477, + 0.5598175525665283, + 2.299900531768799 + ], + [ + 7.878992080688477, + 0.5598175525665283, + 1.9340457916259766 + ] + ], + "center": { + "x": 8.018799781799316, + "y": 0.5788894295692444, + "z": 2.1169731616973877 + }, + "size": { + "x": 0.2796154022216797, + "y": 0.03814375400543213, + "z": 0.36585474014282227 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 8.158607482910156, + 0.5599949359893799, + 2.299900531768799 + ], + [ + 7.879014015197754, + 0.5598289370536804, + 2.299901008605957 + ], + [ + 7.879013538360596, + 0.5598150491714478, + 1.9340472221374512 + ], + [ + 8.158607482910156, + 0.5599810481071472, + 1.934046983718872 + ], + [ + 8.158584594726562, + 0.5979788303375244, + 2.299899101257324 + ], + [ + 7.878991603851318, + 0.597812831401825, + 2.2998995780944824 + ], + [ + 7.87899112701416, + 0.5977990031242371, + 1.9340457916259766 + ], + [ + 8.158584594726562, + 0.5979650020599365, + 1.9340455532073975 + ] + ] + } + } + }, + { + "objectId": "GarbageCan|6|5", + "object_info": { + "name": "GarbageCan|6|5", + "position": { + "x": 6.285166263580322, + "y": 2.1457672119140625e-06, + "z": 0.21047767996788025 + }, + "rotation": { + "x": 0.00036735678440891206, + "y": -7.086647201504093e-06, + "z": -0.0006737426738254726 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.699999988079071, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.8623448610305786, + "objectType": "GarbageCan", + "objectId": "GarbageCan|6|5", + "assetId": "bin_23", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.470651626586914, + 0.6559604406356812, + 0.39595985412597656 + ], + [ + 6.470651626586914, + 0.6559604406356812, + 0.024999693036079407 + ], + [ + 6.470651626586914, + -8.344650268554688e-07, + 0.39595985412597656 + ], + [ + 6.470651626586914, + -8.344650268554688e-07, + 0.024999693036079407 + ], + [ + 6.099688529968262, + 0.6559604406356812, + 0.39595985412597656 + ], + [ + 6.099688529968262, + 0.6559604406356812, + 0.024999693036079407 + ], + [ + 6.099688529968262, + -8.344650268554688e-07, + 0.39595985412597656 + ], + [ + 6.099688529968262, + -8.344650268554688e-07, + 0.024999693036079407 + ] + ], + "center": { + "x": 6.285170078277588, + "y": 0.32797980308532715, + "z": 0.21047978103160858 + }, + "size": { + "x": 0.37096309661865234, + "y": 0.655961275100708, + "z": 0.37096017599105835 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.470644474029541, + -2.0589513951563276e-06, + 0.3959560692310333 + ], + [ + 6.099687576293945, + 2.3031382170302095e-06, + 0.39595600962638855 + ], + [ + 6.0996880531311035, + 4.6815584937576205e-06, + 0.024999290704727173 + ], + [ + 6.470644474029541, + 3.1946888157108333e-07, + 0.024999350309371948 + ], + [ + 6.470652103424072, + 0.6559552550315857, + 0.39596027135849 + ], + [ + 6.099695682525635, + 0.6559596657752991, + 0.3959602117538452 + ], + [ + 6.099695682525635, + 0.6559620499610901, + 0.025003492832183838 + ], + [ + 6.470652103424072, + 0.6559576392173767, + 0.025003552436828613 + ] + ] + } + } + }, + { + "objectId": "CellPhone|surface|6|34", + "object_info": { + "name": "CellPhone|surface|6|34", + "position": { + "x": 8.020549774169922, + "y": 0.5606894493103027, + "z": 2.563382863998413 + }, + "rotation": { + "x": 1.2720042832370382e-05, + "y": -3.493730037007481e-05, + "z": -0.0016068851109594107 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1599999964237213, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 2.4357337951660156, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|6|34", + "assetId": "Cellphone_8", + "parentReceptacles": [ + "Bed|6|0|0", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.058788299560547, + 0.5708633661270142, + 2.636294364929199 + ], + [ + 8.058788299560547, + 0.5708633661270142, + 2.490471363067627 + ], + [ + 8.058788299560547, + 0.5599797964096069, + 2.636294364929199 + ], + [ + 8.058788299560547, + 0.5599797964096069, + 2.490471363067627 + ], + [ + 7.982311248779297, + 0.5708633661270142, + 2.636294364929199 + ], + [ + 7.982311248779297, + 0.5708633661270142, + 2.490471363067627 + ], + [ + 7.982311248779297, + 0.5599797964096069, + 2.636294364929199 + ], + [ + 7.982311248779297, + 0.5599797964096069, + 2.490471363067627 + ] + ], + "center": { + "x": 8.020549774169922, + "y": 0.5654215812683105, + "z": 2.563382863998413 + }, + "size": { + "x": 0.07647705078125, + "y": 0.010883569717407227, + "z": 0.14582300186157227 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 8.058788299560547, + 0.5599797964096069, + 2.636294364929199 + ], + [ + 7.982311248779297, + 0.5599819421768188, + 2.63629412651062 + ], + [ + 7.982311248779297, + 0.5599819421768188, + 2.490471363067627 + ], + [ + 8.058788299560547, + 0.5599797964096069, + 2.490471601486206 + ], + [ + 8.058788299560547, + 0.5708612203598022, + 2.636294364929199 + ], + [ + 7.982311725616455, + 0.5708633661270142, + 2.63629412651062 + ], + [ + 7.982311725616455, + 0.5708633661270142, + 2.490471363067627 + ], + [ + 8.058788299560547, + 0.5708612203598022, + 2.490471601486206 + ] + ] + } + } + }, + { + "objectId": "DogBed|6|3", + "object_info": { + "name": "DogBed|6|3", + "position": { + "x": 7.852978229522705, + "y": 0.0032488107681274414, + "z": 0.3906584084033966 + }, + "rotation": { + "x": -0.0011136221000924706, + "y": 0.0002035521320067346, + "z": 0.0006151953130029142 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.9800000190734863, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 2.660128593444824, + "objectType": "DogBed", + "objectId": "DogBed|6|3", + "assetId": "Dog_Bed_1_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.217996597290039, + 0.1088542640209198, + 0.7556761503219604 + ], + [ + 8.217996597290039, + 0.1088542640209198, + 0.0250014066696167 + ], + [ + 8.217996597290039, + 1.0505318641662598e-06, + 0.7556761503219604 + ], + [ + 8.217996597290039, + 1.0505318641662598e-06, + 0.0250014066696167 + ], + [ + 7.487320899963379, + 0.1088542640209198, + 0.7556761503219604 + ], + [ + 7.487320899963379, + 0.1088542640209198, + 0.0250014066696167 + ], + [ + 7.487320899963379, + 1.0505318641662598e-06, + 0.7556761503219604 + ], + [ + 7.487320899963379, + 1.0505318641662598e-06, + 0.0250014066696167 + ] + ], + "center": { + "x": 7.852658748626709, + "y": 0.05442765727639198, + "z": 0.3903387784957886 + }, + "size": { + "x": 0.7306756973266602, + "y": 0.10885321348905563, + "z": 0.7306747436523438 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 8.217998504638672, + 1.666136085987091e-05, + 0.7556765079498291 + ], + [ + 7.487322807312012, + 8.81589949131012e-06, + 0.7556791305541992 + ], + [ + 7.4873199462890625, + -5.385605618357658e-06, + 0.02500322461128235 + ], + [ + 8.217996597290039, + 2.4598557502031326e-06, + 0.02500060200691223 + ], + [ + 8.217997550964355, + 0.10885684192180634, + 0.755674421787262 + ], + [ + 7.487321376800537, + 0.10884899646043777, + 0.7556770443916321 + ], + [ + 7.487318992614746, + 0.10883479565382004, + 0.025001108646392822 + ], + [ + 8.217994689941406, + 0.1088426411151886, + 0.024998486042022705 + ] + ] + } + } + }, + { + "objectId": "Bed|6|0|0", + "object_info": { + "name": "Bed|6|0|0", + "position": { + "x": 7.532628059387207, + "y": -0.003118574619293213, + "z": 2.364048719406128 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "Pillow|6|0|1", + "Box|surface|6|41", + "Book|surface|6|45", + "CellPhone|surface|6|34" + ], + "distance": 2.0909922122955322, + "objectType": "Bed", + "objectId": "Bed|6|0|0", + "assetId": "Bed_28", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.218000411987305, + 0.6485360860824585, + 3.2720000743865967 + ], + [ + 8.218000411987305, + 0.6485360860824585, + 1.3972227573394775 + ], + [ + 8.218000411987305, + 0.0, + 3.2720000743865967 + ], + [ + 8.218000411987305, + 0.0, + 1.3972227573394775 + ], + [ + 6.846250534057617, + 0.6485360860824585, + 3.2720000743865967 + ], + [ + 6.846250534057617, + 0.6485360860824585, + 1.3972227573394775 + ], + [ + 6.846250534057617, + 0.0, + 3.2720000743865967 + ], + [ + 6.846250534057617, + 0.0, + 1.3972227573394775 + ] + ], + "center": { + "x": 7.532125473022461, + "y": 0.32426804304122925, + "z": 2.334611415863037 + }, + "size": { + "x": 1.3717498779296875, + "y": 0.6485360860824585, + "z": 1.8747773170471191 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.846251010894775, + 0.0, + 1.3972229957580566 + ], + [ + 8.217999458312988, + 0.0, + 1.397222876548767 + ], + [ + 8.217999458312988, + 0.0, + 3.2719998359680176 + ], + [ + 6.846251010894775, + 0.0, + 3.2720000743865967 + ], + [ + 6.846251010894775, + 0.6485360860824585, + 1.3972229957580566 + ], + [ + 8.217999458312988, + 0.6485360860824585, + 1.397222876548767 + ], + [ + 8.217999458312988, + 0.6485360860824585, + 3.2719998359680176 + ], + [ + 6.846251010894775, + 0.6485360860824585, + 3.2720000743865967 + ] + ] + } + } + }, + { + "objectId": "Pillow|6|0|1", + "object_info": { + "name": "Pillow|6|0|1", + "position": { + "x": 7.532125473022461, + "y": 0.6284236311912537, + "z": 2.916109800338745 + }, + "rotation": { + "x": -3.272119329267298e-06, + "y": 180.0, + "z": 1.4005544244355406e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 2.1471099853515625, + "objectType": "Pillow", + "objectId": "Pillow|6|0|1", + "assetId": "pillow_18", + "parentReceptacles": [ + "Bed|6|0|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.753246784210205, + 0.7035236358642578, + 3.0920000076293945 + ], + [ + 7.753246784210205, + 0.7035236358642578, + 2.7402195930480957 + ], + [ + 7.753246784210205, + 0.554323673248291, + 3.0920000076293945 + ], + [ + 7.753246784210205, + 0.554323673248291, + 2.7402195930480957 + ], + [ + 7.311004161834717, + 0.7035236358642578, + 3.0920000076293945 + ], + [ + 7.311004161834717, + 0.7035236358642578, + 2.7402195930480957 + ], + [ + 7.311004161834717, + 0.554323673248291, + 3.0920000076293945 + ], + [ + 7.311004161834717, + 0.554323673248291, + 2.7402195930480957 + ] + ], + "center": { + "x": 7.532125473022461, + "y": 0.6289236545562744, + "z": 2.916109800338745 + }, + "size": { + "x": 0.4422426223754883, + "y": 0.1491999626159668, + "z": 0.35178041458129883 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.311004161834717, + 0.554323673248291, + 2.7402195930480957 + ], + [ + 7.753246784210205, + 0.5543236136436462, + 2.7402195930480957 + ], + [ + 7.753246784210205, + 0.5543236136436462, + 3.0920000076293945 + ], + [ + 7.311004161834717, + 0.5543236136436462, + 3.0920000076293945 + ], + [ + 7.311004161834717, + 0.7035236358642578, + 2.7402195930480957 + ], + [ + 7.753246784210205, + 0.7035236358642578, + 2.7402195930480957 + ], + [ + 7.753246784210205, + 0.7035236358642578, + 3.0920000076293945 + ], + [ + 7.311004161834717, + 0.7035236358642578, + 3.0920000076293945 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 6.300000190734863, + "y": 0.9009997844696045, + "z": 1.5 + }, + "agent_rotation": { + "x": -0.0, + "y": 90.00000762939453, + "z": -0.0 + }, + "agent_cameraHorizon": 60.000003814697266, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 6.300000190734863, + "y": 1.5759997367858887, + "z": 1.5 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Dresser|6|1", + "DogBed|6|3", + "GarbageCan|6|5", + "Dresser|6|1___0", + "Bed|6|0|0" + ], + "different_object": [ + "Desk|6|2", + "CellPhone|surface|6|34", + "Book|surface|6|45", + "Pillow|6|0|1", + "Box|surface|6|41" + ] +} \ No newline at end of file diff --git a/train/train1668/3/0_depth_npy.npy b/train/train1668/3/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..6e1b603c1d149d42c964a230660baed6a94fae30 --- /dev/null +++ b/train/train1668/3/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:328d2f001143b625617dea0aec6dade830a2ebfed9043580628a0ec7116b434b +size 3145856 diff --git a/train/train1668/3/0_semantic_sensor_npy.npy b/train/train1668/3/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..223ce393750ca6e64bb35ecbcdb15b4b16bbb451 --- /dev/null +++ b/train/train1668/3/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:de2481de0c16a258c976f92ee3afc77d62298fb7daf67b099539416d483b534a +size 2359424 diff --git a/train/train1668/3/1.json b/train/train1668/3/1.json new file mode 100644 index 0000000000000000000000000000000000000000..d2196074bc3ceaa2bb4f51ffb46546f7de030201 --- /dev/null +++ b/train/train1668/3/1.json @@ -0,0 +1,1430 @@ +{ + "object": [ + { + "objectId": "Dresser|6|1", + "object_info": { + "name": "Dresser|6|1", + "position": { + "x": 5.613176345825195, + "y": 0.0010976195335388184, + "z": 0.373943567276001 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "AlarmClock|surface|6|40", + "Laptop|surface|6|39" + ], + "distance": 1.6498714685440063, + "objectType": "Dresser", + "objectId": "Dresser|6|1", + "assetId": "Dresser_318_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.002116680145264, + 0.9713932275772095, + 0.7236727476119995 + ], + [ + 6.002116680145264, + 0.9713932275772095, + 0.025004029273986816 + ], + [ + 6.002116680145264, + 1.3709068298339844e-06, + 0.7236727476119995 + ], + [ + 6.002116680145264, + 1.3709068298339844e-06, + 0.025004029273986816 + ], + [ + 5.235853672027588, + 0.9713932275772095, + 0.7236727476119995 + ], + [ + 5.235853672027588, + 0.9713932275772095, + 0.025004029273986816 + ], + [ + 5.235853672027588, + 1.3709068298339844e-06, + 0.7236727476119995 + ], + [ + 5.235853672027588, + 1.3709068298339844e-06, + 0.025004029273986816 + ] + ], + "center": { + "x": 5.618985176086426, + "y": 0.48569729924201965, + "z": 0.37433838844299316 + }, + "size": { + "x": 0.7662630081176758, + "y": 0.9713918566703796, + "z": 0.6986687183380127 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.002116680145264, + 1.430511474609375e-06, + 0.72367262840271 + ], + [ + 5.235853672027588, + 1.430511474609375e-06, + 0.72367262840271 + ], + [ + 5.235853672027588, + 1.430511474609375e-06, + 0.02500411868095398 + ], + [ + 6.002116680145264, + 1.430511474609375e-06, + 0.02500411868095398 + ], + [ + 6.002116680145264, + 0.9713929295539856, + 0.72367262840271 + ], + [ + 5.235853672027588, + 0.9713929295539856, + 0.72367262840271 + ], + [ + 5.235853672027588, + 0.9713929295539856, + 0.02500411868095398 + ], + [ + 6.002116680145264, + 0.9713929295539856, + 0.02500411868095398 + ] + ] + } + } + }, + { + "objectId": "Dresser|6|1___0", + "object_info": { + "name": "Drawer (3)", + "position": { + "x": 5.609915733337402, + "y": 0.2250976264476776, + "z": 0.48612797260284424 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "CreditCard|surface|6|36" + ], + "distance": 1.4400832653045654, + "objectType": "Drawer", + "objectId": "Dresser|6|1___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.964020729064941, + 0.3764910101890564, + 0.6967599391937256 + ], + [ + 5.964020729064941, + 0.3764910101890564, + 0.2743746042251587 + ], + [ + 5.964020729064941, + 0.06970429420471191, + 0.6967599391937256 + ], + [ + 5.964020729064941, + 0.06970429420471191, + 0.2743746042251587 + ], + [ + 5.255810737609863, + 0.3764910101890564, + 0.6967599391937256 + ], + [ + 5.255810737609863, + 0.3764910101890564, + 0.2743746042251587 + ], + [ + 5.255810737609863, + 0.06970429420471191, + 0.6967599391937256 + ], + [ + 5.255810737609863, + 0.06970429420471191, + 0.2743746042251587 + ] + ], + "center": { + "x": 5.609915733337402, + "y": 0.22309765219688416, + "z": 0.48556727170944214 + }, + "size": { + "x": 0.7082099914550781, + "y": 0.3067867159843445, + "z": 0.4223853349685669 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|6|1___1", + "object_info": { + "name": "Drawer (1)", + "position": { + "x": 5.609915733337402, + "y": 0.8300976157188416, + "z": 0.48612797260284424 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "CellPhone|surface|6|44" + ], + "distance": 1.2735867500305176, + "objectType": "Drawer", + "objectId": "Dresser|6|1___1", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.964020729064941, + 0.9450600147247314, + 0.6941201090812683 + ], + [ + 5.964020729064941, + 0.9450600147247314, + 0.2770146131515503 + ], + [ + 5.964020729064941, + 0.7111351490020752, + 0.6941201090812683 + ], + [ + 5.964020729064941, + 0.7111351490020752, + 0.2770146131515503 + ], + [ + 5.255810737609863, + 0.9450600147247314, + 0.6941201090812683 + ], + [ + 5.255810737609863, + 0.9450600147247314, + 0.2770146131515503 + ], + [ + 5.255810737609863, + 0.7111351490020752, + 0.6941201090812683 + ], + [ + 5.255810737609863, + 0.7111351490020752, + 0.2770146131515503 + ] + ], + "center": { + "x": 5.609915733337402, + "y": 0.8280975818634033, + "z": 0.4855673611164093 + }, + "size": { + "x": 0.7082099914550781, + "y": 0.23392486572265625, + "z": 0.417105495929718 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "AlarmClock|surface|6|40", + "object_info": { + "name": "AlarmClock|surface|6|40", + "position": { + "x": 5.703815460205078, + "y": 0.9722461700439453, + "z": 0.5490552186965942 + }, + "rotation": { + "x": 359.77325439453125, + "y": 180.00018310546875, + "z": 0.0017135022208094597 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.800000011920929, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 1.2039424180984497, + "objectType": "AlarmClock", + "objectId": "AlarmClock|surface|6|40", + "assetId": "Alarm_Clock_21", + "parentReceptacles": [ + "Dresser|6|1" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.791537761688232, + 1.1349537372589111, + 0.5793263912200928 + ], + [ + 5.791537761688232, + 1.1349537372589111, + 0.5312154293060303 + ], + [ + 5.791537761688232, + 0.9713852405548096, + 0.5793263912200928 + ], + [ + 5.791537761688232, + 0.9713852405548096, + 0.5312154293060303 + ], + [ + 5.616093158721924, + 1.1349537372589111, + 0.5793263912200928 + ], + [ + 5.616093158721924, + 1.1349537372589111, + 0.5312154293060303 + ], + [ + 5.616093158721924, + 0.9713852405548096, + 0.5793263912200928 + ], + [ + 5.616093158721924, + 0.9713852405548096, + 0.5312154293060303 + ] + ], + "center": { + "x": 5.703815460205078, + "y": 1.0531694889068604, + "z": 0.5552709102630615 + }, + "size": { + "x": 0.1754446029663086, + "y": 0.16356849670410156, + "z": 0.0481109619140625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.616093635559082, + 0.9715318083763123, + 0.5312159657478333 + ], + [ + 5.791537284851074, + 0.971526563167572, + 0.5312153697013855 + ], + [ + 5.791537284851074, + 0.9713385701179504, + 0.5787135362625122 + ], + [ + 5.616093635559082, + 0.9713438153266907, + 0.57871413230896 + ], + [ + 5.616098403930664, + 1.1350799798965454, + 0.5318632125854492 + ], + [ + 5.791542053222656, + 1.1350747346878052, + 0.5318626165390015 + ], + [ + 5.791542053222656, + 1.1348867416381836, + 0.5793607831001282 + ], + [ + 5.616098880767822, + 1.1348919868469238, + 0.5793613791465759 + ] + ] + } + } + }, + { + "objectId": "GarbageCan|6|5", + "object_info": { + "name": "GarbageCan|6|5", + "position": { + "x": 6.285166263580322, + "y": 2.1457672119140625e-06, + "z": 0.21047767996788025 + }, + "rotation": { + "x": 0.00036735678440891206, + "y": -7.086647201504093e-06, + "z": -0.0006737426738254726 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.699999988079071, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.8623448610305786, + "objectType": "GarbageCan", + "objectId": "GarbageCan|6|5", + "assetId": "bin_23", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.470651626586914, + 0.6559604406356812, + 0.39595985412597656 + ], + [ + 6.470651626586914, + 0.6559604406356812, + 0.024999693036079407 + ], + [ + 6.470651626586914, + -8.344650268554688e-07, + 0.39595985412597656 + ], + [ + 6.470651626586914, + -8.344650268554688e-07, + 0.024999693036079407 + ], + [ + 6.099688529968262, + 0.6559604406356812, + 0.39595985412597656 + ], + [ + 6.099688529968262, + 0.6559604406356812, + 0.024999693036079407 + ], + [ + 6.099688529968262, + -8.344650268554688e-07, + 0.39595985412597656 + ], + [ + 6.099688529968262, + -8.344650268554688e-07, + 0.024999693036079407 + ] + ], + "center": { + "x": 6.285170078277588, + "y": 0.32797980308532715, + "z": 0.21047978103160858 + }, + "size": { + "x": 0.37096309661865234, + "y": 0.655961275100708, + "z": 0.37096017599105835 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.470644474029541, + -2.0589513951563276e-06, + 0.3959560692310333 + ], + [ + 6.099687576293945, + 2.3031382170302095e-06, + 0.39595600962638855 + ], + [ + 6.0996880531311035, + 4.6815584937576205e-06, + 0.024999290704727173 + ], + [ + 6.470644474029541, + 3.1946888157108333e-07, + 0.024999350309371948 + ], + [ + 6.470652103424072, + 0.6559552550315857, + 0.39596027135849 + ], + [ + 6.099695682525635, + 0.6559596657752991, + 0.3959602117538452 + ], + [ + 6.099695682525635, + 0.6559620499610901, + 0.025003492832183838 + ], + [ + 6.470652103424072, + 0.6559576392173767, + 0.025003552436828613 + ] + ] + } + } + }, + { + "objectId": "door|5|6", + "object_info": { + "name": "door|5|6", + "position": { + "x": 3.296997308731079, + "y": -0.0005984306335449219, + "z": 2.733199119567871 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.792271852493286, + "objectType": "Doorway", + "objectId": "door|5|6", + "assetId": "Doorway_Double_4", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.215017318725586, + 2.1049137115478516, + 2.757469654083252 + ], + [ + 4.215017318725586, + 2.1049137115478516, + 0.7185471057891846 + ], + [ + 4.215017318725586, + -2.384185791015625e-07, + 2.757469654083252 + ], + [ + 4.215017318725586, + -2.384185791015625e-07, + 0.7185471057891846 + ], + [ + 3.226426124572754, + 2.1049137115478516, + 2.757469654083252 + ], + [ + 3.226426124572754, + 2.1049137115478516, + 0.7185471057891846 + ], + [ + 3.226426124572754, + -2.384185791015625e-07, + 2.757469654083252 + ], + [ + 3.226426124572754, + -2.384185791015625e-07, + 0.7185471057891846 + ] + ], + "center": { + "x": 3.72072172164917, + "y": 1.0524567365646362, + "z": 1.7380083799362183 + }, + "size": { + "x": 0.988591194152832, + "y": 2.1049139499664307, + "z": 2.0389225482940674 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Laptop|surface|6|39", + "object_info": { + "name": "Laptop|surface|6|39", + "position": { + "x": 5.609941482543945, + "y": 0.9713994860649109, + "z": 0.28864696621894836 + }, + "rotation": { + "x": -0.00041293477988801897, + "y": 89.99986267089844, + "z": 0.0018775358330458403 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 0.1826363354921341, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 2.299999952316284, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 1.4697364568710327, + "objectType": "Laptop", + "objectId": "Laptop|surface|6|39", + "assetId": "Laptop_19", + "parentReceptacles": [ + "Dresser|6|1" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.7781982421875, + 1.1118805408477783, + 0.5156780481338501 + ], + [ + 5.7781982421875, + 1.1118805408477783, + 0.06162053346633911 + ], + [ + 5.7781982421875, + 0.971390962600708, + 0.5156780481338501 + ], + [ + 5.7781982421875, + 0.971390962600708, + 0.06162053346633911 + ], + [ + 5.439300537109375, + 1.1118805408477783, + 0.5156780481338501 + ], + [ + 5.439300537109375, + 1.1118805408477783, + 0.06162053346633911 + ], + [ + 5.439300537109375, + 0.971390962600708, + 0.5156780481338501 + ], + [ + 5.439300537109375, + 0.971390962600708, + 0.06162053346633911 + ] + ], + "center": { + "x": 5.6087493896484375, + "y": 1.0416357517242432, + "z": 0.2886492908000946 + }, + "size": { + "x": 0.338897705078125, + "y": 0.1404895782470703, + "z": 0.454057514667511 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.7781982421875, + 0.9714081287384033, + 0.061621323227882385 + ], + [ + 5.778197288513184, + 0.9713932871818542, + 0.5156733989715576 + ], + [ + 5.439300537109375, + 0.9713908433914185, + 0.5156726241111755 + ], + [ + 5.439301490783691, + 0.9714056849479675, + 0.061620503664016724 + ], + [ + 5.778197288513184, + 1.1118805408477783, + 0.061625927686691284 + ], + [ + 5.778196334838867, + 1.1118656396865845, + 0.5156779885292053 + ], + [ + 5.439299583435059, + 1.111863136291504, + 0.5156772136688232 + ], + [ + 5.439300537109375, + 1.1118780374526978, + 0.06162510812282562 + ] + ] + } + } + }, + { + "objectId": "Dresser|6|1___2", + "object_info": { + "name": "Drawer (2)", + "position": { + "x": 5.609915733337402, + "y": 0.5470976233482361, + "z": 0.48612797260284424 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "CD|surface|6|37", + "Watch|surface|6|38" + ], + "distance": 1.319940447807312, + "objectType": "Drawer", + "objectId": "Dresser|6|1___2", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.964020729064941, + 0.6984910368919373, + 0.6967599391937256 + ], + [ + 5.964020729064941, + 0.6984910368919373, + 0.2743746042251587 + ], + [ + 5.964020729064941, + 0.391704261302948, + 0.6967599391937256 + ], + [ + 5.964020729064941, + 0.391704261302948, + 0.2743746042251587 + ], + [ + 5.255810737609863, + 0.6984910368919373, + 0.6967599391937256 + ], + [ + 5.255810737609863, + 0.6984910368919373, + 0.2743746042251587 + ], + [ + 5.255810737609863, + 0.391704261302948, + 0.6967599391937256 + ], + [ + 5.255810737609863, + 0.391704261302948, + 0.2743746042251587 + ] + ], + "center": { + "x": 5.609915733337402, + "y": 0.5450976490974426, + "z": 0.48556727170944214 + }, + "size": { + "x": 0.7082099914550781, + "y": 0.30678677558898926, + "z": 0.4223853349685669 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DogBed|6|3", + "object_info": { + "name": "DogBed|6|3", + "position": { + "x": 7.852978229522705, + "y": 0.0032488107681274414, + "z": 0.3906584084033966 + }, + "rotation": { + "x": -0.0011136221000924706, + "y": 0.0002035521320067346, + "z": 0.0006151953130029142 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.9800000190734863, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 2.660128593444824, + "objectType": "DogBed", + "objectId": "DogBed|6|3", + "assetId": "Dog_Bed_1_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.217996597290039, + 0.1088542640209198, + 0.7556761503219604 + ], + [ + 8.217996597290039, + 0.1088542640209198, + 0.0250014066696167 + ], + [ + 8.217996597290039, + 1.0505318641662598e-06, + 0.7556761503219604 + ], + [ + 8.217996597290039, + 1.0505318641662598e-06, + 0.0250014066696167 + ], + [ + 7.487320899963379, + 0.1088542640209198, + 0.7556761503219604 + ], + [ + 7.487320899963379, + 0.1088542640209198, + 0.0250014066696167 + ], + [ + 7.487320899963379, + 1.0505318641662598e-06, + 0.7556761503219604 + ], + [ + 7.487320899963379, + 1.0505318641662598e-06, + 0.0250014066696167 + ] + ], + "center": { + "x": 7.852658748626709, + "y": 0.05442765727639198, + "z": 0.3903387784957886 + }, + "size": { + "x": 0.7306756973266602, + "y": 0.10885321348905563, + "z": 0.7306747436523438 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 8.217998504638672, + 1.666136085987091e-05, + 0.7556765079498291 + ], + [ + 7.487322807312012, + 8.81589949131012e-06, + 0.7556791305541992 + ], + [ + 7.4873199462890625, + -5.385605618357658e-06, + 0.02500322461128235 + ], + [ + 8.217996597290039, + 2.4598557502031326e-06, + 0.02500060200691223 + ], + [ + 8.217997550964355, + 0.10885684192180634, + 0.755674421787262 + ], + [ + 7.487321376800537, + 0.10884899646043777, + 0.7556770443916321 + ], + [ + 7.487318992614746, + 0.10883479565382004, + 0.025001108646392822 + ], + [ + 8.217994689941406, + 0.1088426411151886, + 0.024998486042022705 + ] + ] + } + } + }, + { + "objectId": "Bed|6|0|0", + "object_info": { + "name": "Bed|6|0|0", + "position": { + "x": 7.532628059387207, + "y": -0.003118574619293213, + "z": 2.364048719406128 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "Pillow|6|0|1", + "Box|surface|6|41", + "Book|surface|6|45", + "CellPhone|surface|6|34" + ], + "distance": 2.0909922122955322, + "objectType": "Bed", + "objectId": "Bed|6|0|0", + "assetId": "Bed_28", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.218000411987305, + 0.6485360860824585, + 3.2720000743865967 + ], + [ + 8.218000411987305, + 0.6485360860824585, + 1.3972227573394775 + ], + [ + 8.218000411987305, + 0.0, + 3.2720000743865967 + ], + [ + 8.218000411987305, + 0.0, + 1.3972227573394775 + ], + [ + 6.846250534057617, + 0.6485360860824585, + 3.2720000743865967 + ], + [ + 6.846250534057617, + 0.6485360860824585, + 1.3972227573394775 + ], + [ + 6.846250534057617, + 0.0, + 3.2720000743865967 + ], + [ + 6.846250534057617, + 0.0, + 1.3972227573394775 + ] + ], + "center": { + "x": 7.532125473022461, + "y": 0.32426804304122925, + "z": 2.334611415863037 + }, + "size": { + "x": 1.3717498779296875, + "y": 0.6485360860824585, + "z": 1.8747773170471191 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.846251010894775, + 0.0, + 1.3972229957580566 + ], + [ + 8.217999458312988, + 0.0, + 1.397222876548767 + ], + [ + 8.217999458312988, + 0.0, + 3.2719998359680176 + ], + [ + 6.846251010894775, + 0.0, + 3.2720000743865967 + ], + [ + 6.846251010894775, + 0.6485360860824585, + 1.3972229957580566 + ], + [ + 8.217999458312988, + 0.6485360860824585, + 1.397222876548767 + ], + [ + 8.217999458312988, + 0.6485360860824585, + 3.2719998359680176 + ], + [ + 6.846251010894775, + 0.6485360860824585, + 3.2720000743865967 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 6.099999904632568, + "y": 0.9009997844696045, + "z": 1.5 + }, + "agent_rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "agent_cameraHorizon": 60.00001525878906, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 6.099999904632568, + "y": 1.5759997367858887, + "z": 1.5 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Dresser|6|1", + "DogBed|6|3", + "GarbageCan|6|5", + "Dresser|6|1___0", + "Bed|6|0|0" + ], + "different_object": [ + "AlarmClock|surface|6|40", + "Laptop|surface|6|39", + "Dresser|6|1___2", + "Dresser|6|1___1", + "door|5|6" + ] +} \ No newline at end of file diff --git a/train/train1668/3/1_depth_npy.npy b/train/train1668/3/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..5bc792edad3c52b365800aaca82a0ff587103d56 --- /dev/null +++ b/train/train1668/3/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:50751b14300cd0d1cf07814f98e243adea64c34ecf012b212af66e7f1845fe43 +size 3145856 diff --git a/train/train1668/3/1_semantic_sensor_npy.npy b/train/train1668/3/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..5ab6b5e61b9130e7ec382f1e642f82c7ba82c27c --- /dev/null +++ b/train/train1668/3/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cdfe82331b1dca57f80f3b5465d39f4d1adf941b7a5f97063ba7a113d05b504c +size 2359424 diff --git a/train/train1668/3/depth_0.png b/train/train1668/3/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..4f2578d51c26626456415f34f05813c97fbb7f08 Binary files /dev/null and b/train/train1668/3/depth_0.png differ diff --git a/train/train1668/3/depth_1.png b/train/train1668/3/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..70f8feef0b023be210ad31849c6fde2752fdd78c Binary files /dev/null and b/train/train1668/3/depth_1.png differ diff --git a/train/train1668/3/mask_questions.jsonl b/train/train1668/3/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e781fbfe938cad3c1fb90e67f0c43e9b6dc8be70 --- /dev/null +++ b/train/train1668/3/mask_questions.jsonl @@ -0,0 +1,6 @@ +{"id": 2616, "folder_dir": "train1668/3", "pair_name": "0-1:DogBed|6|3", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Dresser\nB. Book\nC. Box\nD. DogBed", "answer": "D", "object_name": "DogBed", "image_1": "train1668/3/rgb_0.png", "image_2": "train1668/3/rgb_1.png", "mask_image": "train1668/3/rgb_1_mask_DogBed|6|3.png", "options": ["Dresser", "Book", "Box", "DogBed"]} +{"id": 2617, "folder_dir": "train1668/3", "pair_name": "0-1:GarbageCan|6|5", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. GarbageCan\nB. Pillow\nC. Book\nD. Dresser", "answer": "A", "object_name": "GarbageCan", "image_1": "train1668/3/rgb_0.png", "image_2": "train1668/3/rgb_1.png", "mask_image": "train1668/3/rgb_1_mask_GarbageCan|6|5.png", "options": ["GarbageCan", "Pillow", "Book", "Dresser"]} +{"id": 2618, "folder_dir": "train1668/3", "pair_name": "0-1:Dresser|6|1___0", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. CellPhone\nB. Drawer\nC. Book\nD. Dresser", "answer": "B", "object_name": "Drawer", "image_1": "train1668/3/rgb_0.png", "image_2": "train1668/3/rgb_1.png", "mask_image": "train1668/3/rgb_1_mask_Dresser|6|1___0.png", "options": ["CellPhone", "Drawer", "Book", "Dresser"]} +{"id": 2619, "folder_dir": "train1668/3", "pair_name": "0-1:Bed|6|0|0", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Pillow\nB. Dresser\nC. Desk\nD. Bed", "answer": "D", "object_name": "Bed", "image_1": "train1668/3/rgb_0.png", "image_2": "train1668/3/rgb_1.png", "mask_image": "train1668/3/rgb_1_mask_Bed|6|0|0.png", "options": ["Pillow", "Dresser", "Desk", "Bed"]} +{"id": 2620, "folder_dir": "train1668/3", "pair_name": "1-0:DogBed|6|3", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Dresser\nB. DogBed\nC. Laptop\nD. Drawer", "answer": "B", "object_name": "DogBed", "image_1": "train1668/3/rgb_1.png", "image_2": "train1668/3/rgb_0.png", "mask_image": "train1668/3/rgb_0_mask_DogBed|6|3.png", "options": ["Dresser", "DogBed", "Laptop", "Drawer"]} +{"id": 2621, "folder_dir": "train1668/3", "pair_name": "1-0:GarbageCan|6|5", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Dresser\nB. Drawer\nC. AlarmClock\nD. GarbageCan", "answer": "D", "object_name": "GarbageCan", "image_1": "train1668/3/rgb_1.png", "image_2": "train1668/3/rgb_0.png", "mask_image": "train1668/3/rgb_0_mask_GarbageCan|6|5.png", "options": ["Dresser", "Drawer", "AlarmClock", "GarbageCan"]} diff --git a/train/train1668/3/questions_direction.jsonl b/train/train1668/3/questions_direction.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..10b327e61ba1fdea5c09b5f2e5df9cf44b642353 --- /dev/null +++ b/train/train1668/3/questions_direction.jsonl @@ -0,0 +1,27 @@ +{"id": 4371, "folder_dir": "train1668/3", "pair_name": "Box-AlarmClock", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Box. Where is the centroid position of AlarmClock in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Box", "tgt_object": "AlarmClock", "src_com": {"x": 7.531583786010742, "y": 0.6512001156806946, "z": 2.0350968837738037}, "tgt_com": {"x": 5.703815460205078, "y": 1.0531694889068604, "z": 0.5552709102630615}, "agent_pos": {"x": 6.300000190734863, "y": 1.5759997367858887, "z": 1.5}, "image_1": "train1668/3/rgb_0.png", "image_2": "train1668/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4372, "folder_dir": "train1668/3", "pair_name": "Box-Doorway", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Box. Where is the centroid position of Doorway in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Box", "tgt_object": "Doorway", "src_com": {"x": 7.531583786010742, "y": 0.6512001156806946, "z": 2.0350968837738037}, "tgt_com": {"x": 3.72072172164917, "y": 1.0524567365646362, "z": 1.7380083799362183}, "agent_pos": {"x": 6.300000190734863, "y": 1.5759997367858887, "z": 1.5}, "image_1": "train1668/3/rgb_0.png", "image_2": "train1668/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4373, "folder_dir": "train1668/3", "pair_name": "Box-Laptop", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Box. Where is the centroid position of Laptop in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Box", "tgt_object": "Laptop", "src_com": {"x": 7.531583786010742, "y": 0.6512001156806946, "z": 2.0350968837738037}, "tgt_com": {"x": 5.6087493896484375, "y": 1.0416357517242432, "z": 0.2886492908000946}, "agent_pos": {"x": 6.300000190734863, "y": 1.5759997367858887, "z": 1.5}, "image_1": "train1668/3/rgb_0.png", "image_2": "train1668/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4374, "folder_dir": "train1668/3", "pair_name": "Desk-AlarmClock", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Desk. Where is the centroid position of AlarmClock in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Desk", "tgt_object": "AlarmClock", "src_com": {"x": 5.936768531799316, "y": 0.35302382707595825, "z": 2.9006879329681396}, "tgt_com": {"x": 5.703815460205078, "y": 1.0531694889068604, "z": 0.5552709102630615}, "agent_pos": {"x": 6.300000190734863, "y": 1.5759997367858887, "z": 1.5}, "image_1": "train1668/3/rgb_0.png", "image_2": "train1668/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4375, "folder_dir": "train1668/3", "pair_name": "Desk-Doorway", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Desk. Where is the centroid position of Doorway in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "A", "src_object": "Desk", "tgt_object": "Doorway", "src_com": {"x": 5.936768531799316, "y": 0.35302382707595825, "z": 2.9006879329681396}, "tgt_com": {"x": 3.72072172164917, "y": 1.0524567365646362, "z": 1.7380083799362183}, "agent_pos": {"x": 6.300000190734863, "y": 1.5759997367858887, "z": 1.5}, "image_1": "train1668/3/rgb_0.png", "image_2": "train1668/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4376, "folder_dir": "train1668/3", "pair_name": "Desk-Laptop", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Desk. Where is the centroid position of Laptop in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Desk", "tgt_object": "Laptop", "src_com": {"x": 5.936768531799316, "y": 0.35302382707595825, "z": 2.9006879329681396}, "tgt_com": {"x": 5.6087493896484375, "y": 1.0416357517242432, "z": 0.2886492908000946}, "agent_pos": {"x": 6.300000190734863, "y": 1.5759997367858887, "z": 1.5}, "image_1": "train1668/3/rgb_0.png", "image_2": "train1668/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4377, "folder_dir": "train1668/3", "pair_name": "Book-AlarmClock", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Book. Where is the centroid position of AlarmClock in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Book", "tgt_object": "AlarmClock", "src_com": {"x": 8.018799781799316, "y": 0.5788894295692444, "z": 2.1169731616973877}, "tgt_com": {"x": 5.703815460205078, "y": 1.0531694889068604, "z": 0.5552709102630615}, "agent_pos": {"x": 6.300000190734863, "y": 1.5759997367858887, "z": 1.5}, "image_1": "train1668/3/rgb_0.png", "image_2": "train1668/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4378, "folder_dir": "train1668/3", "pair_name": "Book-Doorway", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Book. Where is the centroid position of Doorway in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Book", "tgt_object": "Doorway", "src_com": {"x": 8.018799781799316, "y": 0.5788894295692444, "z": 2.1169731616973877}, "tgt_com": {"x": 3.72072172164917, "y": 1.0524567365646362, "z": 1.7380083799362183}, "agent_pos": {"x": 6.300000190734863, "y": 1.5759997367858887, "z": 1.5}, "image_1": "train1668/3/rgb_0.png", "image_2": "train1668/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4379, "folder_dir": "train1668/3", "pair_name": "Book-Laptop", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Book. Where is the centroid position of Laptop in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Book", "tgt_object": "Laptop", "src_com": {"x": 8.018799781799316, "y": 0.5788894295692444, "z": 2.1169731616973877}, "tgt_com": {"x": 5.6087493896484375, "y": 1.0416357517242432, "z": 0.2886492908000946}, "agent_pos": {"x": 6.300000190734863, "y": 1.5759997367858887, "z": 1.5}, "image_1": "train1668/3/rgb_0.png", "image_2": "train1668/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4380, "folder_dir": "train1668/3", "pair_name": "CellPhone-AlarmClock", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of CellPhone. Where is the centroid position of AlarmClock in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "CellPhone", "tgt_object": "AlarmClock", "src_com": {"x": 8.020549774169922, "y": 0.5654215812683105, "z": 2.563382863998413}, "tgt_com": {"x": 5.703815460205078, "y": 1.0531694889068604, "z": 0.5552709102630615}, "agent_pos": {"x": 6.300000190734863, "y": 1.5759997367858887, "z": 1.5}, "image_1": "train1668/3/rgb_0.png", "image_2": "train1668/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4381, "folder_dir": "train1668/3", "pair_name": "CellPhone-Doorway", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of CellPhone. Where is the centroid position of Doorway in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "CellPhone", "tgt_object": "Doorway", "src_com": {"x": 8.020549774169922, "y": 0.5654215812683105, "z": 2.563382863998413}, "tgt_com": {"x": 3.72072172164917, "y": 1.0524567365646362, "z": 1.7380083799362183}, "agent_pos": {"x": 6.300000190734863, "y": 1.5759997367858887, "z": 1.5}, "image_1": "train1668/3/rgb_0.png", "image_2": "train1668/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4382, "folder_dir": "train1668/3", "pair_name": "CellPhone-Laptop", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of CellPhone. Where is the centroid position of Laptop in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "CellPhone", "tgt_object": "Laptop", "src_com": {"x": 8.020549774169922, "y": 0.5654215812683105, "z": 2.563382863998413}, "tgt_com": {"x": 5.6087493896484375, "y": 1.0416357517242432, "z": 0.2886492908000946}, "agent_pos": {"x": 6.300000190734863, "y": 1.5759997367858887, "z": 1.5}, "image_1": "train1668/3/rgb_0.png", "image_2": "train1668/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4383, "folder_dir": "train1668/3", "pair_name": "Pillow-Doorway", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Pillow. Where is the centroid position of Doorway in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Pillow", "tgt_object": "Doorway", "src_com": {"x": 7.532125473022461, "y": 0.6289236545562744, "z": 2.916109800338745}, "tgt_com": {"x": 3.72072172164917, "y": 1.0524567365646362, "z": 1.7380083799362183}, "agent_pos": {"x": 6.300000190734863, "y": 1.5759997367858887, "z": 1.5}, "image_1": "train1668/3/rgb_0.png", "image_2": "train1668/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4384, "folder_dir": "train1668/3", "pair_name": "AlarmClock-Box", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of AlarmClock. Where is the centroid position of Box in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "AlarmClock", "tgt_object": "Box", "src_com": {"x": 5.703815460205078, "y": 1.0531694889068604, "z": 0.5552709102630615}, "tgt_com": {"x": 7.531583786010742, "y": 0.6512001156806946, "z": 2.0350968837738037}, "agent_pos": {"x": 6.099999904632568, "y": 1.5759997367858887, "z": 1.5}, "image_1": "train1668/3/rgb_1.png", "image_2": "train1668/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4385, "folder_dir": "train1668/3", "pair_name": "AlarmClock-Desk", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of AlarmClock. Where is the centroid position of Desk in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "AlarmClock", "tgt_object": "Desk", "src_com": {"x": 5.703815460205078, "y": 1.0531694889068604, "z": 0.5552709102630615}, "tgt_com": {"x": 5.936768531799316, "y": 0.35302382707595825, "z": 2.9006879329681396}, "agent_pos": {"x": 6.099999904632568, "y": 1.5759997367858887, "z": 1.5}, "image_1": "train1668/3/rgb_1.png", "image_2": "train1668/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4386, "folder_dir": "train1668/3", "pair_name": "AlarmClock-Book", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of AlarmClock. Where is the centroid position of Book in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "AlarmClock", "tgt_object": "Book", "src_com": {"x": 5.703815460205078, "y": 1.0531694889068604, "z": 0.5552709102630615}, "tgt_com": {"x": 8.018799781799316, "y": 0.5788894295692444, "z": 2.1169731616973877}, "agent_pos": {"x": 6.099999904632568, "y": 1.5759997367858887, "z": 1.5}, "image_1": "train1668/3/rgb_1.png", "image_2": "train1668/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4387, "folder_dir": "train1668/3", "pair_name": "AlarmClock-CellPhone", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of AlarmClock. Where is the centroid position of CellPhone in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "AlarmClock", "tgt_object": "CellPhone", "src_com": {"x": 5.703815460205078, "y": 1.0531694889068604, "z": 0.5552709102630615}, "tgt_com": {"x": 8.020549774169922, "y": 0.5654215812683105, "z": 2.563382863998413}, "agent_pos": {"x": 6.099999904632568, "y": 1.5759997367858887, "z": 1.5}, "image_1": "train1668/3/rgb_1.png", "image_2": "train1668/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4388, "folder_dir": "train1668/3", "pair_name": "AlarmClock-Pillow", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of AlarmClock. Where is the centroid position of Pillow in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "AlarmClock", "tgt_object": "Pillow", "src_com": {"x": 5.703815460205078, "y": 1.0531694889068604, "z": 0.5552709102630615}, "tgt_com": {"x": 7.532125473022461, "y": 0.6289236545562744, "z": 2.916109800338745}, "agent_pos": {"x": 6.099999904632568, "y": 1.5759997367858887, "z": 1.5}, "image_1": "train1668/3/rgb_1.png", "image_2": "train1668/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4389, "folder_dir": "train1668/3", "pair_name": "Doorway-Box", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Doorway. Where is the centroid position of Box in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Doorway", "tgt_object": "Box", "src_com": {"x": 3.72072172164917, "y": 1.0524567365646362, "z": 1.7380083799362183}, "tgt_com": {"x": 7.531583786010742, "y": 0.6512001156806946, "z": 2.0350968837738037}, "agent_pos": {"x": 6.099999904632568, "y": 1.5759997367858887, "z": 1.5}, "image_1": "train1668/3/rgb_1.png", "image_2": "train1668/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4390, "folder_dir": "train1668/3", "pair_name": "Doorway-Book", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Doorway. Where is the centroid position of Book in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Doorway", "tgt_object": "Book", "src_com": {"x": 3.72072172164917, "y": 1.0524567365646362, "z": 1.7380083799362183}, "tgt_com": {"x": 8.018799781799316, "y": 0.5788894295692444, "z": 2.1169731616973877}, "agent_pos": {"x": 6.099999904632568, "y": 1.5759997367858887, "z": 1.5}, "image_1": "train1668/3/rgb_1.png", "image_2": "train1668/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4391, "folder_dir": "train1668/3", "pair_name": "Doorway-CellPhone", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Doorway. Where is the centroid position of CellPhone in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Doorway", "tgt_object": "CellPhone", "src_com": {"x": 3.72072172164917, "y": 1.0524567365646362, "z": 1.7380083799362183}, "tgt_com": {"x": 8.020549774169922, "y": 0.5654215812683105, "z": 2.563382863998413}, "agent_pos": {"x": 6.099999904632568, "y": 1.5759997367858887, "z": 1.5}, "image_1": "train1668/3/rgb_1.png", "image_2": "train1668/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4392, "folder_dir": "train1668/3", "pair_name": "Doorway-Pillow", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Doorway. Where is the centroid position of Pillow in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Doorway", "tgt_object": "Pillow", "src_com": {"x": 3.72072172164917, "y": 1.0524567365646362, "z": 1.7380083799362183}, "tgt_com": {"x": 7.532125473022461, "y": 0.6289236545562744, "z": 2.916109800338745}, "agent_pos": {"x": 6.099999904632568, "y": 1.5759997367858887, "z": 1.5}, "image_1": "train1668/3/rgb_1.png", "image_2": "train1668/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4393, "folder_dir": "train1668/3", "pair_name": "Laptop-Box", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Laptop. Where is the centroid position of Box in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Laptop", "tgt_object": "Box", "src_com": {"x": 5.6087493896484375, "y": 1.0416357517242432, "z": 0.2886492908000946}, "tgt_com": {"x": 7.531583786010742, "y": 0.6512001156806946, "z": 2.0350968837738037}, "agent_pos": {"x": 6.099999904632568, "y": 1.5759997367858887, "z": 1.5}, "image_1": "train1668/3/rgb_1.png", "image_2": "train1668/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4394, "folder_dir": "train1668/3", "pair_name": "Laptop-Desk", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Laptop. Where is the centroid position of Desk in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Laptop", "tgt_object": "Desk", "src_com": {"x": 5.6087493896484375, "y": 1.0416357517242432, "z": 0.2886492908000946}, "tgt_com": {"x": 5.936768531799316, "y": 0.35302382707595825, "z": 2.9006879329681396}, "agent_pos": {"x": 6.099999904632568, "y": 1.5759997367858887, "z": 1.5}, "image_1": "train1668/3/rgb_1.png", "image_2": "train1668/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4395, "folder_dir": "train1668/3", "pair_name": "Laptop-Book", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Laptop. Where is the centroid position of Book in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Laptop", "tgt_object": "Book", "src_com": {"x": 5.6087493896484375, "y": 1.0416357517242432, "z": 0.2886492908000946}, "tgt_com": {"x": 8.018799781799316, "y": 0.5788894295692444, "z": 2.1169731616973877}, "agent_pos": {"x": 6.099999904632568, "y": 1.5759997367858887, "z": 1.5}, "image_1": "train1668/3/rgb_1.png", "image_2": "train1668/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4396, "folder_dir": "train1668/3", "pair_name": "Laptop-CellPhone", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Laptop. Where is the centroid position of CellPhone in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Laptop", "tgt_object": "CellPhone", "src_com": {"x": 5.6087493896484375, "y": 1.0416357517242432, "z": 0.2886492908000946}, "tgt_com": {"x": 8.020549774169922, "y": 0.5654215812683105, "z": 2.563382863998413}, "agent_pos": {"x": 6.099999904632568, "y": 1.5759997367858887, "z": 1.5}, "image_1": "train1668/3/rgb_1.png", "image_2": "train1668/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4397, "folder_dir": "train1668/3", "pair_name": "Laptop-Pillow", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Laptop. Where is the centroid position of Pillow in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "Laptop", "tgt_object": "Pillow", "src_com": {"x": 5.6087493896484375, "y": 1.0416357517242432, "z": 0.2886492908000946}, "tgt_com": {"x": 7.532125473022461, "y": 0.6289236545562744, "z": 2.916109800338745}, "agent_pos": {"x": 6.099999904632568, "y": 1.5759997367858887, "z": 1.5}, "image_1": "train1668/3/rgb_1.png", "image_2": "train1668/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} diff --git a/train/train1668/3/questions_distance.jsonl b/train/train1668/3/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..de1e55c6fda76c969cc035a966b528c462a6e38f --- /dev/null +++ b/train/train1668/3/questions_distance.jsonl @@ -0,0 +1,3 @@ +{"id": 1057, "folder_dir": "train1668/3", "query": "Which of the following objects is closest to DogBed in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. GarbageCan\nB. Box\nC. Book\nD. Other\n", "answer": "A", "src_object": "DogBed", "target_object": "GarbageCan", "question": "Which of the following objects is closest to DogBed in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "GarbageCan", "semantic_id": "GarbageCan|6|5", "distance": 1.6013122016391272, "com": {"x": 6.285170078277588, "y": 0.32797980308532715, "z": 0.21047978103160858}}, {"text": "Box", "semantic_id": "Box|surface|6|41", "distance": 1.778891712164202, "com": {"x": 7.531583786010742, "y": 0.6512001156806946, "z": 2.0350968837738037}}, {"text": "Book", "semantic_id": "Book|surface|6|45", "distance": 1.8121614957707792, "com": {"x": 8.018799781799316, "y": 0.5788894295692444, "z": 2.1169731616973877}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1668/3/rgb_0.png", "image_2": "train1668/3/rgb_1.png"} +{"id": 1058, "folder_dir": "train1668/3", "query": "Which of the following objects is closest to GarbageCan in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. AlarmClock\nB. DogBed\nC. Laptop\nD. Other\n", "answer": "C", "src_object": "GarbageCan", "target_object": "Laptop", "question": "Which of the following objects is closest to GarbageCan in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "AlarmClock", "semantic_id": "AlarmClock|surface|6|40", "distance": 0.9913395962902259, "com": {"x": 5.703815460205078, "y": 1.0531694889068604, "z": 0.5552709102630615}}, {"text": "DogBed", "semantic_id": "DogBed|6|3", "distance": 1.6013122016391272, "com": {"x": 7.852658748626709, "y": 0.05442765727639198, "z": 0.3903387784957886}}, {"text": "Laptop", "semantic_id": "Laptop|surface|6|39", "distance": 0.9863874661058354, "com": {"x": 5.6087493896484375, "y": 1.0416357517242432, "z": 0.2886492908000946}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1668/3/rgb_0.png", "image_2": "train1668/3/rgb_1.png"} +{"id": 1059, "folder_dir": "train1668/3", "query": "Which of the following objects is closest to Bed in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Box\nB. Book\nC. CellPhone\nD. Other\n", "answer": "A", "src_object": "Bed", "target_object": "Box", "question": "Which of the following objects is closest to Bed in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Box", "semantic_id": "Box|surface|6|41", "distance": 0.4433890261133982, "com": {"x": 7.531583786010742, "y": 0.6512001156806946, "z": 2.0350968837738037}}, {"text": "Book", "semantic_id": "Book|surface|6|45", "distance": 0.5908048264673798, "com": {"x": 8.018799781799316, "y": 0.5788894295692444, "z": 2.1169731616973877}}, {"text": "CellPhone", "semantic_id": "CellPhone|surface|6|34", "distance": 0.5908042843723994, "com": {"x": 8.020549774169922, "y": 0.5654215812683105, "z": 2.563382863998413}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1668/3/rgb_0.png", "image_2": "train1668/3/rgb_1.png"} diff --git a/train/train1668/3/rgb_0.png b/train/train1668/3/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..2058a4a2e3fe5479a92b450a644696b6ea8e441b --- /dev/null +++ b/train/train1668/3/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ce2de0e25bcb23a695ef2ddc98ff7a5b710c87546a1ab4a176c14c5a6b8269ce +size 582961 diff --git a/train/train1668/3/rgb_0_mask_DogBed|6|3.png b/train/train1668/3/rgb_0_mask_DogBed|6|3.png new file mode 100644 index 0000000000000000000000000000000000000000..fcd33a3d4b3a96e965a97b847c6909925144765d --- /dev/null +++ b/train/train1668/3/rgb_0_mask_DogBed|6|3.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:072f5a4970939e97679fc14bcd432a49f7c944617d79ffcd289858954ff50b51 +size 496455 diff --git a/train/train1668/3/rgb_0_mask_GarbageCan|6|5.png b/train/train1668/3/rgb_0_mask_GarbageCan|6|5.png new file mode 100644 index 0000000000000000000000000000000000000000..3199e0987c3c4c40dcece42e30b153b6b3837da8 --- /dev/null +++ b/train/train1668/3/rgb_0_mask_GarbageCan|6|5.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cf27cb64b9552247bbcb837339ebeb864c3043a62302a66472cf69712c06c4a6 +size 499315 diff --git a/train/train1668/3/rgb_1.png b/train/train1668/3/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..36d4e71c36154d5a7aa59fb0b54c318eba53cca9 --- /dev/null +++ b/train/train1668/3/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4a18be5eb5b75b93957b0b3d56bce232195b21d8e6ee65987b2c919dc70c220f +size 626334 diff --git a/train/train1668/3/rgb_1_mask_Bed|6|0|0.png b/train/train1668/3/rgb_1_mask_Bed|6|0|0.png new file mode 100644 index 0000000000000000000000000000000000000000..731621950767a85f90d7c4264f07e3704ea9d4a6 --- /dev/null +++ b/train/train1668/3/rgb_1_mask_Bed|6|0|0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b2f9348fed70ca4074f6c92b06297de9743c6b17903999d0ccc3e80f1c980f01 +size 495761 diff --git a/train/train1668/3/rgb_1_mask_DogBed|6|3.png b/train/train1668/3/rgb_1_mask_DogBed|6|3.png new file mode 100644 index 0000000000000000000000000000000000000000..dd64428f950342648ed365d3be7fd1d146763a17 --- /dev/null +++ b/train/train1668/3/rgb_1_mask_DogBed|6|3.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:242caa653e962fcd2fed40793c2bbec437251193fd0dee7f715bce782dc3ac23 +size 528985 diff --git a/train/train1668/3/rgb_1_mask_Dresser|6|1___0.png b/train/train1668/3/rgb_1_mask_Dresser|6|1___0.png new file mode 100644 index 0000000000000000000000000000000000000000..721a1084c1d59ca551ed37a52302a409c866e212 --- /dev/null +++ b/train/train1668/3/rgb_1_mask_Dresser|6|1___0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:64538f00873df8476bd8fcd89bc72c0034880ac398fa9999a373bcff6f27a3a9 +size 549864 diff --git a/train/train1668/3/rgb_1_mask_GarbageCan|6|5.png b/train/train1668/3/rgb_1_mask_GarbageCan|6|5.png new file mode 100644 index 0000000000000000000000000000000000000000..0885394a16072766f69a5431420d80b328ddf0a3 --- /dev/null +++ b/train/train1668/3/rgb_1_mask_GarbageCan|6|5.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:faa049f5e1a37f683acbc495ddc7b11eccf97a47b6888423ddb8ea09061f1e95 +size 543155 diff --git a/train/train1668/3/semantic_0.png b/train/train1668/3/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..daf668ff82c9cec5fed1e22616dfc78e8ff47f91 Binary files /dev/null and b/train/train1668/3/semantic_0.png differ diff --git a/train/train1668/3/semantic_1.png b/train/train1668/3/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..e56fef5db8e2ed6746493fdc93e2758b5f55a1b5 Binary files /dev/null and b/train/train1668/3/semantic_1.png differ diff --git a/train/train1668/4/0.json b/train/train1668/4/0.json new file mode 100644 index 0000000000000000000000000000000000000000..4dffaff570917f62b575fb75eb3203a887ecd226 --- /dev/null +++ b/train/train1668/4/0.json @@ -0,0 +1,1852 @@ +{ + "object": [ + { + "objectId": "Dumbbell|surface|6|46", + "object_info": { + "name": "Dumbbell|surface|6|46", + "position": { + "x": 5.356489181518555, + "y": 0.7072564363479614, + "z": 2.711108684539795 + }, + "rotation": { + "x": 9.429193596588448e-05, + "y": 180.00025939941406, + "z": -0.0018494062824174762 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 4.539999961853027, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 1.056464433670044, + "objectType": "Dumbbell", + "objectId": "Dumbbell|surface|6|46", + "assetId": "Dumbbell_1_1", + "parentReceptacles": [ + "Desk|6|2" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.422698974609375, + 0.8384685516357422, + 2.8762903213500977 + ], + [ + 5.422698974609375, + 0.8384685516357422, + 2.5456271171569824 + ], + [ + 5.422698974609375, + 0.7060443162918091, + 2.8762903213500977 + ], + [ + 5.422698974609375, + 0.7060443162918091, + 2.5456271171569824 + ], + [ + 5.290274620056152, + 0.8384685516357422, + 2.8762903213500977 + ], + [ + 5.290274620056152, + 0.8384685516357422, + 2.5456271171569824 + ], + [ + 5.290274620056152, + 0.7060443162918091, + 2.8762903213500977 + ], + [ + 5.290274620056152, + 0.7060443162918091, + 2.5456271171569824 + ] + ], + "center": { + "x": 5.356486797332764, + "y": 0.7722564339637756, + "z": 2.71095871925354 + }, + "size": { + "x": 0.13242435455322266, + "y": 0.1324242353439331, + "z": 0.33066320419311523 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.290277481079102, + 0.706043004989624, + 2.5456275939941406 + ], + [ + 5.422699451446533, + 0.7060472965240479, + 2.5456268787384033 + ], + [ + 5.422700881958008, + 0.7060478329658508, + 2.8762898445129395 + ], + [ + 5.290278911590576, + 0.706043541431427, + 2.8762903213500977 + ], + [ + 5.290273189544678, + 0.8384652137756348, + 2.5456273555755615 + ], + [ + 5.422695159912109, + 0.8384694457054138, + 2.545626640319824 + ], + [ + 5.422697067260742, + 0.8384699821472168, + 2.8762896060943604 + ], + [ + 5.290274620056152, + 0.838465690612793, + 2.8762903213500977 + ] + ] + } + } + }, + { + "objectId": "Box|5|4", + "object_info": { + "name": "Box|5|4", + "position": { + "x": 0.17806901037693024, + "y": 1.7136335372924805e-07, + "z": 3.3574905395507812 + }, + "rotation": { + "x": 1.0498879419174045e-05, + "y": 90.00000762939453, + "z": -2.1695677787647583e-07 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.14000000059604645, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": [], + "distance": 5.868751049041748, + "objectType": "Box", + "objectId": "Box|5|4", + "assetId": "DecorativeBox3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.3318299353122711, + 0.1904660314321518, + 3.511014938354492 + ], + [ + 0.3318299353122711, + 0.1904660314321518, + 3.203965187072754 + ], + [ + 0.3318299353122711, + 1.1920928955078125e-07, + 3.511014938354492 + ], + [ + 0.3318299353122711, + 1.1920928955078125e-07, + 3.203965187072754 + ], + [ + 0.02500814199447632, + 0.1904660314321518, + 3.511014938354492 + ], + [ + 0.02500814199447632, + 0.1904660314321518, + 3.203965187072754 + ], + [ + 0.02500814199447632, + 1.1920928955078125e-07, + 3.511014938354492 + ], + [ + 0.02500814199447632, + 1.1920928955078125e-07, + 3.203965187072754 + ] + ], + "center": { + "x": 0.17841903865337372, + "y": 0.09523307532072067, + "z": 3.357490062713623 + }, + "size": { + "x": 0.3068217933177948, + "y": 0.19046591222286224, + "z": 0.3070497512817383 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.33183109760284424, + -1.2561426387946995e-07, + 3.2039637565612793 + ], + [ + 0.331831157207489, + -1.2445158859009098e-07, + 3.5110161304473877 + ], + [ + 0.02500690519809723, + -6.8229098815209e-08, + 3.5110161304473877 + ], + [ + 0.02500687539577484, + -6.939177410458797e-08, + 3.2039637565612793 + ], + [ + 0.331831157207489, + 0.19046738743782043, + 3.2039637565612793 + ], + [ + 0.331831157207489, + 0.19046738743782043, + 3.5110161304473877 + ], + [ + 0.025006935000419617, + 0.1904674470424652, + 3.5110161304473877 + ], + [ + 0.02500690519809723, + 0.1904674470424652, + 3.2039637565612793 + ] + ] + } + } + }, + { + "objectId": "Desk|6|2", + "object_info": { + "name": "Desk|6|2", + "position": { + "x": 5.937110424041748, + "y": -0.0007331371307373047, + "z": 2.9056951999664307 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 34.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Mug|surface|6|35", + "DeskLamp|surface|6|47", + "Book|surface|6|49", + "Watch|surface|6|43", + "Dumbbell|surface|6|46", + "DeskLamp|surface|6|48", + "CellPhone|surface|6|42" + ], + "distance": 1.477756381034851, + "objectType": "Desk", + "objectId": "Desk|6|2", + "assetId": "Desk_320_2_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.711947441101074, + 0.7060455679893494, + 3.2719976902008057 + ], + [ + 6.711947441101074, + 0.7060455679893494, + 2.5293781757354736 + ], + [ + 6.711947441101074, + 2.086162567138672e-06, + 3.2719976902008057 + ], + [ + 6.711947441101074, + 2.086162567138672e-06, + 2.5293781757354736 + ], + [ + 5.161589622497559, + 0.7060455679893494, + 3.2719976902008057 + ], + [ + 5.161589622497559, + 0.7060455679893494, + 2.5293781757354736 + ], + [ + 5.161589622497559, + 2.086162567138672e-06, + 3.2719976902008057 + ], + [ + 5.161589622497559, + 2.086162567138672e-06, + 2.5293781757354736 + ] + ], + "center": { + "x": 5.936768531799316, + "y": 0.35302382707595825, + "z": 2.9006879329681396 + }, + "size": { + "x": 1.5503578186035156, + "y": 0.7060434818267822, + "z": 0.742619514465332 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.161589622497559, + 2.1457672119140625e-06, + 2.5293784141540527 + ], + [ + 6.711947441101074, + 2.1457672119140625e-06, + 2.5293781757354736 + ], + [ + 6.711947441101074, + 2.1457672119140625e-06, + 3.2719974517822266 + ], + [ + 5.161589622497559, + 2.1457672119140625e-06, + 3.2719976902008057 + ], + [ + 5.161589622497559, + 0.7060456275939941, + 2.5293784141540527 + ], + [ + 6.711947441101074, + 0.7060456275939941, + 2.5293781757354736 + ], + [ + 6.711947441101074, + 0.7060456275939941, + 3.2719974517822266 + ], + [ + 5.161589622497559, + 0.7060456275939941, + 3.2719976902008057 + ] + ] + } + } + }, + { + "objectId": "Dresser|6|1", + "object_info": { + "name": "Dresser|6|1", + "position": { + "x": 5.613176345825195, + "y": 0.0010976195335388184, + "z": 0.373943567276001 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "AlarmClock|surface|6|40", + "Laptop|surface|6|39" + ], + "distance": 1.6498714685440063, + "objectType": "Dresser", + "objectId": "Dresser|6|1", + "assetId": "Dresser_318_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.002116680145264, + 0.9713932275772095, + 0.7236727476119995 + ], + [ + 6.002116680145264, + 0.9713932275772095, + 0.025004029273986816 + ], + [ + 6.002116680145264, + 1.3709068298339844e-06, + 0.7236727476119995 + ], + [ + 6.002116680145264, + 1.3709068298339844e-06, + 0.025004029273986816 + ], + [ + 5.235853672027588, + 0.9713932275772095, + 0.7236727476119995 + ], + [ + 5.235853672027588, + 0.9713932275772095, + 0.025004029273986816 + ], + [ + 5.235853672027588, + 1.3709068298339844e-06, + 0.7236727476119995 + ], + [ + 5.235853672027588, + 1.3709068298339844e-06, + 0.025004029273986816 + ] + ], + "center": { + "x": 5.618985176086426, + "y": 0.48569729924201965, + "z": 0.37433838844299316 + }, + "size": { + "x": 0.7662630081176758, + "y": 0.9713918566703796, + "z": 0.6986687183380127 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.002116680145264, + 1.430511474609375e-06, + 0.72367262840271 + ], + [ + 5.235853672027588, + 1.430511474609375e-06, + 0.72367262840271 + ], + [ + 5.235853672027588, + 1.430511474609375e-06, + 0.02500411868095398 + ], + [ + 6.002116680145264, + 1.430511474609375e-06, + 0.02500411868095398 + ], + [ + 6.002116680145264, + 0.9713929295539856, + 0.72367262840271 + ], + [ + 5.235853672027588, + 0.9713929295539856, + 0.72367262840271 + ], + [ + 5.235853672027588, + 0.9713929295539856, + 0.02500411868095398 + ], + [ + 6.002116680145264, + 0.9713929295539856, + 0.02500411868095398 + ] + ] + } + } + }, + { + "objectId": "Dresser|6|1___1", + "object_info": { + "name": "Drawer (1)", + "position": { + "x": 5.609915733337402, + "y": 0.8300976157188416, + "z": 0.48612797260284424 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "CellPhone|surface|6|44" + ], + "distance": 1.2735867500305176, + "objectType": "Drawer", + "objectId": "Dresser|6|1___1", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.964020729064941, + 0.9450600147247314, + 0.6941201090812683 + ], + [ + 5.964020729064941, + 0.9450600147247314, + 0.2770146131515503 + ], + [ + 5.964020729064941, + 0.7111351490020752, + 0.6941201090812683 + ], + [ + 5.964020729064941, + 0.7111351490020752, + 0.2770146131515503 + ], + [ + 5.255810737609863, + 0.9450600147247314, + 0.6941201090812683 + ], + [ + 5.255810737609863, + 0.9450600147247314, + 0.2770146131515503 + ], + [ + 5.255810737609863, + 0.7111351490020752, + 0.6941201090812683 + ], + [ + 5.255810737609863, + 0.7111351490020752, + 0.2770146131515503 + ] + ], + "center": { + "x": 5.609915733337402, + "y": 0.8280975818634033, + "z": 0.4855673611164093 + }, + "size": { + "x": 0.7082099914550781, + "y": 0.23392486572265625, + "z": 0.417105495929718 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Pillow|surface|5|29", + "object_info": { + "name": "Pillow|surface|5|29", + "position": { + "x": 1.1645339727401733, + "y": 0.4712802767753601, + "z": 0.6754803657531738 + }, + "rotation": { + "x": -7.388253493445518e-07, + "y": 180.0, + "z": -1.296429672947852e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 4.729244232177734, + "objectType": "Pillow", + "objectId": "Pillow|surface|5|29", + "assetId": "pillow_13", + "parentReceptacles": [ + "Bed|5|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.3473739624023438, + 0.5321699380874634, + 0.8660040497779846 + ], + [ + 1.3473739624023438, + 0.5321699380874634, + 0.48495668172836304 + ], + [ + 1.3473739624023438, + 0.41039061546325684, + 0.8660040497779846 + ], + [ + 1.3473739624023438, + 0.41039061546325684, + 0.48495668172836304 + ], + [ + 0.9816939830780029, + 0.5321699380874634, + 0.8660040497779846 + ], + [ + 0.9816939830780029, + 0.5321699380874634, + 0.48495668172836304 + ], + [ + 0.9816939830780029, + 0.41039061546325684, + 0.8660040497779846 + ], + [ + 0.9816939830780029, + 0.41039061546325684, + 0.48495668172836304 + ] + ], + "center": { + "x": 1.1645339727401733, + "y": 0.4712802767753601, + "z": 0.6754803657531738 + }, + "size": { + "x": 0.3656799793243408, + "y": 0.12177932262420654, + "z": 0.3810473680496216 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.9816939234733582, + 0.41039058566093445, + 0.4849567413330078 + ], + [ + 1.3473739624023438, + 0.41039058566093445, + 0.48495668172836304 + ], + [ + 1.3473739624023438, + 0.41039058566093445, + 0.8660039901733398 + ], + [ + 0.9816939830780029, + 0.41039058566093445, + 0.8660040497779846 + ], + [ + 0.9816939234733582, + 0.5321699380874634, + 0.4849567413330078 + ], + [ + 1.3473739624023438, + 0.5321699976921082, + 0.48495668172836304 + ], + [ + 1.3473739624023438, + 0.5321699380874634, + 0.8660039901733398 + ], + [ + 0.9816939830780029, + 0.5321699380874634, + 0.8660040497779846 + ] + ] + } + } + }, + { + "objectId": "window|5|0", + "object_info": { + "name": "window|5|0", + "position": { + "x": 6.83011364799313e-07, + "y": 0.7084227800369263, + "z": 3.518590211868286 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 6.018927574157715, + "objectType": "Window", + "objectId": "window|5|0", + "assetId": "Window_Hung_44x60", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.12152539938688278, + 2.29044508934021, + 4.670433044433594 + ], + [ + 0.12152539938688278, + 2.29044508934021, + 3.5348072052001953 + ], + [ + 0.12152539938688278, + 0.7081930637359619, + 4.670433044433594 + ], + [ + 0.12152539938688278, + 0.7081930637359619, + 3.5348072052001953 + ], + [ + -0.12152548879384995, + 2.29044508934021, + 4.670433044433594 + ], + [ + -0.12152548879384995, + 2.29044508934021, + 3.5348072052001953 + ], + [ + -0.12152548879384995, + 0.7081930637359619, + 4.670433044433594 + ], + [ + -0.12152548879384995, + 0.7081930637359619, + 3.5348072052001953 + ] + ], + "center": { + "x": -4.470348358154297e-08, + "y": 1.499319076538086, + "z": 4.1026201248168945 + }, + "size": { + "x": 0.24305088818073273, + "y": 1.582252025604248, + "z": 1.1356258392333984 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "BaseballBat|5|3", + "object_info": { + "name": "BaseballBat|5|3", + "position": { + "x": 0.05189048498868942, + "y": 0.2752835154533386, + "z": 1.2230607271194458 + }, + "rotation": { + "x": 15.677070617675781, + "y": 180.0865020751953, + "z": 0.03711382672190666 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.8999999761581421, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.756530284881592, + "objectType": "BaseballBat", + "objectId": "BaseballBat|5|3", + "assetId": "BaseballBat_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.09040220081806183, + 0.9473104476928711, + 1.3400006294250488 + ], + [ + 0.09040220081806183, + 0.9473104476928711, + 0.9946694374084473 + ], + [ + 0.09040220081806183, + -2.6464462280273438e-05, + 1.3400006294250488 + ], + [ + 0.09040220081806183, + -2.6464462280273438e-05, + 0.9946694374084473 + ], + [ + 0.00926324725151062, + 0.9473104476928711, + 1.3400006294250488 + ], + [ + 0.00926324725151062, + 0.9473104476928711, + 0.9946694374084473 + ], + [ + 0.00926324725151062, + -2.6464462280273438e-05, + 1.3400006294250488 + ], + [ + 0.00926324725151062, + -2.6464462280273438e-05, + 0.9946694374084473 + ] + ], + "center": { + "x": 0.049832724034786224, + "y": 0.4736419916152954, + "z": 1.167335033416748 + }, + "size": { + "x": 0.08113895356655121, + "y": 0.9473369121551514, + "z": 0.34533119201660156 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.009263195097446442, + 2.3931264877319336e-05, + 1.2538535594940186 + ], + [ + 0.09004227817058563, + -2.6434659957885742e-05, + 1.253745675086975 + ], + [ + 0.09017233550548553, + 0.024151265621185303, + 1.339892864227295 + ], + [ + 0.009393256157636642, + 0.024201631546020508, + 1.3400007486343384 + ], + [ + 0.009493108838796616, + 0.9231327176094055, + 0.9947773218154907 + ], + [ + 0.09027218818664551, + 0.9230822920799255, + 0.9946694374084473 + ], + [ + 0.09040225297212601, + 0.9472599625587463, + 1.080816626548767 + ], + [ + 0.009623169898986816, + 0.9473103880882263, + 1.0809245109558105 + ] + ] + } + } + }, + { + "objectId": "door|5|6", + "object_info": { + "name": "door|5|6", + "position": { + "x": 3.296997308731079, + "y": -0.0005984306335449219, + "z": 2.733199119567871 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.792271852493286, + "objectType": "Doorway", + "objectId": "door|5|6", + "assetId": "Doorway_Double_4", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.215017318725586, + 2.1049137115478516, + 2.757469654083252 + ], + [ + 4.215017318725586, + 2.1049137115478516, + 0.7185471057891846 + ], + [ + 4.215017318725586, + -2.384185791015625e-07, + 2.757469654083252 + ], + [ + 4.215017318725586, + -2.384185791015625e-07, + 0.7185471057891846 + ], + [ + 3.226426124572754, + 2.1049137115478516, + 2.757469654083252 + ], + [ + 3.226426124572754, + 2.1049137115478516, + 0.7185471057891846 + ], + [ + 3.226426124572754, + -2.384185791015625e-07, + 2.757469654083252 + ], + [ + 3.226426124572754, + -2.384185791015625e-07, + 0.7185471057891846 + ] + ], + "center": { + "x": 3.72072172164917, + "y": 1.0524567365646362, + "z": 1.7380083799362183 + }, + "size": { + "x": 0.988591194152832, + "y": 2.1049139499664307, + "z": 2.0389225482940674 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bed|5|0", + "object_info": { + "name": "Bed|5|0", + "position": { + "x": 0.956404447555542, + "y": -0.00014960765838623047, + "z": 0.5497106313705444 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "Pillow|surface|5|29" + ], + "distance": 5.023078918457031, + "objectType": "Bed", + "objectId": "Bed|5|0", + "assetId": "Bed_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.9439053535461426, + 0.6464672088623047, + 1.0737876892089844 + ], + [ + 1.9439053535461426, + 0.6464672088623047, + 0.024999797344207764 + ], + [ + 1.9439053535461426, + 2.9802322387695312e-08, + 1.0737876892089844 + ], + [ + 1.9439053535461426, + 2.9802322387695312e-08, + 0.024999797344207764 + ], + [ + 0.02500009536743164, + 0.6464672088623047, + 1.0737876892089844 + ], + [ + 0.02500009536743164, + 0.6464672088623047, + 0.024999797344207764 + ], + [ + 0.02500009536743164, + 2.9802322387695312e-08, + 1.0737876892089844 + ], + [ + 0.02500009536743164, + 2.9802322387695312e-08, + 0.024999797344207764 + ] + ], + "center": { + "x": 0.9844527244567871, + "y": 0.32323363423347473, + "z": 0.5493937134742737 + }, + "size": { + "x": 1.918905258178711, + "y": 0.6464672088623047, + "z": 1.0487878322601318 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.9439051151275635, + 0.0, + 0.024999797344207764 + ], + [ + 1.9439051151275635, + 0.0, + 1.0737875699996948 + ], + [ + 0.024999916553497314, + 0.0, + 1.0737876892089844 + ], + [ + 0.024999797344207764, + 0.0, + 0.02499997615814209 + ], + [ + 1.9439051151275635, + 0.6464670896530151, + 0.024999797344207764 + ], + [ + 1.9439051151275635, + 0.6464670896530151, + 1.0737875699996948 + ], + [ + 0.024999916553497314, + 0.6464670896530151, + 1.0737876892089844 + ], + [ + 0.024999797344207764, + 0.6464670896530151, + 0.02499997615814209 + ] + ] + } + } + }, + { + "objectId": "Dresser|6|1___2", + "object_info": { + "name": "Drawer (2)", + "position": { + "x": 5.609915733337402, + "y": 0.5470976233482361, + "z": 0.48612797260284424 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "CD|surface|6|37", + "Watch|surface|6|38" + ], + "distance": 1.319940447807312, + "objectType": "Drawer", + "objectId": "Dresser|6|1___2", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.964020729064941, + 0.6984910368919373, + 0.6967599391937256 + ], + [ + 5.964020729064941, + 0.6984910368919373, + 0.2743746042251587 + ], + [ + 5.964020729064941, + 0.391704261302948, + 0.6967599391937256 + ], + [ + 5.964020729064941, + 0.391704261302948, + 0.2743746042251587 + ], + [ + 5.255810737609863, + 0.6984910368919373, + 0.6967599391937256 + ], + [ + 5.255810737609863, + 0.6984910368919373, + 0.2743746042251587 + ], + [ + 5.255810737609863, + 0.391704261302948, + 0.6967599391937256 + ], + [ + 5.255810737609863, + 0.391704261302948, + 0.2743746042251587 + ] + ], + "center": { + "x": 5.609915733337402, + "y": 0.5450976490974426, + "z": 0.48556727170944214 + }, + "size": { + "x": 0.7082099914550781, + "y": 0.30678677558898926, + "z": 0.4223853349685669 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|5|6", + "object_info": { + "name": "Painting|5|6", + "position": { + "x": 0.004995774477720261, + "y": 1.517546534538269, + "z": 2.281242847442627 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Wood" + ], + "receptacleObjectIds": null, + "distance": 5.802363395690918, + "objectType": "Painting", + "objectId": "Painting|5|6", + "assetId": "Wall_Decor_Painting_1V", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.036741048097610474, + 1.8408724069595337, + 2.7424468994140625 + ], + [ + 0.036741048097610474, + 1.8408724069595337, + 1.8200387954711914 + ], + [ + 0.036741048097610474, + 1.1942206621170044, + 2.7424468994140625 + ], + [ + 0.036741048097610474, + 1.1942206621170044, + 1.8200387954711914 + ], + [ + 0.004999935626983643, + 1.8408724069595337, + 2.7424468994140625 + ], + [ + 0.004999935626983643, + 1.8408724069595337, + 1.8200387954711914 + ], + [ + 0.004999935626983643, + 1.1942206621170044, + 2.7424468994140625 + ], + [ + 0.004999935626983643, + 1.1942206621170044, + 1.8200387954711914 + ] + ], + "center": { + "x": 0.020870491862297058, + "y": 1.517546534538269, + "z": 2.281242847442627 + }, + "size": { + "x": 0.03174111247062683, + "y": 0.6466517448425293, + "z": 0.9224081039428711 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "BasketBall|5|1", + "object_info": { + "name": "BasketBall|5|1", + "position": { + "x": 1.2298182249069214, + "y": 0.11968711018562317, + "z": 2.5692527294158936 + }, + "rotation": { + "x": -0.0, + "y": -0.0, + "z": 1.7097413484989943e-09 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6000000238418579, + "salientMaterials": [ + "Rubber" + ], + "receptacleObjectIds": null, + "distance": 4.659792423248291, + "objectType": "BasketBall", + "objectId": "BasketBall|5|1", + "assetId": "RoboTHOR_basketball_rhode_island_novelty_v", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.3495053052902222, + 0.23937422037124634, + 2.6889398097991943 + ], + [ + 1.3495053052902222, + 0.23937422037124634, + 2.4495656490325928 + ], + [ + 1.3495053052902222, + 0.0, + 2.6889398097991943 + ], + [ + 1.3495053052902222, + 0.0, + 2.4495656490325928 + ], + [ + 1.1101311445236206, + 0.23937422037124634, + 2.6889398097991943 + ], + [ + 1.1101311445236206, + 0.23937422037124634, + 2.4495656490325928 + ], + [ + 1.1101311445236206, + 0.0, + 2.6889398097991943 + ], + [ + 1.1101311445236206, + 0.0, + 2.4495656490325928 + ] + ], + "center": { + "x": 1.2298182249069214, + "y": 0.11968711018562317, + "z": 2.5692527294158936 + }, + "size": { + "x": 0.23937416076660156, + "y": 0.23937422037124634, + "z": 0.23937416076660156 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.3495053052902222, + 7.450580596923828e-09, + 2.6889398097991943 + ], + [ + 1.1101311445236206, + 7.450580596923828e-09, + 2.6889398097991943 + ], + [ + 1.1101311445236206, + 7.450580596923828e-09, + 2.4495656490325928 + ], + [ + 1.3495053052902222, + 7.450580596923828e-09, + 2.4495656490325928 + ], + [ + 1.3495053052902222, + 0.23937422037124634, + 2.6889398097991943 + ], + [ + 1.1101311445236206, + 0.23937422037124634, + 2.6889398097991943 + ], + [ + 1.1101311445236206, + 0.23937422037124634, + 2.4495656490325928 + ], + [ + 1.3495053052902222, + 0.23937422037124634, + 2.4495656490325928 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 6.199999809265137, + "y": 0.9009997844696045, + "z": 1.7000000476837158 + }, + "agent_rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "agent_cameraHorizon": 1.5309449281630805e-06, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 6.199999809265137, + "y": 1.5759997367858887, + "z": 1.7000000476837158 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Dresser|6|1___1", + "Dresser|6|1___2", + "Dresser|6|1" + ], + "different_object": [ + "BasketBall|5|1", + "Desk|6|2", + "Dumbbell|surface|6|46", + "BaseballBat|5|3", + "Pillow|surface|5|29", + "Painting|5|6", + "Box|5|4", + "door|5|6", + "window|5|0", + "Bed|5|0" + ] +} \ No newline at end of file diff --git a/train/train1668/4/0_depth_npy.npy b/train/train1668/4/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..3b3c415d9993ec4171d605565bf5865a35d6dc8d --- /dev/null +++ b/train/train1668/4/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9c0772853e3eb74db88ed954ae8d52978412672dae0f8ff67311acbcfffcf69b +size 3145856 diff --git a/train/train1668/4/0_semantic_sensor_npy.npy b/train/train1668/4/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..54dd57d4d0c539ded66be1b7f9b277c97021d1c0 --- /dev/null +++ b/train/train1668/4/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:00fdd1a7fb47907bcc07a10b4bf18343f84074f778ceaefafaea1d68cdfb7a51 +size 2359424 diff --git a/train/train1668/4/1.json b/train/train1668/4/1.json new file mode 100644 index 0000000000000000000000000000000000000000..34f110d3c33c2692b83bbbdfa58247b84efaa3f8 --- /dev/null +++ b/train/train1668/4/1.json @@ -0,0 +1,1155 @@ +{ + "object": [ + { + "objectId": "Dresser|6|1", + "object_info": { + "name": "Dresser|6|1", + "position": { + "x": 5.613176345825195, + "y": 0.0010976195335388184, + "z": 0.373943567276001 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "AlarmClock|surface|6|40", + "Laptop|surface|6|39" + ], + "distance": 1.6498714685440063, + "objectType": "Dresser", + "objectId": "Dresser|6|1", + "assetId": "Dresser_318_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.002116680145264, + 0.9713932275772095, + 0.7236727476119995 + ], + [ + 6.002116680145264, + 0.9713932275772095, + 0.025004029273986816 + ], + [ + 6.002116680145264, + 1.3709068298339844e-06, + 0.7236727476119995 + ], + [ + 6.002116680145264, + 1.3709068298339844e-06, + 0.025004029273986816 + ], + [ + 5.235853672027588, + 0.9713932275772095, + 0.7236727476119995 + ], + [ + 5.235853672027588, + 0.9713932275772095, + 0.025004029273986816 + ], + [ + 5.235853672027588, + 1.3709068298339844e-06, + 0.7236727476119995 + ], + [ + 5.235853672027588, + 1.3709068298339844e-06, + 0.025004029273986816 + ] + ], + "center": { + "x": 5.618985176086426, + "y": 0.48569729924201965, + "z": 0.37433838844299316 + }, + "size": { + "x": 0.7662630081176758, + "y": 0.9713918566703796, + "z": 0.6986687183380127 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.002116680145264, + 1.430511474609375e-06, + 0.72367262840271 + ], + [ + 5.235853672027588, + 1.430511474609375e-06, + 0.72367262840271 + ], + [ + 5.235853672027588, + 1.430511474609375e-06, + 0.02500411868095398 + ], + [ + 6.002116680145264, + 1.430511474609375e-06, + 0.02500411868095398 + ], + [ + 6.002116680145264, + 0.9713929295539856, + 0.72367262840271 + ], + [ + 5.235853672027588, + 0.9713929295539856, + 0.72367262840271 + ], + [ + 5.235853672027588, + 0.9713929295539856, + 0.02500411868095398 + ], + [ + 6.002116680145264, + 0.9713929295539856, + 0.02500411868095398 + ] + ] + } + } + }, + { + "objectId": "Dresser|6|1___1", + "object_info": { + "name": "Drawer (1)", + "position": { + "x": 5.609915733337402, + "y": 0.8300976157188416, + "z": 0.48612797260284424 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "CellPhone|surface|6|44" + ], + "distance": 1.2735867500305176, + "objectType": "Drawer", + "objectId": "Dresser|6|1___1", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.964020729064941, + 0.9450600147247314, + 0.6941201090812683 + ], + [ + 5.964020729064941, + 0.9450600147247314, + 0.2770146131515503 + ], + [ + 5.964020729064941, + 0.7111351490020752, + 0.6941201090812683 + ], + [ + 5.964020729064941, + 0.7111351490020752, + 0.2770146131515503 + ], + [ + 5.255810737609863, + 0.9450600147247314, + 0.6941201090812683 + ], + [ + 5.255810737609863, + 0.9450600147247314, + 0.2770146131515503 + ], + [ + 5.255810737609863, + 0.7111351490020752, + 0.6941201090812683 + ], + [ + 5.255810737609863, + 0.7111351490020752, + 0.2770146131515503 + ] + ], + "center": { + "x": 5.609915733337402, + "y": 0.8280975818634033, + "z": 0.4855673611164093 + }, + "size": { + "x": 0.7082099914550781, + "y": 0.23392486572265625, + "z": 0.417105495929718 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "AlarmClock|surface|6|40", + "object_info": { + "name": "AlarmClock|surface|6|40", + "position": { + "x": 5.703815460205078, + "y": 0.9722461700439453, + "z": 0.5490552186965942 + }, + "rotation": { + "x": 359.77325439453125, + "y": 180.00018310546875, + "z": 0.0017135022208094597 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.800000011920929, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 1.2039424180984497, + "objectType": "AlarmClock", + "objectId": "AlarmClock|surface|6|40", + "assetId": "Alarm_Clock_21", + "parentReceptacles": [ + "Dresser|6|1" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.791537761688232, + 1.1349537372589111, + 0.5793263912200928 + ], + [ + 5.791537761688232, + 1.1349537372589111, + 0.5312154293060303 + ], + [ + 5.791537761688232, + 0.9713852405548096, + 0.5793263912200928 + ], + [ + 5.791537761688232, + 0.9713852405548096, + 0.5312154293060303 + ], + [ + 5.616093158721924, + 1.1349537372589111, + 0.5793263912200928 + ], + [ + 5.616093158721924, + 1.1349537372589111, + 0.5312154293060303 + ], + [ + 5.616093158721924, + 0.9713852405548096, + 0.5793263912200928 + ], + [ + 5.616093158721924, + 0.9713852405548096, + 0.5312154293060303 + ] + ], + "center": { + "x": 5.703815460205078, + "y": 1.0531694889068604, + "z": 0.5552709102630615 + }, + "size": { + "x": 0.1754446029663086, + "y": 0.16356849670410156, + "z": 0.0481109619140625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.616093635559082, + 0.9715318083763123, + 0.5312159657478333 + ], + [ + 5.791537284851074, + 0.971526563167572, + 0.5312153697013855 + ], + [ + 5.791537284851074, + 0.9713385701179504, + 0.5787135362625122 + ], + [ + 5.616093635559082, + 0.9713438153266907, + 0.57871413230896 + ], + [ + 5.616098403930664, + 1.1350799798965454, + 0.5318632125854492 + ], + [ + 5.791542053222656, + 1.1350747346878052, + 0.5318626165390015 + ], + [ + 5.791542053222656, + 1.1348867416381836, + 0.5793607831001282 + ], + [ + 5.616098880767822, + 1.1348919868469238, + 0.5793613791465759 + ] + ] + } + } + }, + { + "objectId": "Painting|6|6", + "object_info": { + "name": "Painting|6|6", + "position": { + "x": 6.514755725860596, + "y": 1.627780795097351, + "z": 0.004995772615075111 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 2.039142370223999, + "objectType": "Painting", + "objectId": "Painting|6|6", + "assetId": "Wall_Decor_Photo_2", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.993529319763184, + 1.9561586380004883, + 0.036740973591804504 + ], + [ + 6.993529319763184, + 1.9561586380004883, + 0.005000002682209015 + ], + [ + 6.993529319763184, + 1.2994029521942139, + 0.036740973591804504 + ], + [ + 6.993529319763184, + 1.2994029521942139, + 0.005000002682209015 + ], + [ + 6.035982131958008, + 1.9561586380004883, + 0.036740973591804504 + ], + [ + 6.035982131958008, + 1.9561586380004883, + 0.005000002682209015 + ], + [ + 6.035982131958008, + 1.2994029521942139, + 0.036740973591804504 + ], + [ + 6.035982131958008, + 1.2994029521942139, + 0.005000002682209015 + ] + ], + "center": { + "x": 6.514755725860596, + "y": 1.627780795097351, + "z": 0.02087048813700676 + }, + "size": { + "x": 0.9575471878051758, + "y": 0.6567556858062744, + "z": 0.03174097090959549 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "GarbageCan|6|5", + "object_info": { + "name": "GarbageCan|6|5", + "position": { + "x": 6.285166263580322, + "y": 2.1457672119140625e-06, + "z": 0.21047767996788025 + }, + "rotation": { + "x": 0.00036735678440891206, + "y": -7.086647201504093e-06, + "z": -0.0006737426738254726 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.699999988079071, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.8623448610305786, + "objectType": "GarbageCan", + "objectId": "GarbageCan|6|5", + "assetId": "bin_23", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.470651626586914, + 0.6559604406356812, + 0.39595985412597656 + ], + [ + 6.470651626586914, + 0.6559604406356812, + 0.024999693036079407 + ], + [ + 6.470651626586914, + -8.344650268554688e-07, + 0.39595985412597656 + ], + [ + 6.470651626586914, + -8.344650268554688e-07, + 0.024999693036079407 + ], + [ + 6.099688529968262, + 0.6559604406356812, + 0.39595985412597656 + ], + [ + 6.099688529968262, + 0.6559604406356812, + 0.024999693036079407 + ], + [ + 6.099688529968262, + -8.344650268554688e-07, + 0.39595985412597656 + ], + [ + 6.099688529968262, + -8.344650268554688e-07, + 0.024999693036079407 + ] + ], + "center": { + "x": 6.285170078277588, + "y": 0.32797980308532715, + "z": 0.21047978103160858 + }, + "size": { + "x": 0.37096309661865234, + "y": 0.655961275100708, + "z": 0.37096017599105835 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.470644474029541, + -2.0589513951563276e-06, + 0.3959560692310333 + ], + [ + 6.099687576293945, + 2.3031382170302095e-06, + 0.39595600962638855 + ], + [ + 6.0996880531311035, + 4.6815584937576205e-06, + 0.024999290704727173 + ], + [ + 6.470644474029541, + 3.1946888157108333e-07, + 0.024999350309371948 + ], + [ + 6.470652103424072, + 0.6559552550315857, + 0.39596027135849 + ], + [ + 6.099695682525635, + 0.6559596657752991, + 0.3959602117538452 + ], + [ + 6.099695682525635, + 0.6559620499610901, + 0.025003492832183838 + ], + [ + 6.470652103424072, + 0.6559576392173767, + 0.025003552436828613 + ] + ] + } + } + }, + { + "objectId": "Laptop|surface|6|39", + "object_info": { + "name": "Laptop|surface|6|39", + "position": { + "x": 5.609941482543945, + "y": 0.9713994860649109, + "z": 0.28864696621894836 + }, + "rotation": { + "x": -0.00041293477988801897, + "y": 89.99986267089844, + "z": 0.0018775358330458403 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 0.1826363354921341, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 2.299999952316284, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 1.4697364568710327, + "objectType": "Laptop", + "objectId": "Laptop|surface|6|39", + "assetId": "Laptop_19", + "parentReceptacles": [ + "Dresser|6|1" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.7781982421875, + 1.1118805408477783, + 0.5156780481338501 + ], + [ + 5.7781982421875, + 1.1118805408477783, + 0.06162053346633911 + ], + [ + 5.7781982421875, + 0.971390962600708, + 0.5156780481338501 + ], + [ + 5.7781982421875, + 0.971390962600708, + 0.06162053346633911 + ], + [ + 5.439300537109375, + 1.1118805408477783, + 0.5156780481338501 + ], + [ + 5.439300537109375, + 1.1118805408477783, + 0.06162053346633911 + ], + [ + 5.439300537109375, + 0.971390962600708, + 0.5156780481338501 + ], + [ + 5.439300537109375, + 0.971390962600708, + 0.06162053346633911 + ] + ], + "center": { + "x": 5.6087493896484375, + "y": 1.0416357517242432, + "z": 0.2886492908000946 + }, + "size": { + "x": 0.338897705078125, + "y": 0.1404895782470703, + "z": 0.454057514667511 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.7781982421875, + 0.9714081287384033, + 0.061621323227882385 + ], + [ + 5.778197288513184, + 0.9713932871818542, + 0.5156733989715576 + ], + [ + 5.439300537109375, + 0.9713908433914185, + 0.5156726241111755 + ], + [ + 5.439301490783691, + 0.9714056849479675, + 0.061620503664016724 + ], + [ + 5.778197288513184, + 1.1118805408477783, + 0.061625927686691284 + ], + [ + 5.778196334838867, + 1.1118656396865845, + 0.5156779885292053 + ], + [ + 5.439299583435059, + 1.111863136291504, + 0.5156772136688232 + ], + [ + 5.439300537109375, + 1.1118780374526978, + 0.06162510812282562 + ] + ] + } + } + }, + { + "objectId": "Dresser|6|1___2", + "object_info": { + "name": "Drawer (2)", + "position": { + "x": 5.609915733337402, + "y": 0.5470976233482361, + "z": 0.48612797260284424 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "CD|surface|6|37", + "Watch|surface|6|38" + ], + "distance": 1.319940447807312, + "objectType": "Drawer", + "objectId": "Dresser|6|1___2", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.964020729064941, + 0.6984910368919373, + 0.6967599391937256 + ], + [ + 5.964020729064941, + 0.6984910368919373, + 0.2743746042251587 + ], + [ + 5.964020729064941, + 0.391704261302948, + 0.6967599391937256 + ], + [ + 5.964020729064941, + 0.391704261302948, + 0.2743746042251587 + ], + [ + 5.255810737609863, + 0.6984910368919373, + 0.6967599391937256 + ], + [ + 5.255810737609863, + 0.6984910368919373, + 0.2743746042251587 + ], + [ + 5.255810737609863, + 0.391704261302948, + 0.6967599391937256 + ], + [ + 5.255810737609863, + 0.391704261302948, + 0.2743746042251587 + ] + ], + "center": { + "x": 5.609915733337402, + "y": 0.5450976490974426, + "z": 0.48556727170944214 + }, + "size": { + "x": 0.7082099914550781, + "y": 0.30678677558898926, + "z": 0.4223853349685669 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DogBed|6|3", + "object_info": { + "name": "DogBed|6|3", + "position": { + "x": 7.852978229522705, + "y": 0.0032488107681274414, + "z": 0.3906584084033966 + }, + "rotation": { + "x": -0.0011136221000924706, + "y": 0.0002035521320067346, + "z": 0.0006151953130029142 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.9800000190734863, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 2.660128593444824, + "objectType": "DogBed", + "objectId": "DogBed|6|3", + "assetId": "Dog_Bed_1_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.217996597290039, + 0.1088542640209198, + 0.7556761503219604 + ], + [ + 8.217996597290039, + 0.1088542640209198, + 0.0250014066696167 + ], + [ + 8.217996597290039, + 1.0505318641662598e-06, + 0.7556761503219604 + ], + [ + 8.217996597290039, + 1.0505318641662598e-06, + 0.0250014066696167 + ], + [ + 7.487320899963379, + 0.1088542640209198, + 0.7556761503219604 + ], + [ + 7.487320899963379, + 0.1088542640209198, + 0.0250014066696167 + ], + [ + 7.487320899963379, + 1.0505318641662598e-06, + 0.7556761503219604 + ], + [ + 7.487320899963379, + 1.0505318641662598e-06, + 0.0250014066696167 + ] + ], + "center": { + "x": 7.852658748626709, + "y": 0.05442765727639198, + "z": 0.3903387784957886 + }, + "size": { + "x": 0.7306756973266602, + "y": 0.10885321348905563, + "z": 0.7306747436523438 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 8.217998504638672, + 1.666136085987091e-05, + 0.7556765079498291 + ], + [ + 7.487322807312012, + 8.81589949131012e-06, + 0.7556791305541992 + ], + [ + 7.4873199462890625, + -5.385605618357658e-06, + 0.02500322461128235 + ], + [ + 8.217996597290039, + 2.4598557502031326e-06, + 0.02500060200691223 + ], + [ + 8.217997550964355, + 0.10885684192180634, + 0.755674421787262 + ], + [ + 7.487321376800537, + 0.10884899646043777, + 0.7556770443916321 + ], + [ + 7.487318992614746, + 0.10883479565382004, + 0.025001108646392822 + ], + [ + 8.217994689941406, + 0.1088426411151886, + 0.024998486042022705 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 6.099999904632568, + "y": 0.9009997844696045, + "z": 1.600000023841858 + }, + "agent_rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "agent_cameraHorizon": 1.5309450418499182e-06, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 6.099999904632568, + "y": 1.5759997367858887, + "z": 1.600000023841858 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Dresser|6|1___1", + "Dresser|6|1___2", + "Dresser|6|1" + ], + "different_object": [ + "AlarmClock|surface|6|40", + "Laptop|surface|6|39", + "DogBed|6|3", + "GarbageCan|6|5", + "Painting|6|6" + ] +} \ No newline at end of file diff --git a/train/train1668/4/1_depth_npy.npy b/train/train1668/4/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..a40f253c3d14dbebb32d6a28c2ab787d6d705689 --- /dev/null +++ b/train/train1668/4/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:733b9b5883c25c79cdb406065c315596bbb022537130e2560d340cb15abed30d +size 3145856 diff --git a/train/train1668/4/1_semantic_sensor_npy.npy b/train/train1668/4/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..977a277dcb06edab675325e446ff8354e8bfad34 --- /dev/null +++ b/train/train1668/4/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:20708de7524177f5220406bd4f3eedf44c7ad93a24b943e075feaffb58b5d3c0 +size 2359424 diff --git a/train/train1668/4/depth_0.png b/train/train1668/4/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..9a92025813958a25974e16e0c7ddc2a65b4c996c Binary files /dev/null and b/train/train1668/4/depth_0.png differ diff --git a/train/train1668/4/depth_1.png b/train/train1668/4/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..9f45cd974bb88e50cce82e6c2e108d02d7720d7e Binary files /dev/null and b/train/train1668/4/depth_1.png differ diff --git a/train/train1668/4/mask_questions.jsonl b/train/train1668/4/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f34d1ea7192e2c7054fcb19a30f9d8ef4178ebe9 --- /dev/null +++ b/train/train1668/4/mask_questions.jsonl @@ -0,0 +1 @@ +{"id": 2622, "folder_dir": "train1668/4", "pair_name": "0-1:Dresser|6|1___1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Drawer\nB. Dumbbell\nC. Drawer\nD. Window", "answer": "A", "object_name": "Drawer", "image_1": "train1668/4/rgb_0.png", "image_2": "train1668/4/rgb_1.png", "mask_image": "train1668/4/rgb_1_mask_Dresser|6|1___1.png", "options": ["Drawer", "Dumbbell", "Drawer", "Window"]} diff --git a/train/train1668/4/rgb_0.png b/train/train1668/4/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..5a6110329216120e16a9dba9bb4ff6e902f99a71 --- /dev/null +++ b/train/train1668/4/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5ef2e309f7def645c9e5cf873c9612830014b928af63435b6c9d4ae350aade20 +size 393032 diff --git a/train/train1668/4/rgb_1.png b/train/train1668/4/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..ba991484193d49ab309fc97fd9b6d55512f44fc6 --- /dev/null +++ b/train/train1668/4/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:95e90f9a0ccf783aee903dbad458e614143c04f1bcb5d8609e059e91e8d0c61f +size 300832 diff --git a/train/train1668/4/rgb_1_mask_Dresser|6|1___1.png b/train/train1668/4/rgb_1_mask_Dresser|6|1___1.png new file mode 100644 index 0000000000000000000000000000000000000000..ee718c7ab057ee05f5e301baab5b132c9edfd279 --- /dev/null +++ b/train/train1668/4/rgb_1_mask_Dresser|6|1___1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0ce060ae0baa3bd1f8d81485fe3f72eb4dd6dc85a6e08b39839fec02d6dfb37e +size 247445 diff --git a/train/train1668/4/semantic_0.png b/train/train1668/4/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..9eafe7ab11adb4bccab8c1e1a1bedcc8deebbd74 Binary files /dev/null and b/train/train1668/4/semantic_0.png differ diff --git a/train/train1668/4/semantic_1.png b/train/train1668/4/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..79f9937a8c3c9dbb1e7a2ea7cd6f00e47b965d4e Binary files /dev/null and b/train/train1668/4/semantic_1.png differ diff --git a/train/train1668/color_to_object_id.json b/train/train1668/color_to_object_id.json new file mode 100644 index 0000000000000000000000000000000000000000..dfcc62fb5caabbe38db5b9ce0cbea2946e79b099 --- /dev/null +++ b/train/train1668/color_to_object_id.json @@ -0,0 +1,1843 @@ +[ + { + "window|4|0": [ + 148, + 40, + 210 + ] + }, + { + "Window": [ + 200, + 150, + 134 + ] + }, + { + "window|2|0": [ + 226, + 232, + 42 + ] + }, + { + "window|5|0": [ + 136, + 191, + 22 + ] + }, + { + "door|1|4": [ + 87, + 14, + 187 + ] + }, + { + "Doorway": [ + 163, + 222, + 124 + ] + }, + { + "door|2|5": [ + 18, + 205, + 18 + ] + }, + { + "door|5|6": [ + 163, + 25, + 123 + ] + }, + { + "door|3|4": [ + 175, + 231, + 208 + ] + }, + { + "door|2|4": [ + 91, + 180, + 98 + ] + }, + { + "Doorframe": [ + 191, + 139, + 21 + ] + }, + { + "Painting|4|5": [ + 53, + 66, + 101 + ] + }, + { + "Painting": [ + 40, + 117, + 236 + ] + }, + { + "Painting|3|5": [ + 156, + 50, + 198 + ] + }, + { + "Painting|3|4": [ + 215, + 188, + 149 + ] + }, + { + "Painting|6|6": [ + 136, + 191, + 27 + ] + }, + { + "Painting|2|6": [ + 189, + 42, + 23 + ] + }, + { + "Painting|2|5": [ + 70, + 151, + 180 + ] + }, + { + "Painting|5|6": [ + 220, + 108, + 112 + ] + }, + { + "Painting|5|5": [ + 137, + 50, + 249 + ] + }, + { + "Television|4|4": [ + 237, + 194, + 238 + ] + }, + { + "Television": [ + 27, + 245, + 217 + ] + }, + { + "Television|2|4": [ + 61, + 207, + 187 + ] + }, + { + "GarbageCan|6|5": [ + 141, + 79, + 59 + ] + }, + { + "GarbageCan": [ + 225, + 40, + 55 + ] + }, + { + "BasketBall|6|4": [ + 113, + 147, + 51 + ] + }, + { + "BasketBall": [ + 97, + 58, + 36 + ] + }, + { + "DogBed|6|3": [ + 235, + 238, + 251 + ] + }, + { + "DogBed": [ + 106, + 193, + 45 + ] + }, + { + "Book|surface|6|49": [ + 232, + 178, + 62 + ] + }, + { + "Book": [ + 43, + 31, + 148 + ] + }, + { + "DeskLamp|surface|6|48": [ + 253, + 170, + 27 + ] + }, + { + "DeskLamp": [ + 99, + 164, + 25 + ] + }, + { + "DeskLamp|surface|6|47": [ + 190, + 184, + 229 + ] + }, + { + "Dumbbell|surface|6|46": [ + 1, + 235, + 59 + ] + }, + { + "Dumbbell": [ + 45, + 57, + 144 + ] + }, + { + "Watch|surface|6|43": [ + 65, + 226, + 171 + ] + }, + { + "Watch": [ + 242, + 6, + 88 + ] + }, + { + "CellPhone|surface|6|42": [ + 53, + 98, + 128 + ] + }, + { + "CellPhone": [ + 227, + 98, + 136 + ] + }, + { + "Mug|surface|6|35": [ + 193, + 36, + 174 + ] + }, + { + "Mug": [ + 8, + 94, + 186 + ] + }, + { + "Desk|6|2": [ + 62, + 208, + 4 + ] + }, + { + "Desk": [ + 14, + 120, + 179 + ] + }, + { + "CellPhone|surface|6|44": [ + 188, + 16, + 140 + ] + }, + { + "AlarmClock|surface|6|40": [ + 120, + 212, + 5 + ] + }, + { + "AlarmClock": [ + 184, + 20, + 170 + ] + }, + { + "Laptop|surface|6|39": [ + 215, + 124, + 86 + ] + }, + { + "Laptop": [ + 20, + 107, + 222 + ] + }, + { + "Watch|surface|6|38": [ + 223, + 125, + 177 + ] + }, + { + "CD|surface|6|37": [ + 157, + 203, + 226 + ] + }, + { + "CD": [ + 65, + 112, + 172 + ] + }, + { + "CreditCard|surface|6|36": [ + 172, + 30, + 11 + ] + }, + { + "CreditCard": [ + 56, + 235, + 12 + ] + }, + { + "Dresser|6|1___2": [ + 219, + 86, + 133 + ] + }, + { + "Drawer": [ + 155, + 30, + 210 + ] + }, + { + "Dresser|6|1___1": [ + 91, + 55, + 231 + ] + }, + { + "Dresser|6|1___0": [ + 86, + 178, + 164 + ] + }, + { + "Dresser|6|1": [ + 74, + 74, + 184 + ] + }, + { + "Dresser": [ + 51, + 128, + 146 + ] + }, + { + "Book|surface|6|45": [ + 123, + 129, + 191 + ] + }, + { + "Box|surface|6|41": [ + 60, + 1, + 27 + ] + }, + { + "Box": [ + 60, + 252, + 230 + ] + }, + { + "CellPhone|surface|6|34": [ + 231, + 61, + 11 + ] + }, + { + "Pillow|6|0|1": [ + 251, + 108, + 89 + ] + }, + { + "Pillow": [ + 217, + 193, + 130 + ] + }, + { + "Bed|6|0|0": [ + 243, + 55, + 136 + ] + }, + { + "Bed": [ + 209, + 156, + 101 + ] + }, + { + "Box|5|4": [ + 36, + 20, + 204 + ] + }, + { + "BaseballBat|5|3": [ + 142, + 242, + 150 + ] + }, + { + "BaseballBat": [ + 171, + 20, + 38 + ] + }, + { + "TissueBox|surface|5|33": [ + 171, + 179, + 83 + ] + }, + { + "TissueBox": [ + 98, + 43, + 249 + ] + }, + { + "Book|surface|5|32": [ + 117, + 63, + 112 + ] + }, + { + "Book|surface|5|31": [ + 206, + 230, + 117 + ] + }, + { + "Mug|surface|5|30": [ + 133, + 180, + 20 + ] + }, + { + "RemoteControl|surface|5|28": [ + 235, + 72, + 25 + ] + }, + { + "RemoteControl": [ + 187, + 19, + 208 + ] + }, + { + "Pen|surface|5|27": [ + 144, + 10, + 38 + ] + }, + { + "Pen": [ + 239, + 130, + 152 + ] + }, + { + "Vase|surface|5|26": [ + 219, + 59, + 2 + ] + }, + { + "Vase": [ + 83, + 152, + 69 + ] + }, + { + "Pencil|surface|5|25": [ + 175, + 161, + 194 + ] + }, + { + "Pencil": [ + 177, + 226, + 23 + ] + }, + { + "Dresser|5|2___2": [ + 51, + 81, + 138 + ] + }, + { + "Dresser|5|2___1": [ + 164, + 192, + 148 + ] + }, + { + "Dresser|5|2___0": [ + 151, + 254, + 178 + ] + }, + { + "Dresser|5|2": [ + 75, + 208, + 214 + ] + }, + { + "BasketBall|5|1": [ + 247, + 47, + 111 + ] + }, + { + "Pillow|surface|5|29": [ + 114, + 250, + 15 + ] + }, + { + "Bed|5|0": [ + 213, + 171, + 182 + ] + }, + { + "Newspaper|surface|4|18": [ + 230, + 137, + 154 + ] + }, + { + "Newspaper": [ + 19, + 196, + 2 + ] + }, + { + "ShelvingUnit|4|3___8": [ + 211, + 250, + 133 + ] + }, + { + "Shelf": [ + 39, + 54, + 158 + ] + }, + { + "ShelvingUnit|4|3___7": [ + 16, + 221, + 110 + ] + }, + { + "ShelvingUnit|4|3___6": [ + 6, + 131, + 115 + ] + }, + { + "ShelvingUnit|4|3___5": [ + 95, + 159, + 25 + ] + }, + { + "ShelvingUnit|4|3___4": [ + 33, + 22, + 174 + ] + }, + { + "ShelvingUnit|4|3___3": [ + 207, + 163, + 32 + ] + }, + { + "ShelvingUnit|4|3___2": [ + 140, + 60, + 53 + ] + }, + { + "ShelvingUnit|4|3___1": [ + 218, + 244, + 224 + ] + }, + { + "ShelvingUnit|4|3___0": [ + 26, + 158, + 138 + ] + }, + { + "ShelvingUnit|4|3": [ + 82, + 19, + 215 + ] + }, + { + "ShelvingUnit": [ + 125, + 226, + 119 + ] + }, + { + "HousePlant|surface|4|24": [ + 115, + 194, + 206 + ] + }, + { + "HousePlant": [ + 73, + 144, + 213 + ] + }, + { + "Plate|surface|4|23": [ + 75, + 181, + 62 + ] + }, + { + "Plate": [ + 188, + 154, + 128 + ] + }, + { + "DeskLamp|surface|4|22": [ + 214, + 116, + 99 + ] + }, + { + "CreditCard|surface|4|21": [ + 110, + 134, + 231 + ] + }, + { + "Dresser|4|2___2": [ + 18, + 50, + 81 + ] + }, + { + "Dresser|4|2___1": [ + 243, + 178, + 173 + ] + }, + { + "Dresser|4|2___0": [ + 76, + 140, + 160 + ] + }, + { + "Dresser|4|2": [ + 177, + 234, + 171 + ] + }, + { + "Laptop|surface|4|20": [ + 224, + 7, + 44 + ] + }, + { + "Pencil|surface|4|19": [ + 195, + 169, + 3 + ] + }, + { + "Book|surface|4|17": [ + 20, + 120, + 198 + ] + }, + { + "DiningTable|4|1": [ + 105, + 9, + 19 + ] + }, + { + "DiningTable": [ + 83, + 33, + 33 + ] + }, + { + "Cart|4|0": [ + 202, + 26, + 210 + ] + }, + { + "Cart": [ + 168, + 94, + 186 + ] + }, + { + "Plunger|3|3": [ + 116, + 44, + 97 + ] + }, + { + "Plunger": [ + 74, + 209, + 56 + ] + }, + { + "ToiletPaper|surface|3|13": [ + 97, + 82, + 232 + ] + }, + { + "ToiletPaper": [ + 162, + 204, + 152 + ] + }, + { + "GarbageCan|3|2": [ + 69, + 131, + 32 + ] + }, + { + "SoapBottle|surface|3|15": [ + 136, + 74, + 70 + ] + }, + { + "SoapBottle": [ + 168, + 222, + 137 + ] + }, + { + "Faucet|3|1|1": [ + 183, + 115, + 49 + ] + }, + { + "Faucet": [ + 21, + 38, + 98 + ] + }, + { + "Sink|3|1|0___0": [ + 145, + 221, + 236 + ] + }, + { + "SinkBasin": [ + 80, + 192, + 81 + ] + }, + { + "Sink|3|1|0": [ + 255, + 162, + 107 + ] + }, + { + "Sink": [ + 30, + 181, + 88 + ] + }, + { + "SprayBottle|surface|3|16": [ + 248, + 219, + 21 + ] + }, + { + "SprayBottle": [ + 89, + 126, + 121 + ] + }, + { + "Cloth|surface|3|14": [ + 91, + 176, + 145 + ] + }, + { + "Cloth": [ + 110, + 184, + 56 + ] + }, + { + "DishSponge|surface|3|12": [ + 249, + 101, + 23 + ] + }, + { + "DishSponge": [ + 166, + 58, + 136 + ] + }, + { + "Toilet|3|0": [ + 244, + 232, + 60 + ] + }, + { + "Toilet": [ + 21, + 27, + 163 + ] + }, + { + "GarbageCan|2|3": [ + 6, + 44, + 101 + ] + }, + { + "HousePlant|2|2|0": [ + 195, + 73, + 217 + ] + }, + { + "Egg|surface|2|2": [ + 242, + 142, + 103 + ] + }, + { + "Egg": [ + 240, + 75, + 163 + ] + }, + { + "Lettuce|surface|2|1": [ + 186, + 83, + 14 + ] + }, + { + "Lettuce": [ + 203, + 156, + 88 + ] + }, + { + "Fridge|2|1": [ + 206, + 5, + 34 + ] + }, + { + "Fridge": [ + 91, + 156, + 207 + ] + }, + { + "Pen|surface|2|11": [ + 46, + 235, + 95 + ] + }, + { + "Ladle|surface|2|10": [ + 127, + 161, + 119 + ] + }, + { + "Ladle": [ + 174, + 98, + 216 + ] + }, + { + "Plate|surface|2|9": [ + 66, + 53, + 18 + ] + }, + { + "Spoon|surface|2|8": [ + 11, + 31, + 43 + ] + }, + { + "Spoon": [ + 235, + 57, + 90 + ] + }, + { + "Knife|surface|2|7": [ + 38, + 35, + 66 + ] + }, + { + "Knife": [ + 211, + 157, + 122 + ] + }, + { + "Pot|surface|2|6": [ + 147, + 254, + 34 + ] + }, + { + "Pot": [ + 132, + 237, + 87 + ] + }, + { + "SoapBottle|surface|2|5": [ + 64, + 186, + 171 + ] + }, + { + "Bowl|surface|2|4": [ + 131, + 228, + 128 + ] + }, + { + "Bowl": [ + 209, + 182, + 193 + ] + }, + { + "Pencil|surface|2|3": [ + 140, + 53, + 244 + ] + }, + { + "PepperShaker|surface|2|0": [ + 101, + 89, + 145 + ] + }, + { + "PepperShaker": [ + 5, + 204, + 214 + ] + }, + { + "CounterTop|2|0": [ + 213, + 254, + 98 + ] + }, + { + "CounterTop": [ + 103, + 209, + 30 + ] + }, + { + "Ceiling_room|6|0|3.596952|0": [ + 33, + 99, + 146 + ] + }, + { + "Ceiling": [ + 50, + 55, + 251 + ] + }, + { + "Ceiling_room|5|0|3.596952|0": [ + 179, + 212, + 173 + ] + }, + { + "Ceiling_room|4|0|3.596952|0": [ + 80, + 218, + 33 + ] + }, + { + "Ceiling_room|3|0|3.596952|0": [ + 140, + 228, + 156 + ] + }, + { + "Ceiling_room|2|0|3.596952|0": [ + 10, + 44, + 217 + ] + }, + { + "wall|exterior|8.24|3.30|8.24|4.95": [ + 251, + 75, + 24 + ] + }, + { + "Wall": [ + 148, + 232, + 164 + ] + }, + { + "wall|exterior|3.30|8.24|8.24|8.24": [ + 61, + 137, + 86 + ] + }, + { + "wall|exterior|8.24|4.95|8.24|8.24": [ + 123, + 215, + 218 + ] + }, + { + "wall|exterior|8.24|0.00|8.24|3.30": [ + 236, + 121, + 142 + ] + }, + { + "wall|exterior|3.30|0.00|8.24|0.00": [ + 220, + 76, + 163 + ] + }, + { + "wall|exterior|0.00|4.95|0.00|8.24": [ + 65, + 145, + 146 + ] + }, + { + "wall|exterior|0.00|8.24|3.30|8.24": [ + 108, + 140, + 99 + ] + }, + { + "wall|exterior|0.00|0.00|3.30|0.00": [ + 119, + 245, + 65 + ] + }, + { + "wall|exterior|0.00|0.00|0.00|4.95": [ + 90, + 7, + 106 + ] + }, + { + "wall|6|3.30|0.00|8.24|0.00": [ + 238, + 12, + 122 + ] + }, + { + "wall|6|8.24|0.00|8.24|3.30": [ + 85, + 245, + 17 + ] + }, + { + "wall|6|3.30|3.30|8.24|3.30": [ + 64, + 26, + 35 + ] + }, + { + "wall|6|3.30|0.00|3.30|3.30": [ + 61, + 208, + 25 + ] + }, + { + "wall|5|0.00|0.00|3.30|0.00": [ + 140, + 199, + 1 + ] + }, + { + "wall|5|3.30|0.00|3.30|3.30": [ + 57, + 192, + 252 + ] + }, + { + "wall|5|3.30|3.30|3.30|4.95": [ + 43, + 19, + 222 + ] + }, + { + "wall|5|0.00|4.95|3.30|4.95": [ + 231, + 129, + 161 + ] + }, + { + "wall|5|0.00|0.00|0.00|4.95": [ + 21, + 96, + 52 + ] + }, + { + "wall|4|3.30|4.95|8.24|4.95": [ + 6, + 128, + 109 + ] + }, + { + "wall|4|8.24|4.95|8.24|8.24": [ + 68, + 84, + 75 + ] + }, + { + "wall|4|3.30|8.24|8.24|8.24": [ + 88, + 99, + 173 + ] + }, + { + "wall|4|3.30|4.95|3.30|8.24": [ + 219, + 223, + 98 + ] + }, + { + "wall|3|3.30|3.30|8.24|3.30": [ + 254, + 106, + 47 + ] + }, + { + "wall|3|8.24|3.30|8.24|4.95": [ + 29, + 191, + 12 + ] + }, + { + "wall|3|3.30|4.95|8.24|4.95": [ + 99, + 26, + 190 + ] + }, + { + "wall|3|3.30|3.30|3.30|4.95": [ + 231, + 94, + 245 + ] + }, + { + "wall|2|0.00|4.95|0.00|8.24": [ + 121, + 221, + 240 + ] + }, + { + "wall|2|0.00|4.95|3.30|4.95": [ + 65, + 124, + 223 + ] + }, + { + "wall|2|3.30|4.95|3.30|8.24": [ + 33, + 192, + 139 + ] + }, + { + "wall|2|0.00|8.24|3.30|8.24": [ + 251, + 215, + 128 + ] + }, + { + "room|6": [ + 217, + 194, + 196 + ] + }, + { + "Floor": [ + 243, + 246, + 208 + ] + }, + { + "room|5": [ + 190, + 121, + 70 + ] + }, + { + "room|4": [ + 60, + 42, + 179 + ] + }, + { + "room|3": [ + 28, + 62, + 16 + ] + }, + { + "room|2": [ + 188, + 125, + 135 + ] + }, + { + "TheHand": [ + 255, + 136, + 237 + ] + }, + { + "agent_neck_1": [ + 30, + 64, + 67 + ] + }, + { + "agent_body_1 (shadows)": [ + 134, + 158, + 226 + ] + }, + { + "agent_collarbone_1 (shadows)": [ + 217, + 96, + 80 + ] + }, + { + "agent_head_1 (shadows)": [ + 140, + 210, + 177 + ] + }, + { + "stretch_robot_base_code": [ + 101, + 30, + 126 + ] + }, + { + "agent_head_1": [ + 1, + 149, + 209 + ] + }, + { + "stretch_robot_laser": [ + 140, + 24, + 249 + ] + }, + { + "stretch_robot_mast": [ + 136, + 63, + 93 + ] + }, + { + "stretch_robot_head_1": [ + 0, + 57, + 255 + ] + }, + { + "agent_neck_3": [ + 209, + 228, + 37 + ] + }, + { + "robot_tilt_link_n (shadows)": [ + 202, + 16, + 52 + ] + }, + { + "agent_head_2 (shadows)": [ + 156, + 59, + 238 + ] + }, + { + "stretch_robot_head_3 (shadows)": [ + 83, + 209, + 138 + ] + }, + { + "agent_collarbone_2": [ + 152, + 152, + 185 + ] + }, + { + "agent_neck_2 (shadows)": [ + 244, + 240, + 196 + ] + }, + { + "agent_head_2": [ + 14, + 66, + 230 + ] + }, + { + "stretch_robot_head_2": [ + 73, + 58, + 96 + ] + }, + { + "agent_neck_3 (shadows)": [ + 239, + 35, + 232 + ] + }, + { + "stretch_robot_omniwheel": [ + 227, + 166, + 104 + ] + }, + { + "robot_elbow_link": [ + 231, + 128, + 58 + ] + }, + { + "robot_camera_link_n": [ + 140, + 65, + 197 + ] + }, + { + "robot_finger_r": [ + 122, + 202, + 170 + ] + }, + { + "robot_finger_l": [ + 178, + 169, + 157 + ] + }, + { + "robot_ar_tag": [ + 46, + 234, + 150 + ] + }, + { + "robot_cam_mount_n": [ + 54, + 221, + 114 + ] + }, + { + "robot_battery_n": [ + 165, + 68, + 55 + ] + }, + { + "robot_plate": [ + 211, + 118, + 132 + ] + }, + { + "robot_main_wheel_r_n": [ + 36, + 84, + 49 + ] + }, + { + "robot_shoulder_link": [ + 92, + 95, + 127 + ] + }, + { + "robot_roll_link_n": [ + 135, + 154, + 116 + ] + }, + { + "robot_gripper_link": [ + 241, + 136, + 173 + ] + }, + { + "robot_forearm_link": [ + 149, + 185, + 52 + ] + }, + { + "robot_main_wheel_l_n": [ + 139, + 151, + 200 + ] + }, + { + "robot_main_body": [ + 27, + 62, + 251 + ] + }, + { + "robot_wrist_link": [ + 3, + 195, + 0 + ] + }, + { + "robot_tilt_link_n": [ + 251, + 182, + 71 + ] + }, + { + "agent_collarbone_2 (shadows)": [ + 27, + 29, + 156 + ] + }, + { + "stretch_robot_head_2 (shadows)": [ + 167, + 106, + 44 + ] + }, + { + "stretch_robot_wheel_r": [ + 43, + 10, + 241 + ] + }, + { + "agent_collarbone_3": [ + 33, + 153, + 80 + ] + }, + { + "stretch_robot_wheel_l": [ + 209, + 121, + 111 + ] + }, + { + "agent_collarbone_3 (shadows)": [ + 12, + 185, + 24 + ] + }, + { + "agent_neck_1 (shadows)": [ + 5, + 106, + 127 + ] + }, + { + "agent_body_1": [ + 19, + 85, + 240 + ] + }, + { + "stretch_robot_base": [ + 18, + 223, + 56 + ] + }, + { + "robot_roll_link_n (shadows)": [ + 104, + 6, + 177 + ] + }, + { + "agent_neck_2": [ + 134, + 34, + 121 + ] + }, + { + "agent_collarbone_1": [ + 180, + 251, + 165 + ] + }, + { + "stretch_robot_head_3": [ + 175, + 244, + 187 + ] + }, + { + "robot_camera_link_n (shadows)": [ + 49, + 9, + 106 + ] + } +] \ No newline at end of file diff --git a/train/train2023/0/0.json b/train/train2023/0/0.json new file mode 100644 index 0000000000000000000000000000000000000000..a0e4a9c9e4a509acc8cca06d64cb64a61f1f8fb4 --- /dev/null +++ b/train/train2023/0/0.json @@ -0,0 +1,1584 @@ +{ + "object": [ + { + "objectId": "Bed|6|0", + "object_info": { + "name": "Bed|6|0", + "position": { + "x": 0.9329512715339661, + "y": -0.003118574619293213, + "z": 5.47134256362915 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": true, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "Book|surface|6|26", + "Pillow|surface|6|30" + ], + "distance": 2.9910125732421875, + "objectType": "Bed", + "objectId": "Bed|6|0", + "assetId": "Bed_28", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.8997774124145508, + 0.6485362648963928, + 6.15671443939209 + ], + [ + 1.8997774124145508, + 0.6485362648963928, + 4.784964561462402 + ], + [ + 1.8997774124145508, + 0.0, + 6.15671443939209 + ], + [ + 1.8997774124145508, + 0.0, + 4.784964561462402 + ], + [ + 0.024999678134918213, + 0.6485362648963928, + 6.15671443939209 + ], + [ + 0.024999678134918213, + 0.6485362648963928, + 4.784964561462402 + ], + [ + 0.024999678134918213, + 0.0, + 6.15671443939209 + ], + [ + 0.024999678134918213, + 0.0, + 4.784964561462402 + ] + ], + "center": { + "x": 0.9623885750770569, + "y": 0.3242681324481964, + "z": 5.470839500427246 + }, + "size": { + "x": 1.8747777938842773, + "y": 0.6485362648963928, + "z": 1.3717498779296875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.8997771739959717, + 0.0, + 4.784965515136719 + ], + [ + 1.8997771739959717, + 0.0, + 6.15671443939209 + ], + [ + 0.024999916553497314, + 0.0, + 6.15671443939209 + ], + [ + 0.024999797344207764, + 0.0, + 4.784965515136719 + ], + [ + 1.8997771739959717, + 0.6485360860824585, + 4.784965515136719 + ], + [ + 1.8997771739959717, + 0.6485360860824585, + 6.15671443939209 + ], + [ + 0.024999916553497314, + 0.6485360860824585, + 6.15671443939209 + ], + [ + 0.024999797344207764, + 0.6485360860824585, + 4.784965515136719 + ] + ] + } + } + }, + { + "objectId": "window|6|0", + "object_info": { + "name": "window|6|0", + "position": { + "x": 0.13587026298046112, + "y": 0.8506540060043335, + "z": 9.044745445251465 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.358722686767578, + "objectType": "Window", + "objectId": "window|6|0", + "assetId": "Window_Bay_2", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.2527958154678345, + 1.9711883068084717, + 10.794662475585938 + ], + [ + 0.2527958154678345, + 1.9711883068084717, + 9.04098892211914 + ], + [ + 0.2527958154678345, + 0.8497836589813232, + 10.794662475585938 + ], + [ + 0.2527958154678345, + 0.8497836589813232, + 9.04098892211914 + ], + [ + -0.2527960538864136, + 1.9711883068084717, + 10.794662475585938 + ], + [ + -0.2527960538864136, + 1.9711883068084717, + 9.04098892211914 + ], + [ + -0.2527960538864136, + 0.8497836589813232, + 10.794662475585938 + ], + [ + -0.2527960538864136, + 0.8497836589813232, + 9.04098892211914 + ] + ], + "center": { + "x": -1.1920928955078125e-07, + "y": 1.4104859828948975, + "z": 9.917825698852539 + }, + "size": { + "x": 0.505591869354248, + "y": 1.1214046478271484, + "z": 1.7536735534667969 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Book|surface|6|27", + "object_info": { + "name": "Book|surface|6|27", + "position": { + "x": 0.11511199176311493, + "y": 0.6706018447875977, + "z": 8.7127103805542 + }, + "rotation": { + "x": 0.03683028742671013, + "y": 180.00233459472656, + "z": 0.8242092728614807 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 2.2624733448028564, + "objectType": "Book", + "objectId": "Book|surface|6|27", + "assetId": "Book_9", + "parentReceptacles": [ + "Dresser|6|1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.19714270532131195, + 0.6903762817382812, + 8.824583053588867 + ], + [ + 0.19714270532131195, + 0.6903762817382812, + 8.600828170776367 + ], + [ + 0.19714270532131195, + 0.669803261756897, + 8.824583053588867 + ], + [ + 0.19714270532131195, + 0.669803261756897, + 8.600828170776367 + ], + [ + 0.03301113843917847, + 0.6903762817382812, + 8.824583053588867 + ], + [ + 0.03301113843917847, + 0.6903762817382812, + 8.600828170776367 + ], + [ + 0.03301113843917847, + 0.669803261756897, + 8.824583053588867 + ], + [ + 0.03301113843917847, + 0.669803261756897, + 8.600828170776367 + ] + ], + "center": { + "x": 0.11507692188024521, + "y": 0.6800897717475891, + "z": 8.712705612182617 + }, + "size": { + "x": 0.16413156688213348, + "y": 0.020573019981384277, + "z": 0.2237548828125 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.03298269957304001, + 0.670238196849823, + 8.60084342956543 + ], + [ + 0.1968684196472168, + 0.6678804755210876, + 8.600838661193848 + ], + [ + 0.19687750935554504, + 0.6680243015289307, + 8.824579238891602 + ], + [ + 0.03299180418252945, + 0.670382022857666, + 8.824584007263184 + ], + [ + 0.0332765206694603, + 0.690662145614624, + 8.600831031799316 + ], + [ + 0.19716224074363708, + 0.6883044242858887, + 8.600825309753418 + ], + [ + 0.19717133045196533, + 0.6884482502937317, + 8.824565887451172 + ], + [ + 0.03328562527894974, + 0.690805971622467, + 8.824570655822754 + ] + ] + } + } + }, + { + "objectId": "Dresser|6|1", + "object_info": { + "name": "Dresser|6|1", + "position": { + "x": 0.37396442890167236, + "y": 0.0007619559764862061, + "z": 8.610334396362305 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Pen|surface|6|31", + "Mug|surface|6|32", + "Book|surface|6|27", + "BasketBall|surface|6|29" + ], + "distance": 2.1685123443603516, + "objectType": "Dresser", + "objectId": "Dresser|6|1", + "assetId": "Dresser_318_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.72369384765625, + 0.6699315309524536, + 8.985923767089844 + ], + [ + 0.72369384765625, + 0.6699315309524536, + 8.23881721496582 + ], + [ + 0.72369384765625, + 5.841255187988281e-06, + 8.985923767089844 + ], + [ + 0.72369384765625, + 5.841255187988281e-06, + 8.23881721496582 + ], + [ + 0.025024771690368652, + 0.6699315309524536, + 8.985923767089844 + ], + [ + 0.025024771690368652, + 0.6699315309524536, + 8.23881721496582 + ], + [ + 0.025024771690368652, + 5.841255187988281e-06, + 8.985923767089844 + ], + [ + 0.025024771690368652, + 5.841255187988281e-06, + 8.23881721496582 + ] + ], + "center": { + "x": 0.3743593096733093, + "y": 0.3349686861038208, + "z": 8.612370491027832 + }, + "size": { + "x": 0.6986690759658813, + "y": 0.6699256896972656, + "z": 0.7471065521240234 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.7236934304237366, + 5.930662155151367e-06, + 8.23881721496582 + ], + [ + 0.7236934900283813, + 5.930662155151367e-06, + 8.98592472076416 + ], + [ + 0.02502503991127014, + 5.930662155151367e-06, + 8.98592472076416 + ], + [ + 0.02502495050430298, + 5.930662155151367e-06, + 8.23881721496582 + ], + [ + 0.7236934304237366, + 0.669931173324585, + 8.23881721496582 + ], + [ + 0.7236934900283813, + 0.669931173324585, + 8.98592472076416 + ], + [ + 0.02502503991127014, + 0.669931173324585, + 8.98592472076416 + ], + [ + 0.02502495050430298, + 0.669931173324585, + 8.23881721496582 + ] + ] + } + } + }, + { + "objectId": "Dresser|6|1___0", + "object_info": { + "name": "Drawer (3)", + "position": { + "x": 0.4861488342285156, + "y": 0.1548706591129303, + "z": 8.613595008850098 + }, + "rotation": { + "x": -0.0, + "y": 90.00000762939453, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "CreditCard|surface|6|28" + ], + "distance": 2.011064052581787, + "objectType": "Drawer", + "objectId": "Dresser|6|1___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.6967808604240417, + 0.259176105260849, + 8.967700958251953 + ], + [ + 0.6967808604240417, + 0.259176105260849, + 8.259490966796875 + ], + [ + 0.6967808604240417, + 0.0505652129650116, + 8.967700958251953 + ], + [ + 0.6967808604240417, + 0.0505652129650116, + 8.259490966796875 + ], + [ + 0.2743954658508301, + 0.259176105260849, + 8.967700958251953 + ], + [ + 0.2743954658508301, + 0.259176105260849, + 8.259490966796875 + ], + [ + 0.2743954658508301, + 0.0505652129650116, + 8.967700958251953 + ], + [ + 0.2743954658508301, + 0.0505652129650116, + 8.259490966796875 + ] + ], + "center": { + "x": 0.4855881631374359, + "y": 0.1548706591129303, + "z": 8.613595962524414 + }, + "size": { + "x": 0.42238539457321167, + "y": 0.2086108922958374, + "z": 0.7082099914550781 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|6|1___1", + "object_info": { + "name": "Drawer (1)", + "position": { + "x": 0.4861488342285156, + "y": 0.5718306303024292, + "z": 8.613595008850098 + }, + "rotation": { + "x": -0.0, + "y": 90.00000762939453, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 1.8963180780410767, + "objectType": "Drawer", + "objectId": "Dresser|6|1___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.6941410303115845, + 0.6487559080123901, + 8.967700958251953 + ], + [ + 0.6941410303115845, + 0.6487559080123901, + 8.259490966796875 + ], + [ + 0.6941410303115845, + 0.49490535259246826, + 8.967700958251953 + ], + [ + 0.6941410303115845, + 0.49490535259246826, + 8.259490966796875 + ], + [ + 0.2770354151725769, + 0.6487559080123901, + 8.967700958251953 + ], + [ + 0.2770354151725769, + 0.6487559080123901, + 8.259490966796875 + ], + [ + 0.2770354151725769, + 0.49490535259246826, + 8.967700958251953 + ], + [ + 0.2770354151725769, + 0.49490535259246826, + 8.259490966796875 + ] + ], + "center": { + "x": 0.4855882227420807, + "y": 0.5718306303024292, + "z": 8.613595962524414 + }, + "size": { + "x": 0.41710561513900757, + "y": 0.15385055541992188, + "z": 0.7082099914550781 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Mug|surface|6|32", + "object_info": { + "name": "Mug|surface|6|32", + "position": { + "x": 0.2886723577976227, + "y": 0.6699315905570984, + "z": 8.895771026611328 + }, + "rotation": { + "x": 5.410791345639154e-05, + "y": 179.99984741210938, + "z": 1.0129630027222447e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 2.168548822402954, + "objectType": "Mug", + "objectId": "Mug|surface|6|32", + "assetId": "Mug_1", + "parentReceptacles": [ + "Dresser|6|1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.36300310492515564, + 0.7735666036605835, + 8.94717788696289 + ], + [ + 0.36300310492515564, + 0.7735666036605835, + 8.84466552734375 + ], + [ + 0.36300310492515564, + 0.6699315309524536, + 8.94717788696289 + ], + [ + 0.36300310492515564, + 0.6699315309524536, + 8.84466552734375 + ], + [ + 0.23741570115089417, + 0.7735666036605835, + 8.94717788696289 + ], + [ + 0.23741570115089417, + 0.7735666036605835, + 8.84466552734375 + ], + [ + 0.23741570115089417, + 0.6699315309524536, + 8.94717788696289 + ], + [ + 0.23741570115089417, + 0.6699315309524536, + 8.84466552734375 + ] + ], + "center": { + "x": 0.3002094030380249, + "y": 0.7217490673065186, + "z": 8.89592170715332 + }, + "size": { + "x": 0.12558740377426147, + "y": 0.10363507270812988, + "z": 0.10251235961914062 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.23741576075553894, + 0.6699315309524536, + 8.844664573669434 + ], + [ + 0.3630031943321228, + 0.6699314713478088, + 8.844664573669434 + ], + [ + 0.3630028963088989, + 0.6699315905570984, + 8.94717788696289 + ], + [ + 0.23741549253463745, + 0.6699315905570984, + 8.94717788696289 + ], + [ + 0.23741579055786133, + 0.773566484451294, + 8.844664573669434 + ], + [ + 0.3630031943321228, + 0.7735664248466492, + 8.844664573669434 + ], + [ + 0.3630029261112213, + 0.7735665440559387, + 8.94717788696289 + ], + [ + 0.23741550743579865, + 0.7735665440559387, + 8.947176933288574 + ] + ] + } + } + }, + { + "objectId": "BaseballBat|surface|6|25", + "object_info": { + "name": "BaseballBat|surface|6|25", + "position": { + "x": 1.5443662405014038, + "y": 0.0424966923892498, + "z": 6.420799255371094 + }, + "rotation": { + "x": -0.0015760661335662007, + "y": 165.54385375976562, + "z": 270.00006103515625 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.8999999761581421, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 1.9310157299041748, + "objectType": "BaseballBat", + "objectId": "BaseballBat|surface|6|25", + "assetId": "BaseballBat_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.8202450275421143, + 0.08078086376190186, + 6.532306671142578 + ], + [ + 1.8202450275421143, + 0.08078086376190186, + 6.2063140869140625 + ], + [ + 1.8202450275421143, + -1.3709068298339844e-06, + 6.532306671142578 + ], + [ + 1.8202450275421143, + -1.3709068298339844e-06, + 6.2063140869140625 + ], + [ + 0.869488000869751, + 0.08078086376190186, + 6.532306671142578 + ], + [ + 0.869488000869751, + 0.08078086376190186, + 6.2063140869140625 + ], + [ + 0.869488000869751, + -1.3709068298339844e-06, + 6.532306671142578 + ], + [ + 0.869488000869751, + -1.3709068298339844e-06, + 6.2063140869140625 + ] + ], + "center": { + "x": 1.3448665142059326, + "y": 0.04038974642753601, + "z": 6.36931037902832 + }, + "size": { + "x": 0.9507570266723633, + "y": 0.08078223466873169, + "z": 0.3259925842285156 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.8202450275421143, + 1.0244548320770264e-06, + 6.445661544799805 + ], + [ + 1.820244550704956, + 0.08078019320964813, + 6.4456634521484375 + ], + [ + 1.7979079484939575, + 0.08077774941921234, + 6.53230619430542 + ], + [ + 1.7979084253311157, + -1.4193356037139893e-06, + 6.532304286956787 + ], + [ + 0.8918253779411316, + 1.7397105693817139e-06, + 6.206313610076904 + ], + [ + 0.8918249011039734, + 0.08078093826770782, + 6.206315994262695 + ], + [ + 0.8694882988929749, + 0.08077843487262726, + 6.292958736419678 + ], + [ + 0.8694887757301331, + -7.636845111846924e-07, + 6.292956352233887 + ] + ] + } + } + }, + { + "objectId": "Pen|surface|6|31", + "object_info": { + "name": "Pen|surface|6|31", + "position": { + "x": 0.5490469336509705, + "y": 0.6779638528823853, + "z": 8.895771026611328 + }, + "rotation": { + "x": 2.07930816031876e-06, + "y": 179.9998779296875, + "z": -0.00023000735382083803 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 1.9353015422821045, + "objectType": "Pen", + "objectId": "Pen|surface|6|31", + "assetId": "RoboTHOR_pen_signo_v", + "parentReceptacles": [ + "Dresser|6|1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.5543020367622375, + 0.6858496069908142, + 8.96347427368164 + ], + [ + 0.5543020367622375, + 0.6858496069908142, + 8.821977615356445 + ], + [ + 0.5543020367622375, + 0.6699314713478088, + 8.96347427368164 + ], + [ + 0.5543020367622375, + 0.6699314713478088, + 8.821977615356445 + ], + [ + 0.5437918305397034, + 0.6858496069908142, + 8.96347427368164 + ], + [ + 0.5437918305397034, + 0.6858496069908142, + 8.821977615356445 + ], + [ + 0.5437918305397034, + 0.6699314713478088, + 8.96347427368164 + ], + [ + 0.5437918305397034, + 0.6699314713478088, + 8.821977615356445 + ] + ], + "center": { + "x": 0.5490469336509705, + "y": 0.6778905391693115, + "z": 8.892725944519043 + }, + "size": { + "x": 0.01051020622253418, + "y": 0.01591813564300537, + "z": 0.1414966583251953 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.5437918305397034, + 0.6699314713478088, + 8.821977615356445 + ], + [ + 0.5543023943901062, + 0.6699314713478088, + 8.821977615356445 + ], + [ + 0.5543020963668823, + 0.6699314713478088, + 8.96347427368164 + ], + [ + 0.5437915325164795, + 0.6699314713478088, + 8.96347427368164 + ], + [ + 0.5437917709350586, + 0.6858495473861694, + 8.821977615356445 + ], + [ + 0.5543023347854614, + 0.6858496069908142, + 8.821977615356445 + ], + [ + 0.5543020367622375, + 0.6858496069908142, + 8.96347427368164 + ], + [ + 0.5437914729118347, + 0.6858495473861694, + 8.96347427368164 + ] + ] + } + } + }, + { + "objectId": "Dresser|6|1___2", + "object_info": { + "name": "Drawer (2)", + "position": { + "x": 0.4861488342285156, + "y": 0.37566035985946655, + "z": 8.613595008850098 + }, + "rotation": { + "x": -0.0, + "y": 90.00000762939453, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "HousePlant|surface|6|24" + ], + "distance": 1.9400131702423096, + "objectType": "Drawer", + "objectId": "Dresser|6|1___2", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.6967808604240417, + 0.47996580600738525, + 8.967700958251953 + ], + [ + 0.6967808604240417, + 0.47996580600738525, + 8.259490966796875 + ], + [ + 0.6967808604240417, + 0.27135491371154785, + 8.967700958251953 + ], + [ + 0.6967808604240417, + 0.27135491371154785, + 8.259490966796875 + ], + [ + 0.2743954658508301, + 0.47996580600738525, + 8.967700958251953 + ], + [ + 0.2743954658508301, + 0.47996580600738525, + 8.259490966796875 + ], + [ + 0.2743954658508301, + 0.27135491371154785, + 8.967700958251953 + ], + [ + 0.2743954658508301, + 0.27135491371154785, + 8.259490966796875 + ] + ], + "center": { + "x": 0.4855881631374359, + "y": 0.37566035985946655, + "z": 8.613595962524414 + }, + "size": { + "x": 0.42238539457321167, + "y": 0.2086108922958374, + "z": 0.7082099914550781 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "BasketBall|surface|6|29", + "object_info": { + "name": "BasketBall|surface|6|29", + "position": { + "x": 0.20187664031982422, + "y": 0.7899314165115356, + "z": 8.438132286071777 + }, + "rotation": { + "x": 1.7778813976576657e-09, + "y": 179.99986267089844, + "z": 0.0007013403228484094 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6000000238418579, + "salientMaterials": [ + "Rubber" + ], + "receptacleObjectIds": null, + "distance": 2.0974044799804688, + "objectType": "BasketBall", + "objectId": "BasketBall|surface|6|29", + "assetId": "Basketball_1", + "parentReceptacles": [ + "Dresser|6|1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.3218766450881958, + 0.9099314212799072, + 8.55813217163086 + ], + [ + 0.3218766450881958, + 0.9099314212799072, + 8.318132400512695 + ], + [ + 0.3218766450881958, + 0.6699314117431641, + 8.55813217163086 + ], + [ + 0.3218766450881958, + 0.6699314117431641, + 8.318132400512695 + ], + [ + 0.08187663555145264, + 0.9099314212799072, + 8.55813217163086 + ], + [ + 0.08187663555145264, + 0.9099314212799072, + 8.318132400512695 + ], + [ + 0.08187663555145264, + 0.6699314117431641, + 8.55813217163086 + ], + [ + 0.08187663555145264, + 0.6699314117431641, + 8.318132400512695 + ] + ], + "center": { + "x": 0.20187664031982422, + "y": 0.7899314165115356, + "z": 8.438132286071777 + }, + "size": { + "x": 0.24000000953674316, + "y": 0.24000000953674316, + "z": 0.23999977111816406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.08187548071146011, + 0.6699329018592834, + 8.318132400512695 + ], + [ + 0.3218754827976227, + 0.6699299812316895, + 8.318132400512695 + ], + [ + 0.32187485694885254, + 0.6699299812316895, + 8.55813217163086 + ], + [ + 0.08187486976385117, + 0.6699329018592834, + 8.55813217163086 + ], + [ + 0.0818784162402153, + 0.9099328517913818, + 8.318132400512695 + ], + [ + 0.3218784034252167, + 0.9099299311637878, + 8.318132400512695 + ], + [ + 0.3218778073787689, + 0.9099299311637878, + 8.55813217163086 + ], + [ + 0.08187780529260635, + 0.9099328517913818, + 8.55813217163086 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 1.7000000476837158, + "y": 0.9009997844696045, + "z": 8.100000381469727 + }, + "agent_rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "agent_cameraHorizon": 60.00001525878906, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 1.7000000476837158, + "y": 1.5759997367858887, + "z": 8.100000381469727 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Bed|6|0", + "BaseballBat|surface|6|25" + ], + "different_object": [ + "BasketBall|surface|6|29", + "window|6|0", + "Pen|surface|6|31", + "Book|surface|6|27", + "Dresser|6|1", + "Mug|surface|6|32", + "Dresser|6|1___2", + "Dresser|6|1___1", + "Dresser|6|1___0" + ] +} \ No newline at end of file diff --git a/train/train2023/0/0_depth_npy.npy b/train/train2023/0/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..3c121d1dab4cef32e211f06a5d864dd9bbd3eedc --- /dev/null +++ b/train/train2023/0/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:81cd6d2cbfdaf9a626897ff99c50c5a5bfa9a67313f7b7d566b8c0cb07501a03 +size 3145856 diff --git a/train/train2023/0/0_semantic_sensor_npy.npy b/train/train2023/0/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..c7fb61c681eb1e6d75ea0ba16384e69593118c1c --- /dev/null +++ b/train/train2023/0/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e2925ad0fbb0f25445f3de47482514edd1e4283ce4ba35865fc297aeab168101 +size 2359424 diff --git a/train/train2023/0/1.json b/train/train2023/0/1.json new file mode 100644 index 0000000000000000000000000000000000000000..c9f1416db003436e6c2a164931b72da446109b89 --- /dev/null +++ b/train/train2023/0/1.json @@ -0,0 +1,2072 @@ +{ + "object": [ + { + "objectId": "Bed|6|0", + "object_info": { + "name": "Bed|6|0", + "position": { + "x": 0.9329512715339661, + "y": -0.003118574619293213, + "z": 5.47134256362915 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": true, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "Book|surface|6|26", + "Pillow|surface|6|30" + ], + "distance": 2.9910125732421875, + "objectType": "Bed", + "objectId": "Bed|6|0", + "assetId": "Bed_28", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.8997774124145508, + 0.6485362648963928, + 6.15671443939209 + ], + [ + 1.8997774124145508, + 0.6485362648963928, + 4.784964561462402 + ], + [ + 1.8997774124145508, + 0.0, + 6.15671443939209 + ], + [ + 1.8997774124145508, + 0.0, + 4.784964561462402 + ], + [ + 0.024999678134918213, + 0.6485362648963928, + 6.15671443939209 + ], + [ + 0.024999678134918213, + 0.6485362648963928, + 4.784964561462402 + ], + [ + 0.024999678134918213, + 0.0, + 6.15671443939209 + ], + [ + 0.024999678134918213, + 0.0, + 4.784964561462402 + ] + ], + "center": { + "x": 0.9623885750770569, + "y": 0.3242681324481964, + "z": 5.470839500427246 + }, + "size": { + "x": 1.8747777938842773, + "y": 0.6485362648963928, + "z": 1.3717498779296875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.8997771739959717, + 0.0, + 4.784965515136719 + ], + [ + 1.8997771739959717, + 0.0, + 6.15671443939209 + ], + [ + 0.024999916553497314, + 0.0, + 6.15671443939209 + ], + [ + 0.024999797344207764, + 0.0, + 4.784965515136719 + ], + [ + 1.8997771739959717, + 0.6485360860824585, + 4.784965515136719 + ], + [ + 1.8997771739959717, + 0.6485360860824585, + 6.15671443939209 + ], + [ + 0.024999916553497314, + 0.6485360860824585, + 6.15671443939209 + ], + [ + 0.024999797344207764, + 0.6485360860824585, + 4.784965515136719 + ] + ] + } + } + }, + { + "objectId": "Painting|6|4", + "object_info": { + "name": "Painting|6|4", + "position": { + "x": 0.004995774477720261, + "y": 1.8055709600448608, + "z": 5.354946136474609 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.585331678390503, + "objectType": "Painting", + "objectId": "Painting|6|4", + "assetId": "Wall_Decor_Photo_1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.03674103319644928, + 2.058169364929199, + 5.688770294189453 + ], + [ + 0.03674103319644928, + 2.058169364929199, + 5.021121978759766 + ], + [ + 0.03674103319644928, + 1.5529727935791016, + 5.688770294189453 + ], + [ + 0.03674103319644928, + 1.5529727935791016, + 5.021121978759766 + ], + [ + 0.004999950528144836, + 2.058169364929199, + 5.688770294189453 + ], + [ + 0.004999950528144836, + 2.058169364929199, + 5.021121978759766 + ], + [ + 0.004999950528144836, + 1.5529727935791016, + 5.688770294189453 + ], + [ + 0.004999950528144836, + 1.5529727935791016, + 5.021121978759766 + ] + ], + "center": { + "x": 0.020870491862297058, + "y": 1.8055710792541504, + "z": 5.354946136474609 + }, + "size": { + "x": 0.03174108266830444, + "y": 0.5051965713500977, + "z": 0.6676483154296875 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|4|8", + "object_info": { + "name": "door|4|8", + "position": { + "x": 7.803832054138184, + "y": -0.0005974769592285156, + "z": 4.194584846496582 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 6.792577743530273, + "objectType": "Doorway", + "objectId": "door|4|8", + "assetId": "Doorway_4", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.874403476715088, + 2.103588104248047, + 5.236331462860107 + ], + [ + 7.874403476715088, + 2.103588104248047, + 4.155395030975342 + ], + [ + 7.874403476715088, + 4.76837158203125e-07, + 5.236331462860107 + ], + [ + 7.874403476715088, + 4.76837158203125e-07, + 4.155395030975342 + ], + [ + 6.885812282562256, + 2.103588104248047, + 5.236331462860107 + ], + [ + 6.885812282562256, + 2.103588104248047, + 4.155395030975342 + ], + [ + 6.885812282562256, + 4.76837158203125e-07, + 5.236331462860107 + ], + [ + 6.885812282562256, + 4.76837158203125e-07, + 4.155395030975342 + ] + ], + "center": { + "x": 7.380107879638672, + "y": 1.0517942905426025, + "z": 4.695863246917725 + }, + "size": { + "x": 0.988591194152832, + "y": 2.1035876274108887, + "z": 1.0809364318847656 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Book|surface|6|26", + "object_info": { + "name": "Book|surface|6|26", + "position": { + "x": 0.5104122757911682, + "y": 0.5591837167739868, + "z": 5.796620845794678 + }, + "rotation": { + "x": 359.99200439453125, + "y": 270.0003967285156, + "z": 0.07181698083877563 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 2.8280529975891113, + "objectType": "Book", + "objectId": "Book|surface|6|26", + "assetId": "Book_1", + "parentReceptacles": [ + "Bed|6|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.6748508810997009, + 0.6210669279098511, + 6.011062145233154 + ], + [ + 0.6748508810997009, + 0.6210669279098511, + 5.5852437019348145 + ], + [ + 0.6748508810997009, + 0.5594531297683716, + 6.011062145233154 + ], + [ + 0.6748508810997009, + 0.5594531297683716, + 5.5852437019348145 + ], + [ + 0.34598225355148315, + 0.6210669279098511, + 6.011062145233154 + ], + [ + 0.34598225355148315, + 0.6210669279098511, + 5.5852437019348145 + ], + [ + 0.34598225355148315, + 0.5594531297683716, + 6.011062145233154 + ], + [ + 0.34598225355148315, + 0.5594531297683716, + 5.5852437019348145 + ] + ], + "center": { + "x": 0.510416567325592, + "y": 0.5902600288391113, + "z": 5.798152923583984 + }, + "size": { + "x": 0.3288686275482178, + "y": 0.06161379814147949, + "z": 0.42581844329833984 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.34598493576049805, + 0.5600280165672302, + 6.011061668395996 + ], + [ + 0.3459818959236145, + 0.5594943761825562, + 5.585320949554443 + ], + [ + 0.674839437007904, + 0.5594484210014343, + 5.5853190422058105 + ], + [ + 0.6748424768447876, + 0.5599820613861084, + 6.011059284210205 + ], + [ + 0.3459934592247009, + 0.6210712194442749, + 6.010985374450684 + ], + [ + 0.3459904193878174, + 0.6205375790596008, + 5.585244655609131 + ], + [ + 0.6748479604721069, + 0.620491623878479, + 5.58524227142334 + ], + [ + 0.6748510003089905, + 0.6210253238677979, + 6.010982990264893 + ] + ] + } + } + }, + { + "objectId": "Painting|6|3", + "object_info": { + "name": "Painting|6|3", + "position": { + "x": 2.0548508167266846, + "y": 1.2451289892196655, + "z": 3.9068336486816406 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.112240314483643, + "objectType": "Painting", + "objectId": "Painting|6|3", + "assetId": "Wall_Decor_Painting_7", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.5065970420837402, + 1.5817844867706299, + 3.9312195777893066 + ], + [ + 2.5065970420837402, + 1.5817844867706299, + 3.9070000648498535 + ], + [ + 2.5065970420837402, + 0.9087495803833008, + 3.9312195777893066 + ], + [ + 2.5065970420837402, + 0.9087495803833008, + 3.9070000648498535 + ], + [ + 1.6028127670288086, + 1.5817844867706299, + 3.9312195777893066 + ], + [ + 1.6028127670288086, + 1.5817844867706299, + 3.9070000648498535 + ], + [ + 1.6028127670288086, + 0.9087495803833008, + 3.9312195777893066 + ], + [ + 1.6028127670288086, + 0.9087495803833008, + 3.9070000648498535 + ] + ], + "center": { + "x": 2.0547049045562744, + "y": 1.2452670335769653, + "z": 3.91910982131958 + }, + "size": { + "x": 0.9037842750549316, + "y": 0.6730349063873291, + "z": 0.024219512939453125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DiningTable|9|1", + "object_info": { + "name": "DiningTable|9|1", + "position": { + "x": 7.384104251861572, + "y": 0.0024788379669189453, + "z": 1.491957426071167 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Box|surface|9|54", + "Statue|surface|9|57", + "Laptop|surface|9|61", + "Vase|surface|9|55", + "Candle|surface|9|56" + ], + "distance": 8.337924003601074, + "objectType": "DiningTable", + "objectId": "DiningTable|9|1", + "assetId": "Dining_Table_221_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.779000282287598, + 0.7820819616317749, + 2.3849289417266846 + ], + [ + 7.779000282287598, + 0.7820819616317749, + 0.5989859104156494 + ], + [ + 7.779000282287598, + -1.3113021850585938e-06, + 2.3849289417266846 + ], + [ + 7.779000282287598, + -1.3113021850585938e-06, + 0.5989859104156494 + ], + [ + 6.989208221435547, + 0.7820819616317749, + 2.3849289417266846 + ], + [ + 6.989208221435547, + 0.7820819616317749, + 0.5989859104156494 + ], + [ + 6.989208221435547, + -1.3113021850585938e-06, + 2.3849289417266846 + ], + [ + 6.989208221435547, + -1.3113021850585938e-06, + 0.5989859104156494 + ] + ], + "center": { + "x": 7.384104251861572, + "y": 0.3910403251647949, + "z": 1.491957426071167 + }, + "size": { + "x": 0.7897920608520508, + "y": 0.78208327293396, + "z": 1.7859430313110352 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.989208221435547, + -1.430511474609375e-06, + 2.3849287033081055 + ], + [ + 6.989208698272705, + -1.430511474609375e-06, + 0.5989859700202942 + ], + [ + 7.779000282287598, + -1.430511474609375e-06, + 0.5989861488342285 + ], + [ + 7.7789998054504395, + -1.430511474609375e-06, + 2.3849289417266846 + ], + [ + 6.989208221435547, + 0.7820817232131958, + 2.3849287033081055 + ], + [ + 6.989208698272705, + 0.7820817232131958, + 0.5989859700202942 + ], + [ + 7.779000282287598, + 0.7820817232131958, + 0.5989861488342285 + ], + [ + 7.7789998054504395, + 0.7820817232131958, + 2.3849289417266846 + ] + ] + } + } + }, + { + "objectId": "Pillow|surface|6|30", + "object_info": { + "name": "Pillow|surface|6|30", + "position": { + "x": 0.9568217992782593, + "y": 0.628423810005188, + "z": 5.796622276306152 + }, + "rotation": { + "x": -1.0553438869465026e-06, + "y": 270.0, + "z": 1.4736253888258943e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 2.5693347454071045, + "objectType": "Pillow", + "objectId": "Pillow|surface|6|30", + "assetId": "pillow_18", + "parentReceptacles": [ + "Bed|6|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.1327120065689087, + 0.7035238742828369, + 6.0177435874938965 + ], + [ + 1.1327120065689087, + 0.7035238742828369, + 5.575500965118408 + ], + [ + 1.1327120065689087, + 0.5543237924575806, + 6.0177435874938965 + ], + [ + 1.1327120065689087, + 0.5543237924575806, + 5.575500965118408 + ], + [ + 0.7809315919876099, + 0.7035238742828369, + 6.0177435874938965 + ], + [ + 0.7809315919876099, + 0.7035238742828369, + 5.575500965118408 + ], + [ + 0.7809315919876099, + 0.5543237924575806, + 6.0177435874938965 + ], + [ + 0.7809315919876099, + 0.5543237924575806, + 5.575500965118408 + ] + ], + "center": { + "x": 0.9568217992782593, + "y": 0.6289238333702087, + "z": 5.796622276306152 + }, + "size": { + "x": 0.35178041458129883, + "y": 0.14920008182525635, + "z": 0.4422426223754883 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.7809315919876099, + 0.5543237924575806, + 6.0177435874938965 + ], + [ + 0.7809316515922546, + 0.5543237924575806, + 5.575500965118408 + ], + [ + 1.1327120065689087, + 0.5543237924575806, + 5.575500965118408 + ], + [ + 1.1327120065689087, + 0.5543237924575806, + 6.0177435874938965 + ], + [ + 0.7809315919876099, + 0.7035238146781921, + 6.0177435874938965 + ], + [ + 0.7809316515922546, + 0.7035238146781921, + 5.575500965118408 + ], + [ + 1.1327120065689087, + 0.7035238146781921, + 5.575500965118408 + ], + [ + 1.1327120065689087, + 0.7035238146781921, + 6.0177435874938965 + ] + ] + } + } + }, + { + "objectId": "HousePlant|9|2|0", + "object_info": { + "name": "HousePlant|9|2|0", + "position": { + "x": 7.474191188812256, + "y": 0.0049478113651275635, + "z": 3.249431610107422 + }, + "rotation": { + "x": 0.00015832867939025164, + "y": 283.51519775390625, + "z": -5.0871916755568236e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.0, + "salientMaterials": [ + "Ceramic", + "Organic" + ], + "receptacleObjectIds": null, + "distance": 7.117793560028076, + "objectType": "HousePlant", + "objectId": "HousePlant|9|2|0", + "assetId": "Houseplant_26", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.721459865570068, + 1.0970478057861328, + 3.4946370124816895 + ], + [ + 7.721459865570068, + 1.0970478057861328, + 2.983121395111084 + ], + [ + 7.721459865570068, + 0.0, + 3.4946370124816895 + ], + [ + 7.721459865570068, + 0.0, + 2.983121395111084 + ], + [ + 7.279214382171631, + 1.0970478057861328, + 3.4946370124816895 + ], + [ + 7.279214382171631, + 1.0970478057861328, + 2.983121395111084 + ], + [ + 7.279214382171631, + 0.0, + 3.4946370124816895 + ], + [ + 7.279214382171631, + 0.0, + 2.983121395111084 + ] + ], + "center": { + "x": 7.50033712387085, + "y": 0.5485239028930664, + "z": 3.2388792037963867 + }, + "size": { + "x": 0.4422454833984375, + "y": 1.0970478057861328, + "z": 0.5115156173706055 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.33027982711792, + -1.4826655387878418e-06, + 3.541142225265503 + ], + [ + 7.211651802062988, + -1.0319054126739502e-06, + 3.0475986003875732 + ], + [ + 7.660372257232666, + 2.4354085326194763e-07, + 2.939744710922241 + ], + [ + 7.7789998054504395, + -2.0721927285194397e-07, + 3.433288335800171 + ], + [ + 7.330276966094971, + 1.097046971321106, + 3.5411438941955566 + ], + [ + 7.211649417877197, + 1.0970474481582642, + 3.047600269317627 + ], + [ + 7.660369396209717, + 1.0970487594604492, + 2.939746379852295 + ], + [ + 7.77899694442749, + 1.097048282623291, + 3.4332900047302246 + ] + ] + } + } + }, + { + "objectId": "BaseballBat|surface|6|25", + "object_info": { + "name": "BaseballBat|surface|6|25", + "position": { + "x": 1.5443662405014038, + "y": 0.0424966923892498, + "z": 6.420799255371094 + }, + "rotation": { + "x": -0.0015760661335662007, + "y": 165.54385375976562, + "z": 270.00006103515625 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.8999999761581421, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 1.9310157299041748, + "objectType": "BaseballBat", + "objectId": "BaseballBat|surface|6|25", + "assetId": "BaseballBat_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.8202450275421143, + 0.08078086376190186, + 6.532306671142578 + ], + [ + 1.8202450275421143, + 0.08078086376190186, + 6.2063140869140625 + ], + [ + 1.8202450275421143, + -1.3709068298339844e-06, + 6.532306671142578 + ], + [ + 1.8202450275421143, + -1.3709068298339844e-06, + 6.2063140869140625 + ], + [ + 0.869488000869751, + 0.08078086376190186, + 6.532306671142578 + ], + [ + 0.869488000869751, + 0.08078086376190186, + 6.2063140869140625 + ], + [ + 0.869488000869751, + -1.3709068298339844e-06, + 6.532306671142578 + ], + [ + 0.869488000869751, + -1.3709068298339844e-06, + 6.2063140869140625 + ] + ], + "center": { + "x": 1.3448665142059326, + "y": 0.04038974642753601, + "z": 6.36931037902832 + }, + "size": { + "x": 0.9507570266723633, + "y": 0.08078223466873169, + "z": 0.3259925842285156 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.8202450275421143, + 1.0244548320770264e-06, + 6.445661544799805 + ], + [ + 1.820244550704956, + 0.08078019320964813, + 6.4456634521484375 + ], + [ + 1.7979079484939575, + 0.08077774941921234, + 6.53230619430542 + ], + [ + 1.7979084253311157, + -1.4193356037139893e-06, + 6.532304286956787 + ], + [ + 0.8918253779411316, + 1.7397105693817139e-06, + 6.206313610076904 + ], + [ + 0.8918249011039734, + 0.08078093826770782, + 6.206315994262695 + ], + [ + 0.8694882988929749, + 0.08077843487262726, + 6.292958736419678 + ], + [ + 0.8694887757301331, + -7.636845111846924e-07, + 6.292956352233887 + ] + ] + } + } + }, + { + "objectId": "door|6|8", + "object_info": { + "name": "door|6|8", + "position": { + "x": 3.9019973278045654, + "y": -0.0005984306335449219, + "z": 7.024641513824463 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1197402477264404, + "objectType": "Doorway", + "objectId": "door|6|8", + "assetId": "Doorway_Double_4", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.820016860961914, + 2.1049137115478516, + 7.048911094665527 + ], + [ + 4.820016860961914, + 2.1049137115478516, + 5.0099897384643555 + ], + [ + 4.820016860961914, + -2.384185791015625e-07, + 7.048911094665527 + ], + [ + 4.820016860961914, + -2.384185791015625e-07, + 5.0099897384643555 + ], + [ + 3.831425666809082, + 2.1049137115478516, + 7.048911094665527 + ], + [ + 3.831425666809082, + 2.1049137115478516, + 5.0099897384643555 + ], + [ + 3.831425666809082, + -2.384185791015625e-07, + 7.048911094665527 + ], + [ + 3.831425666809082, + -2.384185791015625e-07, + 5.0099897384643555 + ] + ], + "center": { + "x": 4.325721263885498, + "y": 1.0524567365646362, + "z": 6.029450416564941 + }, + "size": { + "x": 0.988591194152832, + "y": 2.1049139499664307, + "z": 2.038921356201172 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|7|6", + "object_info": { + "name": "Painting|7|6", + "position": { + "x": 0.8438607454299927, + "y": 1.933230996131897, + "z": 0.005872815847396851 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 8.18222427368164, + "objectType": "Painting", + "objectId": "Painting|7|6", + "assetId": "Wall_Decor_Painting_10", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.222259521484375, + 2.306584358215332, + 0.020999301224946976 + ], + [ + 1.222259521484375, + 2.306584358215332, + 0.004999998956918716 + ], + [ + 1.222259521484375, + 1.5607781410217285, + 0.020999301224946976 + ], + [ + 1.222259521484375, + 1.5607781410217285, + 0.004999998956918716 + ], + [ + 0.4655503034591675, + 2.306584358215332, + 0.020999301224946976 + ], + [ + 0.4655503034591675, + 2.306584358215332, + 0.004999998956918716 + ], + [ + 0.4655503034591675, + 1.5607781410217285, + 0.020999301224946976 + ], + [ + 0.4655503034591675, + 1.5607781410217285, + 0.004999998956918716 + ] + ], + "center": { + "x": 0.8439049124717712, + "y": 1.9336812496185303, + "z": 0.012999650090932846 + }, + "size": { + "x": 0.7567092180252075, + "y": 0.7458062171936035, + "z": 0.01599930226802826 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|6|5", + "object_info": { + "name": "Painting|6|5", + "position": { + "x": 3.0467681884765625, + "y": 1.453113079071045, + "z": 3.9069957733154297 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Wood" + ], + "receptacleObjectIds": null, + "distance": 4.206227779388428, + "objectType": "Painting", + "objectId": "Painting|6|5", + "assetId": "Wall_Decor_Painting_1V", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.507972002029419, + 1.7764389514923096, + 3.9387409687042236 + ], + [ + 3.507972002029419, + 1.7764389514923096, + 3.9069998264312744 + ], + [ + 3.507972002029419, + 1.1297872066497803, + 3.9387409687042236 + ], + [ + 3.507972002029419, + 1.1297872066497803, + 3.9069998264312744 + ], + [ + 2.585564374923706, + 1.7764389514923096, + 3.9387409687042236 + ], + [ + 2.585564374923706, + 1.7764389514923096, + 3.9069998264312744 + ], + [ + 2.585564374923706, + 1.1297872066497803, + 3.9387409687042236 + ], + [ + 2.585564374923706, + 1.1297872066497803, + 3.9069998264312744 + ] + ], + "center": { + "x": 3.0467681884765625, + "y": 1.453113079071045, + "z": 3.922870397567749 + }, + "size": { + "x": 0.9224076271057129, + "y": 0.6466517448425293, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "WashingMachine|7|4", + "object_info": { + "name": "WashingMachine|7|4", + "position": { + "x": 1.558828353881836, + "y": 0.0015662312507629395, + "z": 0.3657973110675812 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 1.0, + "salientMaterials": [], + "receptacleObjectIds": [], + "distance": 7.718014240264893, + "objectType": "WashingMachine", + "objectId": "WashingMachine|7|4", + "assetId": "Washing_Machine_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.896275281906128, + 1.1449742317199707, + 0.7043943405151367 + ], + [ + 1.896275281906128, + 1.1449742317199707, + 0.02500021457672119 + ], + [ + 1.896275281906128, + 2.384185791015625e-07, + 0.7043943405151367 + ], + [ + 1.896275281906128, + 2.384185791015625e-07, + 0.02500021457672119 + ], + [ + 1.221747875213623, + 1.1449742317199707, + 0.7043943405151367 + ], + [ + 1.221747875213623, + 1.1449742317199707, + 0.02500021457672119 + ], + [ + 1.221747875213623, + 2.384185791015625e-07, + 0.7043943405151367 + ], + [ + 1.221747875213623, + 2.384185791015625e-07, + 0.02500021457672119 + ] + ], + "center": { + "x": 1.5590115785598755, + "y": 0.5724872350692749, + "z": 0.36469727754592896 + }, + "size": { + "x": 0.6745274066925049, + "y": 1.1449739933013916, + "z": 0.6793941259384155 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.896275281906128, + 2.384185791015625e-07, + 0.7043943405151367 + ], + [ + 1.2217477560043335, + 2.384185791015625e-07, + 0.7043943405151367 + ], + [ + 1.2217477560043335, + 2.384185791015625e-07, + 0.025000184774398804 + ], + [ + 1.896275281906128, + 2.384185791015625e-07, + 0.025000184774398804 + ], + [ + 1.896275281906128, + 1.1449742317199707, + 0.7043943405151367 + ], + [ + 1.2217477560043335, + 1.1449742317199707, + 0.7043943405151367 + ], + [ + 1.2217477560043335, + 1.1449742317199707, + 0.025000184774398804 + ], + [ + 1.896275281906128, + 1.1449742317199707, + 0.025000184774398804 + ] + ] + } + } + }, + { + "objectId": "door|6|7", + "object_info": { + "name": "door|6|7", + "position": { + "x": 1.536794900894165, + "y": -0.0005959272384643555, + "z": 3.9019789695739746 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 4.256208896636963, + "objectType": "Doorway", + "objectId": "door|6|7", + "assetId": "Doorway_9", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.603560209274292, + 2.0743770599365234, + 3.9716005325317383 + ], + [ + 1.603560209274292, + 2.0743770599365234, + 2.9870481491088867 + ], + [ + 1.603560209274292, + 0.0, + 3.9716005325317383 + ], + [ + 1.603560209274292, + 0.0, + 2.9870481491088867 + ], + [ + 0.5410046577453613, + 2.0743770599365234, + 3.9716005325317383 + ], + [ + 0.5410046577453613, + 2.0743770599365234, + 2.9870481491088867 + ], + [ + 0.5410046577453613, + 0.0, + 3.9716005325317383 + ], + [ + 0.5410046577453613, + 0.0, + 2.9870481491088867 + ] + ], + "center": { + "x": 1.0722824335098267, + "y": 1.0371885299682617, + "z": 3.4793243408203125 + }, + "size": { + "x": 1.0625555515289307, + "y": 2.0743770599365234, + "z": 0.9845523834228516 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Plunger|7|2", + "object_info": { + "name": "Plunger|7|2", + "position": { + "x": 0.09907300025224686, + "y": -0.0004634857177734375, + "z": 1.2706531286239624 + }, + "rotation": { + "x": -0.00044146637083031237, + "y": 90.0000991821289, + "z": -1.0456174095452297e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Rubber", + "Wood" + ], + "receptacleObjectIds": null, + "distance": 7.1220245361328125, + "objectType": "Plunger", + "objectId": "Plunger|7|2", + "assetId": "Plunger_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.17300625145435333, + 0.5393387079238892, + 1.3448017835617065 + ], + [ + 0.17300625145435333, + 0.5393387079238892, + 1.1965044736862183 + ], + [ + 0.17300625145435333, + -1.1920928955078125e-07, + 1.3448017835617065 + ], + [ + 0.17300625145435333, + -1.1920928955078125e-07, + 1.1965044736862183 + ], + [ + 0.024998739361763, + 0.5393387079238892, + 1.3448017835617065 + ], + [ + 0.024998739361763, + 0.5393387079238892, + 1.1965044736862183 + ], + [ + 0.024998739361763, + -1.1920928955078125e-07, + 1.3448017835617065 + ], + [ + 0.024998739361763, + -1.1920928955078125e-07, + 1.1965044736862183 + ] + ], + "center": { + "x": 0.09900249540805817, + "y": 0.2696692943572998, + "z": 1.2706531286239624 + }, + "size": { + "x": 0.14800751209259033, + "y": 0.5393388271331787, + "z": 0.14829730987548828 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.1730060577392578, + 1.0031508281826973e-06, + 1.1965044736862183 + ], + [ + 0.1730063259601593, + 1.0302173905074596e-06, + 1.3448015451431274 + ], + [ + 0.024999752640724182, + -1.1015799827873707e-07, + 1.3448017835617065 + ], + [ + 0.024999484419822693, + -1.372245606034994e-07, + 1.1965047121047974 + ], + [ + 0.17300190031528473, + 0.5393397808074951, + 1.1965043544769287 + ], + [ + 0.17300216853618622, + 0.5393397808074951, + 1.344801425933838 + ], + [ + 0.0249955952167511, + 0.5393385887145996, + 1.3448017835617065 + ], + [ + 0.02499532699584961, + 0.5393385887145996, + 1.1965045928955078 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 1.7000000476837158, + "y": 0.9009997844696045, + "z": 8.100000381469727 + }, + "agent_rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "agent_cameraHorizon": 30.000003814697266, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 1.7000000476837158, + "y": 1.5759997367858887, + "z": 8.100000381469727 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Bed|6|0", + "BaseballBat|surface|6|25" + ], + "different_object": [ + "Pillow|surface|6|30", + "door|6|8", + "Painting|6|3", + "Plunger|7|2", + "Painting|6|5", + "Painting|6|4", + "Painting|7|6", + "Book|surface|6|26", + "DiningTable|9|1", + "door|4|8", + "door|6|7", + "HousePlant|9|2|0", + "WashingMachine|7|4" + ] +} \ No newline at end of file diff --git a/train/train2023/0/1_depth_npy.npy b/train/train2023/0/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..c9558049c38dd89ed23b3c2db1b4ea990be04297 --- /dev/null +++ b/train/train2023/0/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2db7e06573da39dba07fb6a5c530dc9990292c3d17bcd7bf36b3c06737b80034 +size 3145856 diff --git a/train/train2023/0/1_semantic_sensor_npy.npy b/train/train2023/0/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..3d126979eb0c155bfd6ab3cbeb5f96ef6f28c476 --- /dev/null +++ b/train/train2023/0/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b61aa823f815c6728fc7b491aa0b67fc2139c7af671c755bda854b4b4191fcad +size 2359424 diff --git a/train/train2023/0/depth_0.png b/train/train2023/0/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..cd2d93c34d461cf39108699b1fe40ef7daa91ceb Binary files /dev/null and b/train/train2023/0/depth_0.png differ diff --git a/train/train2023/0/depth_1.png b/train/train2023/0/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..bb2927e8294396431307c23c059ec5b562b1da7d Binary files /dev/null and b/train/train2023/0/depth_1.png differ diff --git a/train/train2023/0/mask_questions.jsonl b/train/train2023/0/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f59c677fa0f76cb5cd6e39c02fb04792c4b52975 --- /dev/null +++ b/train/train2023/0/mask_questions.jsonl @@ -0,0 +1 @@ +{"id": 2607, "folder_dir": "train2023/0", "pair_name": "1-0:BaseballBat|surface|6|25", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Doorway\nB. BaseballBat\nC. Bed\nD. Doorway", "answer": "B", "object_name": "BaseballBat", "image_1": "train2023/0/rgb_1.png", "image_2": "train2023/0/rgb_0.png", "mask_image": "train2023/0/rgb_0_mask_BaseballBat|surface|6|25.png", "options": ["Doorway", "BaseballBat", "Bed", "Doorway"]} diff --git a/train/train2023/0/rgb_0.png b/train/train2023/0/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..5fbfffdaf2b68c9817f9d2b0b02a0366866ec2d3 --- /dev/null +++ b/train/train2023/0/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5d033e9a2ba5c512e52ae885cb6677b8591b9cdb681e3abf04177ebe3baed1bd +size 806924 diff --git a/train/train2023/0/rgb_0_mask_BaseballBat|surface|6|25.png b/train/train2023/0/rgb_0_mask_BaseballBat|surface|6|25.png new file mode 100644 index 0000000000000000000000000000000000000000..b06ff71c93cb2e11157371f43939a85fc583647c --- /dev/null +++ b/train/train2023/0/rgb_0_mask_BaseballBat|surface|6|25.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:09cfd9bf0df08b16b9f850ae4af40d2a8754a8af90ebc67272f0f4f452ef3b73 +size 690400 diff --git a/train/train2023/0/rgb_1.png b/train/train2023/0/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..e5e09629d8cfb41c71a9514f0aa3983a1a07e598 --- /dev/null +++ b/train/train2023/0/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ddf03a4ed3fb6148fb2cd94b3aacb606ae679d6ed54d856b52cb9957bb4231f9 +size 573836 diff --git a/train/train2023/0/semantic_0.png b/train/train2023/0/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..e28b4476acfe4472f26e97b7e5d29d378cb01fc8 Binary files /dev/null and b/train/train2023/0/semantic_0.png differ diff --git a/train/train2023/0/semantic_1.png b/train/train2023/0/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..102fdcce935dff47015113781a1a5200f4e9cee7 Binary files /dev/null and b/train/train2023/0/semantic_1.png differ diff --git a/train/train2023/1/0.json b/train/train2023/1/0.json new file mode 100644 index 0000000000000000000000000000000000000000..3022578e2a0d0b4388a58f2a1a0e1f0475c64516 --- /dev/null +++ b/train/train2023/1/0.json @@ -0,0 +1,1163 @@ +{ + "object": [ + { + "objectId": "door|4|8", + "object_info": { + "name": "door|4|8", + "position": { + "x": 7.803832054138184, + "y": -0.0005974769592285156, + "z": 4.194584846496582 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 6.792577743530273, + "objectType": "Doorway", + "objectId": "door|4|8", + "assetId": "Doorway_4", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.874403476715088, + 2.103588104248047, + 5.236331462860107 + ], + [ + 7.874403476715088, + 2.103588104248047, + 4.155395030975342 + ], + [ + 7.874403476715088, + 4.76837158203125e-07, + 5.236331462860107 + ], + [ + 7.874403476715088, + 4.76837158203125e-07, + 4.155395030975342 + ], + [ + 6.885812282562256, + 2.103588104248047, + 5.236331462860107 + ], + [ + 6.885812282562256, + 2.103588104248047, + 4.155395030975342 + ], + [ + 6.885812282562256, + 4.76837158203125e-07, + 5.236331462860107 + ], + [ + 6.885812282562256, + 4.76837158203125e-07, + 4.155395030975342 + ] + ], + "center": { + "x": 7.380107879638672, + "y": 1.0517942905426025, + "z": 4.695863246917725 + }, + "size": { + "x": 0.988591194152832, + "y": 2.1035876274108887, + "z": 1.0809364318847656 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "RemoteControl|surface|4|8", + "object_info": { + "name": "RemoteControl|surface|4|8", + "position": { + "x": 11.553640365600586, + "y": 0.7134143114089966, + "z": 2.5238211154937744 + }, + "rotation": { + "x": 359.987548828125, + "y": 90.003662109375, + "z": 0.016406849026679993 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.15000000596046448, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 10.79728889465332, + "objectType": "RemoteControl", + "objectId": "RemoteControl|surface|4|8", + "assetId": "Remote_1", + "parentReceptacles": [ + "Bed|4|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.661046981811523, + 0.7303878664970398, + 2.557839870452881 + ], + [ + 11.661046981811523, + 0.7303878664970398, + 2.4898033142089844 + ], + [ + 11.661046981811523, + 0.7116895318031311, + 2.557839870452881 + ], + [ + 11.661046981811523, + 0.7116895318031311, + 2.4898033142089844 + ], + [ + 11.445444107055664, + 0.7303878664970398, + 2.557839870452881 + ], + [ + 11.445444107055664, + 0.7303878664970398, + 2.4898033142089844 + ], + [ + 11.445444107055664, + 0.7116895318031311, + 2.557839870452881 + ], + [ + 11.445444107055664, + 0.7116895318031311, + 2.4898033142089844 + ] + ], + "center": { + "x": 11.553245544433594, + "y": 0.7210386991500854, + "z": 2.5238215923309326 + }, + "size": { + "x": 0.21560287475585938, + "y": 0.01869833469390869, + "z": 0.06803655624389648 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 11.661043167114258, + 0.7117435932159424, + 2.4898033142089844 + ], + [ + 11.66104793548584, + 0.7117241024971008, + 2.55782413482666 + ], + [ + 11.445448875427246, + 0.7116772532463074, + 2.557837963104248 + ], + [ + 11.44544506072998, + 0.7116967439651489, + 2.4898171424865723 + ], + [ + 11.661039352416992, + 0.7303878664970398, + 2.4898085594177246 + ], + [ + 11.661043167114258, + 0.7303683757781982, + 2.5578296184539795 + ], + [ + 11.44544506072998, + 0.7303215265274048, + 2.5578434467315674 + ], + [ + 11.445440292358398, + 0.7303410172462463, + 2.4898223876953125 + ] + ] + } + } + }, + { + "objectId": "DiningTable|9|1", + "object_info": { + "name": "DiningTable|9|1", + "position": { + "x": 7.384104251861572, + "y": 0.0024788379669189453, + "z": 1.491957426071167 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Box|surface|9|54", + "Statue|surface|9|57", + "Laptop|surface|9|61", + "Vase|surface|9|55", + "Candle|surface|9|56" + ], + "distance": 8.337924003601074, + "objectType": "DiningTable", + "objectId": "DiningTable|9|1", + "assetId": "Dining_Table_221_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.779000282287598, + 0.7820819616317749, + 2.3849289417266846 + ], + [ + 7.779000282287598, + 0.7820819616317749, + 0.5989859104156494 + ], + [ + 7.779000282287598, + -1.3113021850585938e-06, + 2.3849289417266846 + ], + [ + 7.779000282287598, + -1.3113021850585938e-06, + 0.5989859104156494 + ], + [ + 6.989208221435547, + 0.7820819616317749, + 2.3849289417266846 + ], + [ + 6.989208221435547, + 0.7820819616317749, + 0.5989859104156494 + ], + [ + 6.989208221435547, + -1.3113021850585938e-06, + 2.3849289417266846 + ], + [ + 6.989208221435547, + -1.3113021850585938e-06, + 0.5989859104156494 + ] + ], + "center": { + "x": 7.384104251861572, + "y": 0.3910403251647949, + "z": 1.491957426071167 + }, + "size": { + "x": 0.7897920608520508, + "y": 0.78208327293396, + "z": 1.7859430313110352 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.989208221435547, + -1.430511474609375e-06, + 2.3849287033081055 + ], + [ + 6.989208698272705, + -1.430511474609375e-06, + 0.5989859700202942 + ], + [ + 7.779000282287598, + -1.430511474609375e-06, + 0.5989861488342285 + ], + [ + 7.7789998054504395, + -1.430511474609375e-06, + 2.3849289417266846 + ], + [ + 6.989208221435547, + 0.7820817232131958, + 2.3849287033081055 + ], + [ + 6.989208698272705, + 0.7820817232131958, + 0.5989859700202942 + ], + [ + 7.779000282287598, + 0.7820817232131958, + 0.5989861488342285 + ], + [ + 7.7789998054504395, + 0.7820817232131958, + 2.3849289417266846 + ] + ] + } + } + }, + { + "objectId": "HousePlant|9|2|0", + "object_info": { + "name": "HousePlant|9|2|0", + "position": { + "x": 7.474191188812256, + "y": 0.0049478113651275635, + "z": 3.249431610107422 + }, + "rotation": { + "x": 0.00015832867939025164, + "y": 283.51519775390625, + "z": -5.0871916755568236e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.0, + "salientMaterials": [ + "Ceramic", + "Organic" + ], + "receptacleObjectIds": null, + "distance": 7.117793560028076, + "objectType": "HousePlant", + "objectId": "HousePlant|9|2|0", + "assetId": "Houseplant_26", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.721459865570068, + 1.0970478057861328, + 3.4946370124816895 + ], + [ + 7.721459865570068, + 1.0970478057861328, + 2.983121395111084 + ], + [ + 7.721459865570068, + 0.0, + 3.4946370124816895 + ], + [ + 7.721459865570068, + 0.0, + 2.983121395111084 + ], + [ + 7.279214382171631, + 1.0970478057861328, + 3.4946370124816895 + ], + [ + 7.279214382171631, + 1.0970478057861328, + 2.983121395111084 + ], + [ + 7.279214382171631, + 0.0, + 3.4946370124816895 + ], + [ + 7.279214382171631, + 0.0, + 2.983121395111084 + ] + ], + "center": { + "x": 7.50033712387085, + "y": 0.5485239028930664, + "z": 3.2388792037963867 + }, + "size": { + "x": 0.4422454833984375, + "y": 1.0970478057861328, + "z": 0.5115156173706055 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.33027982711792, + -1.4826655387878418e-06, + 3.541142225265503 + ], + [ + 7.211651802062988, + -1.0319054126739502e-06, + 3.0475986003875732 + ], + [ + 7.660372257232666, + 2.4354085326194763e-07, + 2.939744710922241 + ], + [ + 7.7789998054504395, + -2.0721927285194397e-07, + 3.433288335800171 + ], + [ + 7.330276966094971, + 1.097046971321106, + 3.5411438941955566 + ], + [ + 7.211649417877197, + 1.0970474481582642, + 3.047600269317627 + ], + [ + 7.660369396209717, + 1.0970487594604492, + 2.939746379852295 + ], + [ + 7.77899694442749, + 1.097048282623291, + 3.4332900047302246 + ] + ] + } + } + }, + { + "objectId": "Chair|6|2", + "object_info": { + "name": "Chair|6|2", + "position": { + "x": 3.6305274963378906, + "y": 0.0062319934368133545, + "z": 9.438511848449707 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Plastic", + "Metal" + ], + "receptacleObjectIds": [], + "distance": 2.1853561401367188, + "objectType": "Chair", + "objectId": "Chair|6|2", + "assetId": "RoboTHOR_office_chair_jules", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.8769984245300293, + 0.9418676495552063, + 9.72998046875 + ], + [ + 3.8769984245300293, + 0.9418676495552063, + 9.152969360351562 + ], + [ + 3.8769984245300293, + -2.1457672119140625e-06, + 9.72998046875 + ], + [ + 3.8769984245300293, + -2.1457672119140625e-06, + 9.152969360351562 + ], + [ + 3.3360495567321777, + 0.9418676495552063, + 9.72998046875 + ], + [ + 3.3360495567321777, + 0.9418676495552063, + 9.152969360351562 + ], + [ + 3.3360495567321777, + -2.1457672119140625e-06, + 9.72998046875 + ], + [ + 3.3360495567321777, + -2.1457672119140625e-06, + 9.152969360351562 + ] + ], + "center": { + "x": 3.6065239906311035, + "y": 0.4709327518939972, + "z": 9.441474914550781 + }, + "size": { + "x": 0.5409488677978516, + "y": 0.9418697953224182, + "z": 0.5770111083984375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.3360495567321777, + -2.0265579223632812e-06, + 9.152969360351562 + ], + [ + 3.8769984245300293, + -2.0265579223632812e-06, + 9.152969360351562 + ], + [ + 3.8769984245300293, + -2.0265579223632812e-06, + 9.729979515075684 + ], + [ + 3.3360495567321777, + -2.0265579223632812e-06, + 9.729979515075684 + ], + [ + 3.3360495567321777, + 0.941867470741272, + 9.152969360351562 + ], + [ + 3.8769984245300293, + 0.941867470741272, + 9.152969360351562 + ], + [ + 3.8769984245300293, + 0.941867470741272, + 9.729979515075684 + ], + [ + 3.3360495567321777, + 0.941867470741272, + 9.729979515075684 + ] + ] + } + } + }, + { + "objectId": "door|6|8", + "object_info": { + "name": "door|6|8", + "position": { + "x": 3.9019973278045654, + "y": -0.0005984306335449219, + "z": 7.024641513824463 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1197402477264404, + "objectType": "Doorway", + "objectId": "door|6|8", + "assetId": "Doorway_Double_4", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.820016860961914, + 2.1049137115478516, + 7.048911094665527 + ], + [ + 4.820016860961914, + 2.1049137115478516, + 5.0099897384643555 + ], + [ + 4.820016860961914, + -2.384185791015625e-07, + 7.048911094665527 + ], + [ + 4.820016860961914, + -2.384185791015625e-07, + 5.0099897384643555 + ], + [ + 3.831425666809082, + 2.1049137115478516, + 7.048911094665527 + ], + [ + 3.831425666809082, + 2.1049137115478516, + 5.0099897384643555 + ], + [ + 3.831425666809082, + -2.384185791015625e-07, + 7.048911094665527 + ], + [ + 3.831425666809082, + -2.384185791015625e-07, + 5.0099897384643555 + ] + ], + "center": { + "x": 4.325721263885498, + "y": 1.0524567365646362, + "z": 6.029450416564941 + }, + "size": { + "x": 0.988591194152832, + "y": 2.1049139499664307, + "z": 2.038921356201172 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bed|4|0", + "object_info": { + "name": "Bed|4|0", + "position": { + "x": 12.462117195129395, + "y": 0.0035758018493652344, + "z": 3.0061533451080322 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "Book|surface|4|13", + "TeddyBear|surface|4|11", + "Pillow|surface|4|6", + "RemoteControl|surface|4|8", + "Box|surface|4|3", + "CellPhone|surface|4|12" + ], + "distance": 11.403122901916504, + "objectType": "Bed", + "objectId": "Bed|4|0", + "assetId": "Bed_30", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 13.632001876831055, + 1.2202703952789307, + 4.036306381225586 + ], + [ + 13.632001876831055, + 1.2202703952789307, + 1.975999355316162 + ], + [ + 13.632001876831055, + 0.0, + 4.036306381225586 + ], + [ + 13.632001876831055, + 0.0, + 1.975999355316162 + ], + [ + 11.218423843383789, + 1.2202703952789307, + 4.036306381225586 + ], + [ + 11.218423843383789, + 1.2202703952789307, + 1.975999355316162 + ], + [ + 11.218423843383789, + 0.0, + 4.036306381225586 + ], + [ + 11.218423843383789, + 0.0, + 1.975999355316162 + ] + ], + "center": { + "x": 12.425212860107422, + "y": 0.6101351976394653, + "z": 3.006152868270874 + }, + "size": { + "x": 2.4135780334472656, + "y": 1.2202703952789307, + "z": 2.060307025909424 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 11.218424797058105, + 0.0, + 4.036306381225586 + ], + [ + 11.218424797058105, + 0.0, + 1.9759997129440308 + ], + [ + 13.631999969482422, + 0.0, + 1.9759999513626099 + ], + [ + 13.631999969482422, + 0.0, + 4.036306858062744 + ], + [ + 11.218424797058105, + 1.2202701568603516, + 4.036306381225586 + ], + [ + 11.218424797058105, + 1.2202701568603516, + 1.9759997129440308 + ], + [ + 13.631999969482422, + 1.2202701568603516, + 1.9759999513626099 + ], + [ + 13.631999969482422, + 1.2202701568603516, + 4.036306858062744 + ] + ] + } + } + }, + { + "objectId": "Painting|9|4", + "object_info": { + "name": "Painting|9|4", + "position": { + "x": 7.799004554748535, + "y": 1.9513239860534668, + "z": 3.500680685043335 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Wood" + ], + "receptacleObjectIds": null, + "distance": 7.220699787139893, + "objectType": "Painting", + "objectId": "Painting|9|4", + "assetId": "Wall_Decor_Photo_1V", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.799000263214111, + 2.148350715637207, + 3.764225959777832 + ], + [ + 7.799000263214111, + 2.148350715637207, + 3.237135410308838 + ], + [ + 7.799000263214111, + 1.7542972564697266, + 3.764225959777832 + ], + [ + 7.799000263214111, + 1.7542972564697266, + 3.237135410308838 + ], + [ + 7.767259120941162, + 2.148350715637207, + 3.764225959777832 + ], + [ + 7.767259120941162, + 2.148350715637207, + 3.237135410308838 + ], + [ + 7.767259120941162, + 1.7542972564697266, + 3.764225959777832 + ], + [ + 7.767259120941162, + 1.7542972564697266, + 3.237135410308838 + ] + ], + "center": { + "x": 7.783129692077637, + "y": 1.9513239860534668, + "z": 3.500680685043335 + }, + "size": { + "x": 0.03174114227294922, + "y": 0.39405345916748047, + "z": 0.5270905494689941 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 1.7000000476837158, + "y": 0.9009997844696045, + "z": 8.100000381469727 + }, + "agent_rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "agent_cameraHorizon": 30.000003814697266, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 1.7000000476837158, + "y": 1.5759997367858887, + "z": 8.100000381469727 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Chair|6|2", + "HousePlant|9|2|0", + "door|6|8", + "door|4|8" + ], + "different_object": [ + "Painting|9|4", + "DiningTable|9|1", + "RemoteControl|surface|4|8", + "Bed|4|0" + ] +} \ No newline at end of file diff --git a/train/train2023/1/0_depth_npy.npy b/train/train2023/1/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..1ccc378e94f5d2d7e13f8109e8864df8531711c5 --- /dev/null +++ b/train/train2023/1/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fb69ea0f6f7973e8633b152baba7b81a34dd6eccd58aea128ae5d439d60bbd54 +size 3145856 diff --git a/train/train2023/1/0_semantic_sensor_npy.npy b/train/train2023/1/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..0c4d7df0cf1fff105869fec4de4d05fe20781372 --- /dev/null +++ b/train/train2023/1/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:52b81fd9e2c2fe774e51f44e7d8df2ecf34da0d468d144d235387f1f4c87834e +size 2359424 diff --git a/train/train2023/1/1.json b/train/train2023/1/1.json new file mode 100644 index 0000000000000000000000000000000000000000..ea65beb7d0701fbd83d3ecd51835d1f3ce9c5a06 --- /dev/null +++ b/train/train2023/1/1.json @@ -0,0 +1,884 @@ +{ + "object": [ + { + "objectId": "Bed|6|0", + "object_info": { + "name": "Bed|6|0", + "position": { + "x": 0.9329512715339661, + "y": -0.003118574619293213, + "z": 5.47134256362915 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": true, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "Book|surface|6|26", + "Pillow|surface|6|30" + ], + "distance": 2.9910125732421875, + "objectType": "Bed", + "objectId": "Bed|6|0", + "assetId": "Bed_28", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.8997774124145508, + 0.6485362648963928, + 6.15671443939209 + ], + [ + 1.8997774124145508, + 0.6485362648963928, + 4.784964561462402 + ], + [ + 1.8997774124145508, + 0.0, + 6.15671443939209 + ], + [ + 1.8997774124145508, + 0.0, + 4.784964561462402 + ], + [ + 0.024999678134918213, + 0.6485362648963928, + 6.15671443939209 + ], + [ + 0.024999678134918213, + 0.6485362648963928, + 4.784964561462402 + ], + [ + 0.024999678134918213, + 0.0, + 6.15671443939209 + ], + [ + 0.024999678134918213, + 0.0, + 4.784964561462402 + ] + ], + "center": { + "x": 0.9623885750770569, + "y": 0.3242681324481964, + "z": 5.470839500427246 + }, + "size": { + "x": 1.8747777938842773, + "y": 0.6485362648963928, + "z": 1.3717498779296875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.8997771739959717, + 0.0, + 4.784965515136719 + ], + [ + 1.8997771739959717, + 0.0, + 6.15671443939209 + ], + [ + 0.024999916553497314, + 0.0, + 6.15671443939209 + ], + [ + 0.024999797344207764, + 0.0, + 4.784965515136719 + ], + [ + 1.8997771739959717, + 0.6485360860824585, + 4.784965515136719 + ], + [ + 1.8997771739959717, + 0.6485360860824585, + 6.15671443939209 + ], + [ + 0.024999916553497314, + 0.6485360860824585, + 6.15671443939209 + ], + [ + 0.024999797344207764, + 0.6485360860824585, + 4.784965515136719 + ] + ] + } + } + }, + { + "objectId": "door|4|8", + "object_info": { + "name": "door|4|8", + "position": { + "x": 7.803832054138184, + "y": -0.0005974769592285156, + "z": 4.194584846496582 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 6.792577743530273, + "objectType": "Doorway", + "objectId": "door|4|8", + "assetId": "Doorway_4", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.874403476715088, + 2.103588104248047, + 5.236331462860107 + ], + [ + 7.874403476715088, + 2.103588104248047, + 4.155395030975342 + ], + [ + 7.874403476715088, + 4.76837158203125e-07, + 5.236331462860107 + ], + [ + 7.874403476715088, + 4.76837158203125e-07, + 4.155395030975342 + ], + [ + 6.885812282562256, + 2.103588104248047, + 5.236331462860107 + ], + [ + 6.885812282562256, + 2.103588104248047, + 4.155395030975342 + ], + [ + 6.885812282562256, + 4.76837158203125e-07, + 5.236331462860107 + ], + [ + 6.885812282562256, + 4.76837158203125e-07, + 4.155395030975342 + ] + ], + "center": { + "x": 7.380107879638672, + "y": 1.0517942905426025, + "z": 4.695863246917725 + }, + "size": { + "x": 0.988591194152832, + "y": 2.1035876274108887, + "z": 1.0809364318847656 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "HousePlant|9|2|0", + "object_info": { + "name": "HousePlant|9|2|0", + "position": { + "x": 7.474191188812256, + "y": 0.0049478113651275635, + "z": 3.249431610107422 + }, + "rotation": { + "x": 0.00015832867939025164, + "y": 283.51519775390625, + "z": -5.0871916755568236e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.0, + "salientMaterials": [ + "Ceramic", + "Organic" + ], + "receptacleObjectIds": null, + "distance": 7.117793560028076, + "objectType": "HousePlant", + "objectId": "HousePlant|9|2|0", + "assetId": "Houseplant_26", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.721459865570068, + 1.0970478057861328, + 3.4946370124816895 + ], + [ + 7.721459865570068, + 1.0970478057861328, + 2.983121395111084 + ], + [ + 7.721459865570068, + 0.0, + 3.4946370124816895 + ], + [ + 7.721459865570068, + 0.0, + 2.983121395111084 + ], + [ + 7.279214382171631, + 1.0970478057861328, + 3.4946370124816895 + ], + [ + 7.279214382171631, + 1.0970478057861328, + 2.983121395111084 + ], + [ + 7.279214382171631, + 0.0, + 3.4946370124816895 + ], + [ + 7.279214382171631, + 0.0, + 2.983121395111084 + ] + ], + "center": { + "x": 7.50033712387085, + "y": 0.5485239028930664, + "z": 3.2388792037963867 + }, + "size": { + "x": 0.4422454833984375, + "y": 1.0970478057861328, + "z": 0.5115156173706055 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.33027982711792, + -1.4826655387878418e-06, + 3.541142225265503 + ], + [ + 7.211651802062988, + -1.0319054126739502e-06, + 3.0475986003875732 + ], + [ + 7.660372257232666, + 2.4354085326194763e-07, + 2.939744710922241 + ], + [ + 7.7789998054504395, + -2.0721927285194397e-07, + 3.433288335800171 + ], + [ + 7.330276966094971, + 1.097046971321106, + 3.5411438941955566 + ], + [ + 7.211649417877197, + 1.0970474481582642, + 3.047600269317627 + ], + [ + 7.660369396209717, + 1.0970487594604492, + 2.939746379852295 + ], + [ + 7.77899694442749, + 1.097048282623291, + 3.4332900047302246 + ] + ] + } + } + }, + { + "objectId": "BaseballBat|surface|6|25", + "object_info": { + "name": "BaseballBat|surface|6|25", + "position": { + "x": 1.5443662405014038, + "y": 0.0424966923892498, + "z": 6.420799255371094 + }, + "rotation": { + "x": -0.0015760661335662007, + "y": 165.54385375976562, + "z": 270.00006103515625 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.8999999761581421, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 1.9310157299041748, + "objectType": "BaseballBat", + "objectId": "BaseballBat|surface|6|25", + "assetId": "BaseballBat_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.8202450275421143, + 0.08078086376190186, + 6.532306671142578 + ], + [ + 1.8202450275421143, + 0.08078086376190186, + 6.2063140869140625 + ], + [ + 1.8202450275421143, + -1.3709068298339844e-06, + 6.532306671142578 + ], + [ + 1.8202450275421143, + -1.3709068298339844e-06, + 6.2063140869140625 + ], + [ + 0.869488000869751, + 0.08078086376190186, + 6.532306671142578 + ], + [ + 0.869488000869751, + 0.08078086376190186, + 6.2063140869140625 + ], + [ + 0.869488000869751, + -1.3709068298339844e-06, + 6.532306671142578 + ], + [ + 0.869488000869751, + -1.3709068298339844e-06, + 6.2063140869140625 + ] + ], + "center": { + "x": 1.3448665142059326, + "y": 0.04038974642753601, + "z": 6.36931037902832 + }, + "size": { + "x": 0.9507570266723633, + "y": 0.08078223466873169, + "z": 0.3259925842285156 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.8202450275421143, + 1.0244548320770264e-06, + 6.445661544799805 + ], + [ + 1.820244550704956, + 0.08078019320964813, + 6.4456634521484375 + ], + [ + 1.7979079484939575, + 0.08077774941921234, + 6.53230619430542 + ], + [ + 1.7979084253311157, + -1.4193356037139893e-06, + 6.532304286956787 + ], + [ + 0.8918253779411316, + 1.7397105693817139e-06, + 6.206313610076904 + ], + [ + 0.8918249011039734, + 0.08078093826770782, + 6.206315994262695 + ], + [ + 0.8694882988929749, + 0.08077843487262726, + 6.292958736419678 + ], + [ + 0.8694887757301331, + -7.636845111846924e-07, + 6.292956352233887 + ] + ] + } + } + }, + { + "objectId": "Chair|6|2", + "object_info": { + "name": "Chair|6|2", + "position": { + "x": 3.6305274963378906, + "y": 0.0062319934368133545, + "z": 9.438511848449707 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Plastic", + "Metal" + ], + "receptacleObjectIds": [], + "distance": 2.1853561401367188, + "objectType": "Chair", + "objectId": "Chair|6|2", + "assetId": "RoboTHOR_office_chair_jules", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.8769984245300293, + 0.9418676495552063, + 9.72998046875 + ], + [ + 3.8769984245300293, + 0.9418676495552063, + 9.152969360351562 + ], + [ + 3.8769984245300293, + -2.1457672119140625e-06, + 9.72998046875 + ], + [ + 3.8769984245300293, + -2.1457672119140625e-06, + 9.152969360351562 + ], + [ + 3.3360495567321777, + 0.9418676495552063, + 9.72998046875 + ], + [ + 3.3360495567321777, + 0.9418676495552063, + 9.152969360351562 + ], + [ + 3.3360495567321777, + -2.1457672119140625e-06, + 9.72998046875 + ], + [ + 3.3360495567321777, + -2.1457672119140625e-06, + 9.152969360351562 + ] + ], + "center": { + "x": 3.6065239906311035, + "y": 0.4709327518939972, + "z": 9.441474914550781 + }, + "size": { + "x": 0.5409488677978516, + "y": 0.9418697953224182, + "z": 0.5770111083984375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.3360495567321777, + -2.0265579223632812e-06, + 9.152969360351562 + ], + [ + 3.8769984245300293, + -2.0265579223632812e-06, + 9.152969360351562 + ], + [ + 3.8769984245300293, + -2.0265579223632812e-06, + 9.729979515075684 + ], + [ + 3.3360495567321777, + -2.0265579223632812e-06, + 9.729979515075684 + ], + [ + 3.3360495567321777, + 0.941867470741272, + 9.152969360351562 + ], + [ + 3.8769984245300293, + 0.941867470741272, + 9.152969360351562 + ], + [ + 3.8769984245300293, + 0.941867470741272, + 9.729979515075684 + ], + [ + 3.3360495567321777, + 0.941867470741272, + 9.729979515075684 + ] + ] + } + } + }, + { + "objectId": "door|6|8", + "object_info": { + "name": "door|6|8", + "position": { + "x": 3.9019973278045654, + "y": -0.0005984306335449219, + "z": 7.024641513824463 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1197402477264404, + "objectType": "Doorway", + "objectId": "door|6|8", + "assetId": "Doorway_Double_4", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.820016860961914, + 2.1049137115478516, + 7.048911094665527 + ], + [ + 4.820016860961914, + 2.1049137115478516, + 5.0099897384643555 + ], + [ + 4.820016860961914, + -2.384185791015625e-07, + 7.048911094665527 + ], + [ + 4.820016860961914, + -2.384185791015625e-07, + 5.0099897384643555 + ], + [ + 3.831425666809082, + 2.1049137115478516, + 7.048911094665527 + ], + [ + 3.831425666809082, + 2.1049137115478516, + 5.0099897384643555 + ], + [ + 3.831425666809082, + -2.384185791015625e-07, + 7.048911094665527 + ], + [ + 3.831425666809082, + -2.384185791015625e-07, + 5.0099897384643555 + ] + ], + "center": { + "x": 4.325721263885498, + "y": 1.0524567365646362, + "z": 6.029450416564941 + }, + "size": { + "x": 0.988591194152832, + "y": 2.1049139499664307, + "z": 2.038921356201172 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 1.7000000476837158, + "y": 0.9009997844696045, + "z": 8.100000381469727 + }, + "agent_rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "agent_cameraHorizon": 60.00001525878906, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 1.7000000476837158, + "y": 1.5759997367858887, + "z": 8.100000381469727 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Chair|6|2", + "HousePlant|9|2|0", + "door|6|8", + "door|4|8" + ], + "different_object": [ + "Bed|6|0", + "BaseballBat|surface|6|25" + ] +} \ No newline at end of file diff --git a/train/train2023/1/1_depth_npy.npy b/train/train2023/1/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..7cc339be2b686449ccfef0168dbe811981cf0ad7 --- /dev/null +++ b/train/train2023/1/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:db23a91afb07b1cc48856e3e11fe6dd11e99fc4627daf3aa74b0beb6c7c96fe3 +size 3145856 diff --git a/train/train2023/1/1_semantic_sensor_npy.npy b/train/train2023/1/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..8bdacbc1befd4b411efaf22bf6f819b806ca85d2 --- /dev/null +++ b/train/train2023/1/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0d49fa9741cd79361e322c5f15e7f5901b6c7bd81f132416896670b500ca556d +size 2359424 diff --git a/train/train2023/1/depth_0.png b/train/train2023/1/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..f18d7ea4c5855db1e8398cef3ed088c7e442ff72 Binary files /dev/null and b/train/train2023/1/depth_0.png differ diff --git a/train/train2023/1/depth_1.png b/train/train2023/1/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..3e4a0ec76c82cdeebd1b859ef75a8e4993cf5d9a Binary files /dev/null and b/train/train2023/1/depth_1.png differ diff --git a/train/train2023/1/mask_questions.jsonl b/train/train2023/1/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..af6c55721209fa50ad0adfa41da4f77be85c564f --- /dev/null +++ b/train/train2023/1/mask_questions.jsonl @@ -0,0 +1 @@ +{"id": 2608, "folder_dir": "train2023/1", "pair_name": "0-1:Chair|6|2", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. HousePlant\nB. Chair\nC. Painting\nD. RemoteControl", "answer": "B", "object_name": "Chair", "image_1": "train2023/1/rgb_0.png", "image_2": "train2023/1/rgb_1.png", "mask_image": "train2023/1/rgb_1_mask_Chair|6|2.png", "options": ["HousePlant", "Chair", "Painting", "RemoteControl"]} diff --git a/train/train2023/1/rgb_0.png b/train/train2023/1/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..d22b63111762161738845894f5de4ef346210759 --- /dev/null +++ b/train/train2023/1/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9ae5668fec81eb9d32a39afae5a423bae96bde65700df8db1cdacd7f47d908db +size 638511 diff --git a/train/train2023/1/rgb_1.png b/train/train2023/1/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..a1c4d659a8dbfbe3299f9e21cd0738e60dafb0e1 --- /dev/null +++ b/train/train2023/1/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e451ad27054478a4c42681537bc7961aff19d12eaa9d23cc5895713375a6552a +size 795665 diff --git a/train/train2023/1/rgb_1_mask_Chair|6|2.png b/train/train2023/1/rgb_1_mask_Chair|6|2.png new file mode 100644 index 0000000000000000000000000000000000000000..168a849485197a35795de3cbb432b7c5e810911a --- /dev/null +++ b/train/train2023/1/rgb_1_mask_Chair|6|2.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e554a34b784e215907cac810e411ff15f1f810f8b3a3e33fc42565265752fc1b +size 682277 diff --git a/train/train2023/1/semantic_0.png b/train/train2023/1/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..6fa92756884eee615bbd09a89ec6e7496a33912e Binary files /dev/null and b/train/train2023/1/semantic_0.png differ diff --git a/train/train2023/1/semantic_1.png b/train/train2023/1/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..8d6330f3e7d1879a384a3f0b551587e6179e622b Binary files /dev/null and b/train/train2023/1/semantic_1.png differ diff --git a/train/train2023/2/0.json b/train/train2023/2/0.json new file mode 100644 index 0000000000000000000000000000000000000000..375e2df4ea7d7daa328b11e1c88380871985efa5 --- /dev/null +++ b/train/train2023/2/0.json @@ -0,0 +1,1268 @@ +{ + "object": [ + { + "objectId": "window|6|0", + "object_info": { + "name": "window|6|0", + "position": { + "x": 0.13587026298046112, + "y": 0.8506540060043335, + "z": 9.044745445251465 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.358722686767578, + "objectType": "Window", + "objectId": "window|6|0", + "assetId": "Window_Bay_2", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.2527958154678345, + 1.9711883068084717, + 10.794662475585938 + ], + [ + 0.2527958154678345, + 1.9711883068084717, + 9.04098892211914 + ], + [ + 0.2527958154678345, + 0.8497836589813232, + 10.794662475585938 + ], + [ + 0.2527958154678345, + 0.8497836589813232, + 9.04098892211914 + ], + [ + -0.2527960538864136, + 1.9711883068084717, + 10.794662475585938 + ], + [ + -0.2527960538864136, + 1.9711883068084717, + 9.04098892211914 + ], + [ + -0.2527960538864136, + 0.8497836589813232, + 10.794662475585938 + ], + [ + -0.2527960538864136, + 0.8497836589813232, + 9.04098892211914 + ] + ], + "center": { + "x": -1.1920928955078125e-07, + "y": 1.4104859828948975, + "z": 9.917825698852539 + }, + "size": { + "x": 0.505591869354248, + "y": 1.1214046478271484, + "z": 1.7536735534667969 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Book|surface|6|27", + "object_info": { + "name": "Book|surface|6|27", + "position": { + "x": 0.11511199176311493, + "y": 0.6706018447875977, + "z": 8.7127103805542 + }, + "rotation": { + "x": 0.03683028742671013, + "y": 180.00233459472656, + "z": 0.8242092728614807 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 2.2624733448028564, + "objectType": "Book", + "objectId": "Book|surface|6|27", + "assetId": "Book_9", + "parentReceptacles": [ + "Dresser|6|1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.19714270532131195, + 0.6903762817382812, + 8.824583053588867 + ], + [ + 0.19714270532131195, + 0.6903762817382812, + 8.600828170776367 + ], + [ + 0.19714270532131195, + 0.669803261756897, + 8.824583053588867 + ], + [ + 0.19714270532131195, + 0.669803261756897, + 8.600828170776367 + ], + [ + 0.03301113843917847, + 0.6903762817382812, + 8.824583053588867 + ], + [ + 0.03301113843917847, + 0.6903762817382812, + 8.600828170776367 + ], + [ + 0.03301113843917847, + 0.669803261756897, + 8.824583053588867 + ], + [ + 0.03301113843917847, + 0.669803261756897, + 8.600828170776367 + ] + ], + "center": { + "x": 0.11507692188024521, + "y": 0.6800897717475891, + "z": 8.712705612182617 + }, + "size": { + "x": 0.16413156688213348, + "y": 0.020573019981384277, + "z": 0.2237548828125 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.03298269957304001, + 0.670238196849823, + 8.60084342956543 + ], + [ + 0.1968684196472168, + 0.6678804755210876, + 8.600838661193848 + ], + [ + 0.19687750935554504, + 0.6680243015289307, + 8.824579238891602 + ], + [ + 0.03299180418252945, + 0.670382022857666, + 8.824584007263184 + ], + [ + 0.0332765206694603, + 0.690662145614624, + 8.600831031799316 + ], + [ + 0.19716224074363708, + 0.6883044242858887, + 8.600825309753418 + ], + [ + 0.19717133045196533, + 0.6884482502937317, + 8.824565887451172 + ], + [ + 0.03328562527894974, + 0.690805971622467, + 8.824570655822754 + ] + ] + } + } + }, + { + "objectId": "Dresser|6|1", + "object_info": { + "name": "Dresser|6|1", + "position": { + "x": 0.37396442890167236, + "y": 0.0007619559764862061, + "z": 8.610334396362305 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Pen|surface|6|31", + "Mug|surface|6|32", + "Book|surface|6|27", + "BasketBall|surface|6|29" + ], + "distance": 2.1685123443603516, + "objectType": "Dresser", + "objectId": "Dresser|6|1", + "assetId": "Dresser_318_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.72369384765625, + 0.6699315309524536, + 8.985923767089844 + ], + [ + 0.72369384765625, + 0.6699315309524536, + 8.23881721496582 + ], + [ + 0.72369384765625, + 5.841255187988281e-06, + 8.985923767089844 + ], + [ + 0.72369384765625, + 5.841255187988281e-06, + 8.23881721496582 + ], + [ + 0.025024771690368652, + 0.6699315309524536, + 8.985923767089844 + ], + [ + 0.025024771690368652, + 0.6699315309524536, + 8.23881721496582 + ], + [ + 0.025024771690368652, + 5.841255187988281e-06, + 8.985923767089844 + ], + [ + 0.025024771690368652, + 5.841255187988281e-06, + 8.23881721496582 + ] + ], + "center": { + "x": 0.3743593096733093, + "y": 0.3349686861038208, + "z": 8.612370491027832 + }, + "size": { + "x": 0.6986690759658813, + "y": 0.6699256896972656, + "z": 0.7471065521240234 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.7236934304237366, + 5.930662155151367e-06, + 8.23881721496582 + ], + [ + 0.7236934900283813, + 5.930662155151367e-06, + 8.98592472076416 + ], + [ + 0.02502503991127014, + 5.930662155151367e-06, + 8.98592472076416 + ], + [ + 0.02502495050430298, + 5.930662155151367e-06, + 8.23881721496582 + ], + [ + 0.7236934304237366, + 0.669931173324585, + 8.23881721496582 + ], + [ + 0.7236934900283813, + 0.669931173324585, + 8.98592472076416 + ], + [ + 0.02502503991127014, + 0.669931173324585, + 8.98592472076416 + ], + [ + 0.02502495050430298, + 0.669931173324585, + 8.23881721496582 + ] + ] + } + } + }, + { + "objectId": "Dresser|6|1___0", + "object_info": { + "name": "Drawer (3)", + "position": { + "x": 0.4861488342285156, + "y": 0.1548706591129303, + "z": 8.613595008850098 + }, + "rotation": { + "x": -0.0, + "y": 90.00000762939453, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "CreditCard|surface|6|28" + ], + "distance": 2.011064052581787, + "objectType": "Drawer", + "objectId": "Dresser|6|1___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.6967808604240417, + 0.259176105260849, + 8.967700958251953 + ], + [ + 0.6967808604240417, + 0.259176105260849, + 8.259490966796875 + ], + [ + 0.6967808604240417, + 0.0505652129650116, + 8.967700958251953 + ], + [ + 0.6967808604240417, + 0.0505652129650116, + 8.259490966796875 + ], + [ + 0.2743954658508301, + 0.259176105260849, + 8.967700958251953 + ], + [ + 0.2743954658508301, + 0.259176105260849, + 8.259490966796875 + ], + [ + 0.2743954658508301, + 0.0505652129650116, + 8.967700958251953 + ], + [ + 0.2743954658508301, + 0.0505652129650116, + 8.259490966796875 + ] + ], + "center": { + "x": 0.4855881631374359, + "y": 0.1548706591129303, + "z": 8.613595962524414 + }, + "size": { + "x": 0.42238539457321167, + "y": 0.2086108922958374, + "z": 0.7082099914550781 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|6|1___1", + "object_info": { + "name": "Drawer (1)", + "position": { + "x": 0.4861488342285156, + "y": 0.5718306303024292, + "z": 8.613595008850098 + }, + "rotation": { + "x": -0.0, + "y": 90.00000762939453, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 1.8963180780410767, + "objectType": "Drawer", + "objectId": "Dresser|6|1___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.6941410303115845, + 0.6487559080123901, + 8.967700958251953 + ], + [ + 0.6941410303115845, + 0.6487559080123901, + 8.259490966796875 + ], + [ + 0.6941410303115845, + 0.49490535259246826, + 8.967700958251953 + ], + [ + 0.6941410303115845, + 0.49490535259246826, + 8.259490966796875 + ], + [ + 0.2770354151725769, + 0.6487559080123901, + 8.967700958251953 + ], + [ + 0.2770354151725769, + 0.6487559080123901, + 8.259490966796875 + ], + [ + 0.2770354151725769, + 0.49490535259246826, + 8.967700958251953 + ], + [ + 0.2770354151725769, + 0.49490535259246826, + 8.259490966796875 + ] + ], + "center": { + "x": 0.4855882227420807, + "y": 0.5718306303024292, + "z": 8.613595962524414 + }, + "size": { + "x": 0.41710561513900757, + "y": 0.15385055541992188, + "z": 0.7082099914550781 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Mug|surface|6|32", + "object_info": { + "name": "Mug|surface|6|32", + "position": { + "x": 0.2886723577976227, + "y": 0.6699315905570984, + "z": 8.895771026611328 + }, + "rotation": { + "x": 5.410791345639154e-05, + "y": 179.99984741210938, + "z": 1.0129630027222447e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 2.168548822402954, + "objectType": "Mug", + "objectId": "Mug|surface|6|32", + "assetId": "Mug_1", + "parentReceptacles": [ + "Dresser|6|1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.36300310492515564, + 0.7735666036605835, + 8.94717788696289 + ], + [ + 0.36300310492515564, + 0.7735666036605835, + 8.84466552734375 + ], + [ + 0.36300310492515564, + 0.6699315309524536, + 8.94717788696289 + ], + [ + 0.36300310492515564, + 0.6699315309524536, + 8.84466552734375 + ], + [ + 0.23741570115089417, + 0.7735666036605835, + 8.94717788696289 + ], + [ + 0.23741570115089417, + 0.7735666036605835, + 8.84466552734375 + ], + [ + 0.23741570115089417, + 0.6699315309524536, + 8.94717788696289 + ], + [ + 0.23741570115089417, + 0.6699315309524536, + 8.84466552734375 + ] + ], + "center": { + "x": 0.3002094030380249, + "y": 0.7217490673065186, + "z": 8.89592170715332 + }, + "size": { + "x": 0.12558740377426147, + "y": 0.10363507270812988, + "z": 0.10251235961914062 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.23741576075553894, + 0.6699315309524536, + 8.844664573669434 + ], + [ + 0.3630031943321228, + 0.6699314713478088, + 8.844664573669434 + ], + [ + 0.3630028963088989, + 0.6699315905570984, + 8.94717788696289 + ], + [ + 0.23741549253463745, + 0.6699315905570984, + 8.94717788696289 + ], + [ + 0.23741579055786133, + 0.773566484451294, + 8.844664573669434 + ], + [ + 0.3630031943321228, + 0.7735664248466492, + 8.844664573669434 + ], + [ + 0.3630029261112213, + 0.7735665440559387, + 8.94717788696289 + ], + [ + 0.23741550743579865, + 0.7735665440559387, + 8.947176933288574 + ] + ] + } + } + }, + { + "objectId": "Chair|6|2", + "object_info": { + "name": "Chair|6|2", + "position": { + "x": 3.6305274963378906, + "y": 0.0062319934368133545, + "z": 9.438511848449707 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Plastic", + "Metal" + ], + "receptacleObjectIds": [], + "distance": 2.1853561401367188, + "objectType": "Chair", + "objectId": "Chair|6|2", + "assetId": "RoboTHOR_office_chair_jules", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.8769984245300293, + 0.9418676495552063, + 9.72998046875 + ], + [ + 3.8769984245300293, + 0.9418676495552063, + 9.152969360351562 + ], + [ + 3.8769984245300293, + -2.1457672119140625e-06, + 9.72998046875 + ], + [ + 3.8769984245300293, + -2.1457672119140625e-06, + 9.152969360351562 + ], + [ + 3.3360495567321777, + 0.9418676495552063, + 9.72998046875 + ], + [ + 3.3360495567321777, + 0.9418676495552063, + 9.152969360351562 + ], + [ + 3.3360495567321777, + -2.1457672119140625e-06, + 9.72998046875 + ], + [ + 3.3360495567321777, + -2.1457672119140625e-06, + 9.152969360351562 + ] + ], + "center": { + "x": 3.6065239906311035, + "y": 0.4709327518939972, + "z": 9.441474914550781 + }, + "size": { + "x": 0.5409488677978516, + "y": 0.9418697953224182, + "z": 0.5770111083984375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.3360495567321777, + -2.0265579223632812e-06, + 9.152969360351562 + ], + [ + 3.8769984245300293, + -2.0265579223632812e-06, + 9.152969360351562 + ], + [ + 3.8769984245300293, + -2.0265579223632812e-06, + 9.729979515075684 + ], + [ + 3.3360495567321777, + -2.0265579223632812e-06, + 9.729979515075684 + ], + [ + 3.3360495567321777, + 0.941867470741272, + 9.152969360351562 + ], + [ + 3.8769984245300293, + 0.941867470741272, + 9.152969360351562 + ], + [ + 3.8769984245300293, + 0.941867470741272, + 9.729979515075684 + ], + [ + 3.3360495567321777, + 0.941867470741272, + 9.729979515075684 + ] + ] + } + } + }, + { + "objectId": "Pen|surface|6|31", + "object_info": { + "name": "Pen|surface|6|31", + "position": { + "x": 0.5490469336509705, + "y": 0.6779638528823853, + "z": 8.895771026611328 + }, + "rotation": { + "x": 2.07930816031876e-06, + "y": 179.9998779296875, + "z": -0.00023000735382083803 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 1.9353015422821045, + "objectType": "Pen", + "objectId": "Pen|surface|6|31", + "assetId": "RoboTHOR_pen_signo_v", + "parentReceptacles": [ + "Dresser|6|1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.5543020367622375, + 0.6858496069908142, + 8.96347427368164 + ], + [ + 0.5543020367622375, + 0.6858496069908142, + 8.821977615356445 + ], + [ + 0.5543020367622375, + 0.6699314713478088, + 8.96347427368164 + ], + [ + 0.5543020367622375, + 0.6699314713478088, + 8.821977615356445 + ], + [ + 0.5437918305397034, + 0.6858496069908142, + 8.96347427368164 + ], + [ + 0.5437918305397034, + 0.6858496069908142, + 8.821977615356445 + ], + [ + 0.5437918305397034, + 0.6699314713478088, + 8.96347427368164 + ], + [ + 0.5437918305397034, + 0.6699314713478088, + 8.821977615356445 + ] + ], + "center": { + "x": 0.5490469336509705, + "y": 0.6778905391693115, + "z": 8.892725944519043 + }, + "size": { + "x": 0.01051020622253418, + "y": 0.01591813564300537, + "z": 0.1414966583251953 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.5437918305397034, + 0.6699314713478088, + 8.821977615356445 + ], + [ + 0.5543023943901062, + 0.6699314713478088, + 8.821977615356445 + ], + [ + 0.5543020963668823, + 0.6699314713478088, + 8.96347427368164 + ], + [ + 0.5437915325164795, + 0.6699314713478088, + 8.96347427368164 + ], + [ + 0.5437917709350586, + 0.6858495473861694, + 8.821977615356445 + ], + [ + 0.5543023347854614, + 0.6858496069908142, + 8.821977615356445 + ], + [ + 0.5543020367622375, + 0.6858496069908142, + 8.96347427368164 + ], + [ + 0.5437914729118347, + 0.6858495473861694, + 8.96347427368164 + ] + ] + } + } + }, + { + "objectId": "Dresser|6|1___2", + "object_info": { + "name": "Drawer (2)", + "position": { + "x": 0.4861488342285156, + "y": 0.37566035985946655, + "z": 8.613595008850098 + }, + "rotation": { + "x": -0.0, + "y": 90.00000762939453, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "HousePlant|surface|6|24" + ], + "distance": 1.9400131702423096, + "objectType": "Drawer", + "objectId": "Dresser|6|1___2", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.6967808604240417, + 0.47996580600738525, + 8.967700958251953 + ], + [ + 0.6967808604240417, + 0.47996580600738525, + 8.259490966796875 + ], + [ + 0.6967808604240417, + 0.27135491371154785, + 8.967700958251953 + ], + [ + 0.6967808604240417, + 0.27135491371154785, + 8.259490966796875 + ], + [ + 0.2743954658508301, + 0.47996580600738525, + 8.967700958251953 + ], + [ + 0.2743954658508301, + 0.47996580600738525, + 8.259490966796875 + ], + [ + 0.2743954658508301, + 0.27135491371154785, + 8.967700958251953 + ], + [ + 0.2743954658508301, + 0.27135491371154785, + 8.259490966796875 + ] + ], + "center": { + "x": 0.4855881631374359, + "y": 0.37566035985946655, + "z": 8.613595962524414 + }, + "size": { + "x": 0.42238539457321167, + "y": 0.2086108922958374, + "z": 0.7082099914550781 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 1.7000000476837158, + "y": 0.9009997844696045, + "z": 8.100000381469727 + }, + "agent_rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "agent_cameraHorizon": 60.00001525878906, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 1.7000000476837158, + "y": 1.5759997367858887, + "z": 8.100000381469727 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Dresser|6|1___1", + "Dresser|6|1___2", + "Dresser|6|1", + "Dresser|6|1___0" + ], + "different_object": [ + "window|6|0", + "Pen|surface|6|31", + "Book|surface|6|27", + "Mug|surface|6|32", + "Chair|6|2" + ] +} \ No newline at end of file diff --git a/train/train2023/2/0_depth_npy.npy b/train/train2023/2/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..2f4e1d9f7fe523c36cb36a8e4ea9dc2e112dd88c --- /dev/null +++ b/train/train2023/2/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:294c8e75c9b01befa524845342231eb85a42f59d9981c01daa60bb69a3ceaf23 +size 3145856 diff --git a/train/train2023/2/0_semantic_sensor_npy.npy b/train/train2023/2/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..c8c8da29801d4c97343ef5ef2248cde2dfabe5e0 --- /dev/null +++ b/train/train2023/2/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f915c8012e9385672e4ceb9c54de7a2a9fcb96b5dbfa665fedf41f460f616cff +size 2359424 diff --git a/train/train2023/2/1.json b/train/train2023/2/1.json new file mode 100644 index 0000000000000000000000000000000000000000..f6f91050409129bfda52289811e579011b22fba4 --- /dev/null +++ b/train/train2023/2/1.json @@ -0,0 +1,1382 @@ +{ + "object": [ + { + "objectId": "Bed|6|0", + "object_info": { + "name": "Bed|6|0", + "position": { + "x": 0.9329512715339661, + "y": -0.003118574619293213, + "z": 5.47134256362915 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": true, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "Book|surface|6|26", + "Pillow|surface|6|30" + ], + "distance": 2.9910125732421875, + "objectType": "Bed", + "objectId": "Bed|6|0", + "assetId": "Bed_28", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.8997774124145508, + 0.6485362648963928, + 6.15671443939209 + ], + [ + 1.8997774124145508, + 0.6485362648963928, + 4.784964561462402 + ], + [ + 1.8997774124145508, + 0.0, + 6.15671443939209 + ], + [ + 1.8997774124145508, + 0.0, + 4.784964561462402 + ], + [ + 0.024999678134918213, + 0.6485362648963928, + 6.15671443939209 + ], + [ + 0.024999678134918213, + 0.6485362648963928, + 4.784964561462402 + ], + [ + 0.024999678134918213, + 0.0, + 6.15671443939209 + ], + [ + 0.024999678134918213, + 0.0, + 4.784964561462402 + ] + ], + "center": { + "x": 0.9623885750770569, + "y": 0.3242681324481964, + "z": 5.470839500427246 + }, + "size": { + "x": 1.8747777938842773, + "y": 0.6485362648963928, + "z": 1.3717498779296875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.8997771739959717, + 0.0, + 4.784965515136719 + ], + [ + 1.8997771739959717, + 0.0, + 6.15671443939209 + ], + [ + 0.024999916553497314, + 0.0, + 6.15671443939209 + ], + [ + 0.024999797344207764, + 0.0, + 4.784965515136719 + ], + [ + 1.8997771739959717, + 0.6485360860824585, + 4.784965515136719 + ], + [ + 1.8997771739959717, + 0.6485360860824585, + 6.15671443939209 + ], + [ + 0.024999916553497314, + 0.6485360860824585, + 6.15671443939209 + ], + [ + 0.024999797344207764, + 0.6485360860824585, + 4.784965515136719 + ] + ] + } + } + }, + { + "objectId": "Dresser|6|1", + "object_info": { + "name": "Dresser|6|1", + "position": { + "x": 0.37396442890167236, + "y": 0.0007619559764862061, + "z": 8.610334396362305 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Pen|surface|6|31", + "Mug|surface|6|32", + "Book|surface|6|27", + "BasketBall|surface|6|29" + ], + "distance": 2.1685123443603516, + "objectType": "Dresser", + "objectId": "Dresser|6|1", + "assetId": "Dresser_318_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.72369384765625, + 0.6699315309524536, + 8.985923767089844 + ], + [ + 0.72369384765625, + 0.6699315309524536, + 8.23881721496582 + ], + [ + 0.72369384765625, + 5.841255187988281e-06, + 8.985923767089844 + ], + [ + 0.72369384765625, + 5.841255187988281e-06, + 8.23881721496582 + ], + [ + 0.025024771690368652, + 0.6699315309524536, + 8.985923767089844 + ], + [ + 0.025024771690368652, + 0.6699315309524536, + 8.23881721496582 + ], + [ + 0.025024771690368652, + 5.841255187988281e-06, + 8.985923767089844 + ], + [ + 0.025024771690368652, + 5.841255187988281e-06, + 8.23881721496582 + ] + ], + "center": { + "x": 0.3743593096733093, + "y": 0.3349686861038208, + "z": 8.612370491027832 + }, + "size": { + "x": 0.6986690759658813, + "y": 0.6699256896972656, + "z": 0.7471065521240234 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.7236934304237366, + 5.930662155151367e-06, + 8.23881721496582 + ], + [ + 0.7236934900283813, + 5.930662155151367e-06, + 8.98592472076416 + ], + [ + 0.02502503991127014, + 5.930662155151367e-06, + 8.98592472076416 + ], + [ + 0.02502495050430298, + 5.930662155151367e-06, + 8.23881721496582 + ], + [ + 0.7236934304237366, + 0.669931173324585, + 8.23881721496582 + ], + [ + 0.7236934900283813, + 0.669931173324585, + 8.98592472076416 + ], + [ + 0.02502503991127014, + 0.669931173324585, + 8.98592472076416 + ], + [ + 0.02502495050430298, + 0.669931173324585, + 8.23881721496582 + ] + ] + } + } + }, + { + "objectId": "Book|surface|6|26", + "object_info": { + "name": "Book|surface|6|26", + "position": { + "x": 0.5104122757911682, + "y": 0.5591837167739868, + "z": 5.796620845794678 + }, + "rotation": { + "x": 359.99200439453125, + "y": 270.0003967285156, + "z": 0.07181698083877563 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 2.8280529975891113, + "objectType": "Book", + "objectId": "Book|surface|6|26", + "assetId": "Book_1", + "parentReceptacles": [ + "Bed|6|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.6748508810997009, + 0.6210669279098511, + 6.011062145233154 + ], + [ + 0.6748508810997009, + 0.6210669279098511, + 5.5852437019348145 + ], + [ + 0.6748508810997009, + 0.5594531297683716, + 6.011062145233154 + ], + [ + 0.6748508810997009, + 0.5594531297683716, + 5.5852437019348145 + ], + [ + 0.34598225355148315, + 0.6210669279098511, + 6.011062145233154 + ], + [ + 0.34598225355148315, + 0.6210669279098511, + 5.5852437019348145 + ], + [ + 0.34598225355148315, + 0.5594531297683716, + 6.011062145233154 + ], + [ + 0.34598225355148315, + 0.5594531297683716, + 5.5852437019348145 + ] + ], + "center": { + "x": 0.510416567325592, + "y": 0.5902600288391113, + "z": 5.798152923583984 + }, + "size": { + "x": 0.3288686275482178, + "y": 0.06161379814147949, + "z": 0.42581844329833984 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.34598493576049805, + 0.5600280165672302, + 6.011061668395996 + ], + [ + 0.3459818959236145, + 0.5594943761825562, + 5.585320949554443 + ], + [ + 0.674839437007904, + 0.5594484210014343, + 5.5853190422058105 + ], + [ + 0.6748424768447876, + 0.5599820613861084, + 6.011059284210205 + ], + [ + 0.3459934592247009, + 0.6210712194442749, + 6.010985374450684 + ], + [ + 0.3459904193878174, + 0.6205375790596008, + 5.585244655609131 + ], + [ + 0.6748479604721069, + 0.620491623878479, + 5.58524227142334 + ], + [ + 0.6748510003089905, + 0.6210253238677979, + 6.010982990264893 + ] + ] + } + } + }, + { + "objectId": "Dresser|6|1___0", + "object_info": { + "name": "Drawer (3)", + "position": { + "x": 0.4861488342285156, + "y": 0.1548706591129303, + "z": 8.613595008850098 + }, + "rotation": { + "x": -0.0, + "y": 90.00000762939453, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "CreditCard|surface|6|28" + ], + "distance": 2.011064052581787, + "objectType": "Drawer", + "objectId": "Dresser|6|1___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.6967808604240417, + 0.259176105260849, + 8.967700958251953 + ], + [ + 0.6967808604240417, + 0.259176105260849, + 8.259490966796875 + ], + [ + 0.6967808604240417, + 0.0505652129650116, + 8.967700958251953 + ], + [ + 0.6967808604240417, + 0.0505652129650116, + 8.259490966796875 + ], + [ + 0.2743954658508301, + 0.259176105260849, + 8.967700958251953 + ], + [ + 0.2743954658508301, + 0.259176105260849, + 8.259490966796875 + ], + [ + 0.2743954658508301, + 0.0505652129650116, + 8.967700958251953 + ], + [ + 0.2743954658508301, + 0.0505652129650116, + 8.259490966796875 + ] + ], + "center": { + "x": 0.4855881631374359, + "y": 0.1548706591129303, + "z": 8.613595962524414 + }, + "size": { + "x": 0.42238539457321167, + "y": 0.2086108922958374, + "z": 0.7082099914550781 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|6|1___1", + "object_info": { + "name": "Drawer (1)", + "position": { + "x": 0.4861488342285156, + "y": 0.5718306303024292, + "z": 8.613595008850098 + }, + "rotation": { + "x": -0.0, + "y": 90.00000762939453, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 1.8963180780410767, + "objectType": "Drawer", + "objectId": "Dresser|6|1___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.6941410303115845, + 0.6487559080123901, + 8.967700958251953 + ], + [ + 0.6941410303115845, + 0.6487559080123901, + 8.259490966796875 + ], + [ + 0.6941410303115845, + 0.49490535259246826, + 8.967700958251953 + ], + [ + 0.6941410303115845, + 0.49490535259246826, + 8.259490966796875 + ], + [ + 0.2770354151725769, + 0.6487559080123901, + 8.967700958251953 + ], + [ + 0.2770354151725769, + 0.6487559080123901, + 8.259490966796875 + ], + [ + 0.2770354151725769, + 0.49490535259246826, + 8.967700958251953 + ], + [ + 0.2770354151725769, + 0.49490535259246826, + 8.259490966796875 + ] + ], + "center": { + "x": 0.4855882227420807, + "y": 0.5718306303024292, + "z": 8.613595962524414 + }, + "size": { + "x": 0.41710561513900757, + "y": 0.15385055541992188, + "z": 0.7082099914550781 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Pillow|surface|6|30", + "object_info": { + "name": "Pillow|surface|6|30", + "position": { + "x": 0.9568217992782593, + "y": 0.628423810005188, + "z": 5.796622276306152 + }, + "rotation": { + "x": -1.0553438869465026e-06, + "y": 270.0, + "z": 1.4736253888258943e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 2.5693347454071045, + "objectType": "Pillow", + "objectId": "Pillow|surface|6|30", + "assetId": "pillow_18", + "parentReceptacles": [ + "Bed|6|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.1327120065689087, + 0.7035238742828369, + 6.0177435874938965 + ], + [ + 1.1327120065689087, + 0.7035238742828369, + 5.575500965118408 + ], + [ + 1.1327120065689087, + 0.5543237924575806, + 6.0177435874938965 + ], + [ + 1.1327120065689087, + 0.5543237924575806, + 5.575500965118408 + ], + [ + 0.7809315919876099, + 0.7035238742828369, + 6.0177435874938965 + ], + [ + 0.7809315919876099, + 0.7035238742828369, + 5.575500965118408 + ], + [ + 0.7809315919876099, + 0.5543237924575806, + 6.0177435874938965 + ], + [ + 0.7809315919876099, + 0.5543237924575806, + 5.575500965118408 + ] + ], + "center": { + "x": 0.9568217992782593, + "y": 0.6289238333702087, + "z": 5.796622276306152 + }, + "size": { + "x": 0.35178041458129883, + "y": 0.14920008182525635, + "z": 0.4422426223754883 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.7809315919876099, + 0.5543237924575806, + 6.0177435874938965 + ], + [ + 0.7809316515922546, + 0.5543237924575806, + 5.575500965118408 + ], + [ + 1.1327120065689087, + 0.5543237924575806, + 5.575500965118408 + ], + [ + 1.1327120065689087, + 0.5543237924575806, + 6.0177435874938965 + ], + [ + 0.7809315919876099, + 0.7035238146781921, + 6.0177435874938965 + ], + [ + 0.7809316515922546, + 0.7035238146781921, + 5.575500965118408 + ], + [ + 1.1327120065689087, + 0.7035238146781921, + 5.575500965118408 + ], + [ + 1.1327120065689087, + 0.7035238146781921, + 6.0177435874938965 + ] + ] + } + } + }, + { + "objectId": "BaseballBat|surface|6|25", + "object_info": { + "name": "BaseballBat|surface|6|25", + "position": { + "x": 1.5443662405014038, + "y": 0.0424966923892498, + "z": 6.420799255371094 + }, + "rotation": { + "x": -0.0015760661335662007, + "y": 165.54385375976562, + "z": 270.00006103515625 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.8999999761581421, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 1.9310157299041748, + "objectType": "BaseballBat", + "objectId": "BaseballBat|surface|6|25", + "assetId": "BaseballBat_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.8202450275421143, + 0.08078086376190186, + 6.532306671142578 + ], + [ + 1.8202450275421143, + 0.08078086376190186, + 6.2063140869140625 + ], + [ + 1.8202450275421143, + -1.3709068298339844e-06, + 6.532306671142578 + ], + [ + 1.8202450275421143, + -1.3709068298339844e-06, + 6.2063140869140625 + ], + [ + 0.869488000869751, + 0.08078086376190186, + 6.532306671142578 + ], + [ + 0.869488000869751, + 0.08078086376190186, + 6.2063140869140625 + ], + [ + 0.869488000869751, + -1.3709068298339844e-06, + 6.532306671142578 + ], + [ + 0.869488000869751, + -1.3709068298339844e-06, + 6.2063140869140625 + ] + ], + "center": { + "x": 1.3448665142059326, + "y": 0.04038974642753601, + "z": 6.36931037902832 + }, + "size": { + "x": 0.9507570266723633, + "y": 0.08078223466873169, + "z": 0.3259925842285156 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.8202450275421143, + 1.0244548320770264e-06, + 6.445661544799805 + ], + [ + 1.820244550704956, + 0.08078019320964813, + 6.4456634521484375 + ], + [ + 1.7979079484939575, + 0.08077774941921234, + 6.53230619430542 + ], + [ + 1.7979084253311157, + -1.4193356037139893e-06, + 6.532304286956787 + ], + [ + 0.8918253779411316, + 1.7397105693817139e-06, + 6.206313610076904 + ], + [ + 0.8918249011039734, + 0.08078093826770782, + 6.206315994262695 + ], + [ + 0.8694882988929749, + 0.08077843487262726, + 6.292958736419678 + ], + [ + 0.8694887757301331, + -7.636845111846924e-07, + 6.292956352233887 + ] + ] + } + } + }, + { + "objectId": "door|6|8", + "object_info": { + "name": "door|6|8", + "position": { + "x": 3.9019973278045654, + "y": -0.0005984306335449219, + "z": 7.024641513824463 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1197402477264404, + "objectType": "Doorway", + "objectId": "door|6|8", + "assetId": "Doorway_Double_4", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.820016860961914, + 2.1049137115478516, + 7.048911094665527 + ], + [ + 4.820016860961914, + 2.1049137115478516, + 5.0099897384643555 + ], + [ + 4.820016860961914, + -2.384185791015625e-07, + 7.048911094665527 + ], + [ + 4.820016860961914, + -2.384185791015625e-07, + 5.0099897384643555 + ], + [ + 3.831425666809082, + 2.1049137115478516, + 7.048911094665527 + ], + [ + 3.831425666809082, + 2.1049137115478516, + 5.0099897384643555 + ], + [ + 3.831425666809082, + -2.384185791015625e-07, + 7.048911094665527 + ], + [ + 3.831425666809082, + -2.384185791015625e-07, + 5.0099897384643555 + ] + ], + "center": { + "x": 4.325721263885498, + "y": 1.0524567365646362, + "z": 6.029450416564941 + }, + "size": { + "x": 0.988591194152832, + "y": 2.1049139499664307, + "z": 2.038921356201172 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|6|7", + "object_info": { + "name": "door|6|7", + "position": { + "x": 1.536794900894165, + "y": -0.0005959272384643555, + "z": 3.9019789695739746 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 4.256208896636963, + "objectType": "Doorway", + "objectId": "door|6|7", + "assetId": "Doorway_9", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.603560209274292, + 2.0743770599365234, + 3.9716005325317383 + ], + [ + 1.603560209274292, + 2.0743770599365234, + 2.9870481491088867 + ], + [ + 1.603560209274292, + 0.0, + 3.9716005325317383 + ], + [ + 1.603560209274292, + 0.0, + 2.9870481491088867 + ], + [ + 0.5410046577453613, + 2.0743770599365234, + 3.9716005325317383 + ], + [ + 0.5410046577453613, + 2.0743770599365234, + 2.9870481491088867 + ], + [ + 0.5410046577453613, + 0.0, + 3.9716005325317383 + ], + [ + 0.5410046577453613, + 0.0, + 2.9870481491088867 + ] + ], + "center": { + "x": 1.0722824335098267, + "y": 1.0371885299682617, + "z": 3.4793243408203125 + }, + "size": { + "x": 1.0625555515289307, + "y": 2.0743770599365234, + "z": 0.9845523834228516 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|6|1___2", + "object_info": { + "name": "Drawer (2)", + "position": { + "x": 0.4861488342285156, + "y": 0.37566035985946655, + "z": 8.613595008850098 + }, + "rotation": { + "x": -0.0, + "y": 90.00000762939453, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "HousePlant|surface|6|24" + ], + "distance": 1.9400131702423096, + "objectType": "Drawer", + "objectId": "Dresser|6|1___2", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.6967808604240417, + 0.47996580600738525, + 8.967700958251953 + ], + [ + 0.6967808604240417, + 0.47996580600738525, + 8.259490966796875 + ], + [ + 0.6967808604240417, + 0.27135491371154785, + 8.967700958251953 + ], + [ + 0.6967808604240417, + 0.27135491371154785, + 8.259490966796875 + ], + [ + 0.2743954658508301, + 0.47996580600738525, + 8.967700958251953 + ], + [ + 0.2743954658508301, + 0.47996580600738525, + 8.259490966796875 + ], + [ + 0.2743954658508301, + 0.27135491371154785, + 8.967700958251953 + ], + [ + 0.2743954658508301, + 0.27135491371154785, + 8.259490966796875 + ] + ], + "center": { + "x": 0.4855881631374359, + "y": 0.37566035985946655, + "z": 8.613595962524414 + }, + "size": { + "x": 0.42238539457321167, + "y": 0.2086108922958374, + "z": 0.7082099914550781 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 1.7000000476837158, + "y": 0.9009997844696045, + "z": 8.0 + }, + "agent_rotation": { + "x": -0.0, + "y": 180.0, + "z": 0.0 + }, + "agent_cameraHorizon": 60.00001525878906, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 1.7000000476837158, + "y": 1.5759997367858887, + "z": 8.0 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Dresser|6|1___1", + "Dresser|6|1___2", + "Dresser|6|1", + "Dresser|6|1___0" + ], + "different_object": [ + "Pillow|surface|6|30", + "door|6|8", + "Bed|6|0", + "Book|surface|6|26", + "BaseballBat|surface|6|25", + "door|6|7" + ] +} \ No newline at end of file diff --git a/train/train2023/2/1_depth_npy.npy b/train/train2023/2/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..6cc1c837c08471341ed765eca282fe60fb6df5a2 --- /dev/null +++ b/train/train2023/2/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c5fd798d22924ec5cd540798243b9d5f93563882b03b276910e6d4f31eceb543 +size 3145856 diff --git a/train/train2023/2/1_semantic_sensor_npy.npy b/train/train2023/2/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..81136c844124abd72f5297cb7fbf23471d1183b1 --- /dev/null +++ b/train/train2023/2/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:99149a6c9d86fd9376d59349555e50efbd73762a568a9d57e9449deb7049be08 +size 2359424 diff --git a/train/train2023/2/depth_0.png b/train/train2023/2/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..1b6b0e1a862ea8bdb6123163f34f62231e37b29c Binary files /dev/null and b/train/train2023/2/depth_0.png differ diff --git a/train/train2023/2/depth_1.png b/train/train2023/2/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..219574a77fb414b41ddd7ceb950815a83e38ed18 Binary files /dev/null and b/train/train2023/2/depth_1.png differ diff --git a/train/train2023/2/mask_questions.jsonl b/train/train2023/2/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..daea5fbd1e8673b20414cb36508bd561c6351b42 --- /dev/null +++ b/train/train2023/2/mask_questions.jsonl @@ -0,0 +1,2 @@ +{"id": 2609, "folder_dir": "train2023/2", "pair_name": "0-1:Dresser|6|1___2", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Drawer\nB. Drawer\nC. Pen\nD. Window", "answer": "A", "object_name": "Drawer", "image_1": "train2023/2/rgb_0.png", "image_2": "train2023/2/rgb_1.png", "mask_image": "train2023/2/rgb_1_mask_Dresser|6|1___2.png", "options": ["Drawer", "Drawer", "Pen", "Window"]} +{"id": 2610, "folder_dir": "train2023/2", "pair_name": "0-1:Dresser|6|1___0", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Drawer\nB. Drawer\nC. Mug\nD. Book", "answer": "A", "object_name": "Drawer", "image_1": "train2023/2/rgb_0.png", "image_2": "train2023/2/rgb_1.png", "mask_image": "train2023/2/rgb_1_mask_Dresser|6|1___0.png", "options": ["Drawer", "Drawer", "Mug", "Book"]} diff --git a/train/train2023/2/rgb_0.png b/train/train2023/2/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..2a7e62a593928e0af0cedbeff040420935f6da1b --- /dev/null +++ b/train/train2023/2/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5abf3fa8ecbceb8583250aab73846b31d7586f503774a83f1156e58c803bc260 +size 665161 diff --git a/train/train2023/2/rgb_1.png b/train/train2023/2/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..9e666ba811f8babfff2869798645f18d7a09cfb9 --- /dev/null +++ b/train/train2023/2/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e33dade49d084231ca631306d6d77a60fe42a9433e000db75da341b1795ebae3 +size 731585 diff --git a/train/train2023/2/rgb_1_mask_Dresser|6|1___0.png b/train/train2023/2/rgb_1_mask_Dresser|6|1___0.png new file mode 100644 index 0000000000000000000000000000000000000000..63d7239d7f038e1136a1f2779c055f40bce82112 --- /dev/null +++ b/train/train2023/2/rgb_1_mask_Dresser|6|1___0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:af4873d7ba08a019666bafc618495ab23cd28bb772ed3909243b629bb9a9263a +size 640874 diff --git a/train/train2023/2/rgb_1_mask_Dresser|6|1___2.png b/train/train2023/2/rgb_1_mask_Dresser|6|1___2.png new file mode 100644 index 0000000000000000000000000000000000000000..92494886c7ee1526dfc9aad417541d1502525060 --- /dev/null +++ b/train/train2023/2/rgb_1_mask_Dresser|6|1___2.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9807c3efdc502baa973a19ec1611d379ac9f4437a7e5ec416e9c123a6730619c +size 641504 diff --git a/train/train2023/2/semantic_0.png b/train/train2023/2/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..4d369bf00f85192c2a2b6bb43272132cb7bcd19b Binary files /dev/null and b/train/train2023/2/semantic_0.png differ diff --git a/train/train2023/2/semantic_1.png b/train/train2023/2/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..d662df7a84b3724ced5f75892ba8f1c207f831da Binary files /dev/null and b/train/train2023/2/semantic_1.png differ diff --git a/train/train2023/4/0_depth_npy.npy b/train/train2023/4/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..f70a14c2a95adb0841fe96311020bf6d7ccb5967 --- /dev/null +++ b/train/train2023/4/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:62deeb86534f6aa1bf2299539e76dde04d4868b3c7f5550fccf40b5b2c25aed7 +size 3145856 diff --git a/train/train2023/4/1.json b/train/train2023/4/1.json new file mode 100644 index 0000000000000000000000000000000000000000..6c944f13ece4fb3a0282de70e19d46e4fb985759 --- /dev/null +++ b/train/train2023/4/1.json @@ -0,0 +1,1163 @@ +{ + "object": [ + { + "objectId": "door|4|8", + "object_info": { + "name": "door|4|8", + "position": { + "x": 7.803832054138184, + "y": -0.0005974769592285156, + "z": 4.194584846496582 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 6.792577743530273, + "objectType": "Doorway", + "objectId": "door|4|8", + "assetId": "Doorway_4", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.874403476715088, + 2.103588104248047, + 5.236331462860107 + ], + [ + 7.874403476715088, + 2.103588104248047, + 4.155395030975342 + ], + [ + 7.874403476715088, + 4.76837158203125e-07, + 5.236331462860107 + ], + [ + 7.874403476715088, + 4.76837158203125e-07, + 4.155395030975342 + ], + [ + 6.885812282562256, + 2.103588104248047, + 5.236331462860107 + ], + [ + 6.885812282562256, + 2.103588104248047, + 4.155395030975342 + ], + [ + 6.885812282562256, + 4.76837158203125e-07, + 5.236331462860107 + ], + [ + 6.885812282562256, + 4.76837158203125e-07, + 4.155395030975342 + ] + ], + "center": { + "x": 7.380107879638672, + "y": 1.0517942905426025, + "z": 4.695863246917725 + }, + "size": { + "x": 0.988591194152832, + "y": 2.1035876274108887, + "z": 1.0809364318847656 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "RemoteControl|surface|4|8", + "object_info": { + "name": "RemoteControl|surface|4|8", + "position": { + "x": 11.553640365600586, + "y": 0.7134143114089966, + "z": 2.5238211154937744 + }, + "rotation": { + "x": 359.987548828125, + "y": 90.003662109375, + "z": 0.016406849026679993 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.15000000596046448, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 10.79728889465332, + "objectType": "RemoteControl", + "objectId": "RemoteControl|surface|4|8", + "assetId": "Remote_1", + "parentReceptacles": [ + "Bed|4|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.661046981811523, + 0.7303878664970398, + 2.557839870452881 + ], + [ + 11.661046981811523, + 0.7303878664970398, + 2.4898033142089844 + ], + [ + 11.661046981811523, + 0.7116895318031311, + 2.557839870452881 + ], + [ + 11.661046981811523, + 0.7116895318031311, + 2.4898033142089844 + ], + [ + 11.445444107055664, + 0.7303878664970398, + 2.557839870452881 + ], + [ + 11.445444107055664, + 0.7303878664970398, + 2.4898033142089844 + ], + [ + 11.445444107055664, + 0.7116895318031311, + 2.557839870452881 + ], + [ + 11.445444107055664, + 0.7116895318031311, + 2.4898033142089844 + ] + ], + "center": { + "x": 11.553245544433594, + "y": 0.7210386991500854, + "z": 2.5238215923309326 + }, + "size": { + "x": 0.21560287475585938, + "y": 0.01869833469390869, + "z": 0.06803655624389648 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 11.661043167114258, + 0.7117435932159424, + 2.4898033142089844 + ], + [ + 11.66104793548584, + 0.7117241024971008, + 2.55782413482666 + ], + [ + 11.445448875427246, + 0.7116772532463074, + 2.557837963104248 + ], + [ + 11.44544506072998, + 0.7116967439651489, + 2.4898171424865723 + ], + [ + 11.661039352416992, + 0.7303878664970398, + 2.4898085594177246 + ], + [ + 11.661043167114258, + 0.7303683757781982, + 2.5578296184539795 + ], + [ + 11.44544506072998, + 0.7303215265274048, + 2.5578434467315674 + ], + [ + 11.445440292358398, + 0.7303410172462463, + 2.4898223876953125 + ] + ] + } + } + }, + { + "objectId": "DiningTable|9|1", + "object_info": { + "name": "DiningTable|9|1", + "position": { + "x": 7.384104251861572, + "y": 0.0024788379669189453, + "z": 1.491957426071167 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Box|surface|9|54", + "Statue|surface|9|57", + "Laptop|surface|9|61", + "Vase|surface|9|55", + "Candle|surface|9|56" + ], + "distance": 8.337924003601074, + "objectType": "DiningTable", + "objectId": "DiningTable|9|1", + "assetId": "Dining_Table_221_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.779000282287598, + 0.7820819616317749, + 2.3849289417266846 + ], + [ + 7.779000282287598, + 0.7820819616317749, + 0.5989859104156494 + ], + [ + 7.779000282287598, + -1.3113021850585938e-06, + 2.3849289417266846 + ], + [ + 7.779000282287598, + -1.3113021850585938e-06, + 0.5989859104156494 + ], + [ + 6.989208221435547, + 0.7820819616317749, + 2.3849289417266846 + ], + [ + 6.989208221435547, + 0.7820819616317749, + 0.5989859104156494 + ], + [ + 6.989208221435547, + -1.3113021850585938e-06, + 2.3849289417266846 + ], + [ + 6.989208221435547, + -1.3113021850585938e-06, + 0.5989859104156494 + ] + ], + "center": { + "x": 7.384104251861572, + "y": 0.3910403251647949, + "z": 1.491957426071167 + }, + "size": { + "x": 0.7897920608520508, + "y": 0.78208327293396, + "z": 1.7859430313110352 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.989208221435547, + -1.430511474609375e-06, + 2.3849287033081055 + ], + [ + 6.989208698272705, + -1.430511474609375e-06, + 0.5989859700202942 + ], + [ + 7.779000282287598, + -1.430511474609375e-06, + 0.5989861488342285 + ], + [ + 7.7789998054504395, + -1.430511474609375e-06, + 2.3849289417266846 + ], + [ + 6.989208221435547, + 0.7820817232131958, + 2.3849287033081055 + ], + [ + 6.989208698272705, + 0.7820817232131958, + 0.5989859700202942 + ], + [ + 7.779000282287598, + 0.7820817232131958, + 0.5989861488342285 + ], + [ + 7.7789998054504395, + 0.7820817232131958, + 2.3849289417266846 + ] + ] + } + } + }, + { + "objectId": "HousePlant|9|2|0", + "object_info": { + "name": "HousePlant|9|2|0", + "position": { + "x": 7.474191188812256, + "y": 0.0049478113651275635, + "z": 3.249431610107422 + }, + "rotation": { + "x": 0.00015832867939025164, + "y": 283.51519775390625, + "z": -5.0871916755568236e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.0, + "salientMaterials": [ + "Ceramic", + "Organic" + ], + "receptacleObjectIds": null, + "distance": 7.117793560028076, + "objectType": "HousePlant", + "objectId": "HousePlant|9|2|0", + "assetId": "Houseplant_26", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.721459865570068, + 1.0970478057861328, + 3.4946370124816895 + ], + [ + 7.721459865570068, + 1.0970478057861328, + 2.983121395111084 + ], + [ + 7.721459865570068, + 0.0, + 3.4946370124816895 + ], + [ + 7.721459865570068, + 0.0, + 2.983121395111084 + ], + [ + 7.279214382171631, + 1.0970478057861328, + 3.4946370124816895 + ], + [ + 7.279214382171631, + 1.0970478057861328, + 2.983121395111084 + ], + [ + 7.279214382171631, + 0.0, + 3.4946370124816895 + ], + [ + 7.279214382171631, + 0.0, + 2.983121395111084 + ] + ], + "center": { + "x": 7.50033712387085, + "y": 0.5485239028930664, + "z": 3.2388792037963867 + }, + "size": { + "x": 0.4422454833984375, + "y": 1.0970478057861328, + "z": 0.5115156173706055 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 7.33027982711792, + -1.4826655387878418e-06, + 3.541142225265503 + ], + [ + 7.211651802062988, + -1.0319054126739502e-06, + 3.0475986003875732 + ], + [ + 7.660372257232666, + 2.4354085326194763e-07, + 2.939744710922241 + ], + [ + 7.7789998054504395, + -2.0721927285194397e-07, + 3.433288335800171 + ], + [ + 7.330276966094971, + 1.097046971321106, + 3.5411438941955566 + ], + [ + 7.211649417877197, + 1.0970474481582642, + 3.047600269317627 + ], + [ + 7.660369396209717, + 1.0970487594604492, + 2.939746379852295 + ], + [ + 7.77899694442749, + 1.097048282623291, + 3.4332900047302246 + ] + ] + } + } + }, + { + "objectId": "Chair|6|2", + "object_info": { + "name": "Chair|6|2", + "position": { + "x": 3.6305274963378906, + "y": 0.0062319934368133545, + "z": 9.438511848449707 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Plastic", + "Metal" + ], + "receptacleObjectIds": [], + "distance": 2.1853561401367188, + "objectType": "Chair", + "objectId": "Chair|6|2", + "assetId": "RoboTHOR_office_chair_jules", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.8769984245300293, + 0.9418676495552063, + 9.72998046875 + ], + [ + 3.8769984245300293, + 0.9418676495552063, + 9.152969360351562 + ], + [ + 3.8769984245300293, + -2.1457672119140625e-06, + 9.72998046875 + ], + [ + 3.8769984245300293, + -2.1457672119140625e-06, + 9.152969360351562 + ], + [ + 3.3360495567321777, + 0.9418676495552063, + 9.72998046875 + ], + [ + 3.3360495567321777, + 0.9418676495552063, + 9.152969360351562 + ], + [ + 3.3360495567321777, + -2.1457672119140625e-06, + 9.72998046875 + ], + [ + 3.3360495567321777, + -2.1457672119140625e-06, + 9.152969360351562 + ] + ], + "center": { + "x": 3.6065239906311035, + "y": 0.4709327518939972, + "z": 9.441474914550781 + }, + "size": { + "x": 0.5409488677978516, + "y": 0.9418697953224182, + "z": 0.5770111083984375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.3360495567321777, + -2.0265579223632812e-06, + 9.152969360351562 + ], + [ + 3.8769984245300293, + -2.0265579223632812e-06, + 9.152969360351562 + ], + [ + 3.8769984245300293, + -2.0265579223632812e-06, + 9.729979515075684 + ], + [ + 3.3360495567321777, + -2.0265579223632812e-06, + 9.729979515075684 + ], + [ + 3.3360495567321777, + 0.941867470741272, + 9.152969360351562 + ], + [ + 3.8769984245300293, + 0.941867470741272, + 9.152969360351562 + ], + [ + 3.8769984245300293, + 0.941867470741272, + 9.729979515075684 + ], + [ + 3.3360495567321777, + 0.941867470741272, + 9.729979515075684 + ] + ] + } + } + }, + { + "objectId": "door|6|8", + "object_info": { + "name": "door|6|8", + "position": { + "x": 3.9019973278045654, + "y": -0.0005984306335449219, + "z": 7.024641513824463 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1197402477264404, + "objectType": "Doorway", + "objectId": "door|6|8", + "assetId": "Doorway_Double_4", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.820016860961914, + 2.1049137115478516, + 7.048911094665527 + ], + [ + 4.820016860961914, + 2.1049137115478516, + 5.0099897384643555 + ], + [ + 4.820016860961914, + -2.384185791015625e-07, + 7.048911094665527 + ], + [ + 4.820016860961914, + -2.384185791015625e-07, + 5.0099897384643555 + ], + [ + 3.831425666809082, + 2.1049137115478516, + 7.048911094665527 + ], + [ + 3.831425666809082, + 2.1049137115478516, + 5.0099897384643555 + ], + [ + 3.831425666809082, + -2.384185791015625e-07, + 7.048911094665527 + ], + [ + 3.831425666809082, + -2.384185791015625e-07, + 5.0099897384643555 + ] + ], + "center": { + "x": 4.325721263885498, + "y": 1.0524567365646362, + "z": 6.029450416564941 + }, + "size": { + "x": 0.988591194152832, + "y": 2.1049139499664307, + "z": 2.038921356201172 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bed|4|0", + "object_info": { + "name": "Bed|4|0", + "position": { + "x": 12.462117195129395, + "y": 0.0035758018493652344, + "z": 3.0061533451080322 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "Book|surface|4|13", + "TeddyBear|surface|4|11", + "Pillow|surface|4|6", + "RemoteControl|surface|4|8", + "Box|surface|4|3", + "CellPhone|surface|4|12" + ], + "distance": 11.403122901916504, + "objectType": "Bed", + "objectId": "Bed|4|0", + "assetId": "Bed_30", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 13.632001876831055, + 1.2202703952789307, + 4.036306381225586 + ], + [ + 13.632001876831055, + 1.2202703952789307, + 1.975999355316162 + ], + [ + 13.632001876831055, + 0.0, + 4.036306381225586 + ], + [ + 13.632001876831055, + 0.0, + 1.975999355316162 + ], + [ + 11.218423843383789, + 1.2202703952789307, + 4.036306381225586 + ], + [ + 11.218423843383789, + 1.2202703952789307, + 1.975999355316162 + ], + [ + 11.218423843383789, + 0.0, + 4.036306381225586 + ], + [ + 11.218423843383789, + 0.0, + 1.975999355316162 + ] + ], + "center": { + "x": 12.425212860107422, + "y": 0.6101351976394653, + "z": 3.006152868270874 + }, + "size": { + "x": 2.4135780334472656, + "y": 1.2202703952789307, + "z": 2.060307025909424 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 11.218424797058105, + 0.0, + 4.036306381225586 + ], + [ + 11.218424797058105, + 0.0, + 1.9759997129440308 + ], + [ + 13.631999969482422, + 0.0, + 1.9759999513626099 + ], + [ + 13.631999969482422, + 0.0, + 4.036306858062744 + ], + [ + 11.218424797058105, + 1.2202701568603516, + 4.036306381225586 + ], + [ + 11.218424797058105, + 1.2202701568603516, + 1.9759997129440308 + ], + [ + 13.631999969482422, + 1.2202701568603516, + 1.9759999513626099 + ], + [ + 13.631999969482422, + 1.2202701568603516, + 4.036306858062744 + ] + ] + } + } + }, + { + "objectId": "Painting|9|4", + "object_info": { + "name": "Painting|9|4", + "position": { + "x": 7.799004554748535, + "y": 1.9513239860534668, + "z": 3.500680685043335 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Wood" + ], + "receptacleObjectIds": null, + "distance": 7.220699787139893, + "objectType": "Painting", + "objectId": "Painting|9|4", + "assetId": "Wall_Decor_Photo_1V", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.799000263214111, + 2.148350715637207, + 3.764225959777832 + ], + [ + 7.799000263214111, + 2.148350715637207, + 3.237135410308838 + ], + [ + 7.799000263214111, + 1.7542972564697266, + 3.764225959777832 + ], + [ + 7.799000263214111, + 1.7542972564697266, + 3.237135410308838 + ], + [ + 7.767259120941162, + 2.148350715637207, + 3.764225959777832 + ], + [ + 7.767259120941162, + 2.148350715637207, + 3.237135410308838 + ], + [ + 7.767259120941162, + 1.7542972564697266, + 3.764225959777832 + ], + [ + 7.767259120941162, + 1.7542972564697266, + 3.237135410308838 + ] + ], + "center": { + "x": 7.783129692077637, + "y": 1.9513239860534668, + "z": 3.500680685043335 + }, + "size": { + "x": 0.03174114227294922, + "y": 0.39405345916748047, + "z": 0.5270905494689941 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 1.600000023841858, + "y": 0.9009997844696045, + "z": 8.199999809265137 + }, + "agent_rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "agent_cameraHorizon": 1.530945155536756e-06, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 1.600000023841858, + "y": 1.5759997367858887, + "z": 8.199999809265137 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Painting|9|4", + "door|6|8", + "DiningTable|9|1", + "door|4|8", + "HousePlant|9|2|0" + ], + "different_object": [ + "Chair|6|2", + "RemoteControl|surface|4|8", + "Bed|4|0" + ] +} \ No newline at end of file diff --git a/train/train2023/4/depth_0.png b/train/train2023/4/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..4f828455c888dd7f9b76079c3032de0b373b0eba Binary files /dev/null and b/train/train2023/4/depth_0.png differ diff --git a/train/train2023/4/mask_questions.jsonl b/train/train2023/4/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/train/train2023/4/rgb_0.png b/train/train2023/4/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..dead6ecb220d294aefc58d1135721b7eba6bbb57 --- /dev/null +++ b/train/train2023/4/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f5370d888d578e9318f7fcb6f019b61e00639dcc124b0de156d07a7978e7d956 +size 366839 diff --git a/train/train2023/4/semantic_0.png b/train/train2023/4/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..5c57ea0d5ebdbe3a3327fe86c6d44545edf67150 Binary files /dev/null and b/train/train2023/4/semantic_0.png differ diff --git a/train/train315/0/0.json b/train/train315/0/0.json new file mode 100644 index 0000000000000000000000000000000000000000..f3a3b2222a0444faa410f2adddf72840e1cbf80f --- /dev/null +++ b/train/train315/0/0.json @@ -0,0 +1,4262 @@ +{ + "object": [ + { + "objectId": "Bowl|surface|4|14", + "object_info": { + "name": "Bowl|surface|4|14", + "position": { + "x": 4.138007164001465, + "y": 0.08874782919883728, + "z": 6.3692626953125 + }, + "rotation": { + "x": -0.0008045348222367465, + "y": 90.00009155273438, + "z": 0.00039010721957311034 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4699999988079071, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 5.21930456161499, + "objectType": "Bowl", + "objectId": "Bowl|surface|4|14", + "assetId": "Bowl_6", + "parentReceptacles": [ + "TVStand|4|0|0___0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.230236053466797, + 0.17130538821220398, + 6.461493492126465 + ], + [ + 4.230236053466797, + 0.17130538821220398, + 6.277033805847168 + ], + [ + 4.230236053466797, + 0.08824843168258667, + 6.461493492126465 + ], + [ + 4.230236053466797, + 0.08824843168258667, + 6.277033805847168 + ], + [ + 4.0457763671875, + 0.17130538821220398, + 6.461493492126465 + ], + [ + 4.0457763671875, + 0.17130538821220398, + 6.277033805847168 + ], + [ + 4.0457763671875, + 0.08824843168258667, + 6.461493492126465 + ], + [ + 4.0457763671875, + 0.08824843168258667, + 6.277033805847168 + ] + ], + "center": { + "x": 4.138006210327148, + "y": 0.12977690994739532, + "z": 6.369263648986816 + }, + "size": { + "x": 0.18445968627929688, + "y": 0.08305695652961731, + "z": 0.18445968627929688 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.2302374839782715, + 0.08825086057186127, + 6.277031898498535 + ], + [ + 4.23023796081543, + 0.08824960887432098, + 6.461493015289307 + ], + [ + 4.045776844024658, + 0.08824701607227325, + 6.461493492126465 + ], + [ + 4.0457763671875, + 0.08824826776981354, + 6.277032375335693 + ], + [ + 4.230236530303955, + 0.17130599915981293, + 6.277032375335693 + ], + [ + 4.230236530303955, + 0.17130474746227264, + 6.461493492126465 + ], + [ + 4.045775413513184, + 0.17130215466022491, + 6.461493968963623 + ], + [ + 4.045775413513184, + 0.1713034063577652, + 6.277032852172852 + ] + ] + } + } + }, + { + "objectId": "Book|surface|4|22", + "object_info": { + "name": "Book|surface|4|22", + "position": { + "x": 4.434379577636719, + "y": 0.27263882756233215, + "z": 6.329527378082275 + }, + "rotation": { + "x": 0.002365913474932313, + "y": 90.0003890991211, + "z": 0.25729310512542725 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 5.127967834472656, + "objectType": "Book", + "objectId": "Book|surface|4|22", + "assetId": "Book_20", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.586941719055176, + 0.30716240406036377, + 6.458010673522949 + ], + [ + 4.586941719055176, + 0.30716240406036377, + 6.2023820877075195 + ], + [ + 4.586941719055176, + 0.2722126245498657, + 6.458010673522949 + ], + [ + 4.586941719055176, + 0.2722126245498657, + 6.2023820877075195 + ], + [ + 4.2818193435668945, + 0.30716240406036377, + 6.458010673522949 + ], + [ + 4.2818193435668945, + 0.30716240406036377, + 6.2023820877075195 + ], + [ + 4.2818193435668945, + 0.2722126245498657, + 6.458010673522949 + ], + [ + 4.2818193435668945, + 0.2722126245498657, + 6.2023820877075195 + ] + ], + "center": { + "x": 4.434380531311035, + "y": 0.28968751430511475, + "z": 6.330196380615234 + }, + "size": { + "x": 0.30512237548828125, + "y": 0.03494977951049805, + "z": 0.2556285858154297 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.586939334869385, + 0.2724279761314392, + 6.202378273010254 + ], + [ + 4.586941242218018, + 0.2712807059288025, + 6.45785665512085 + ], + [ + 4.2818193435668945, + 0.2712933123111725, + 6.457858562469482 + ], + [ + 4.281817436218262, + 0.2724405825138092, + 6.202380657196045 + ], + [ + 4.586940765380859, + 0.3073573708534241, + 6.202535152435303 + ], + [ + 4.586942672729492, + 0.30621010065078735, + 6.458013534545898 + ], + [ + 4.281820774078369, + 0.30622270703315735, + 6.458015441894531 + ], + [ + 4.281818866729736, + 0.30736997723579407, + 6.202537536621094 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___1", + "object_info": { + "name": "Drawer (1)", + "position": { + "x": 3.606998920440674, + "y": 0.39762961864471436, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.130039691925049, + "objectType": "Drawer", + "objectId": "Dresser|4|3___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.4907017946243286, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.4907017946243286, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.30300021171569824, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.30300021171569824, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.4907017946243286, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.4907017946243286, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.30300021171569824, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.30300021171569824, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.3968510031700134, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Chair|4|1|1", + "object_info": { + "name": "Chair|4|1|1", + "position": { + "x": 5.354161262512207, + "y": 0.0031416714191436768, + "z": 2.6687018871307373 + }, + "rotation": { + "x": -0.0, + "y": 16.29289436340332, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 1.7843416929244995, + "objectType": "Chair", + "objectId": "Chair|4|1|1", + "assetId": "Chair_224_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.636518478393555, + 0.8033758401870728, + 3.015368938446045 + ], + [ + 5.636518478393555, + 0.8033758401870728, + 2.3285040855407715 + ], + [ + 5.636518478393555, + -1.004338264465332e-05, + 3.015368938446045 + ], + [ + 5.636518478393555, + -1.004338264465332e-05, + 2.3285040855407715 + ], + [ + 5.066144943237305, + 0.8033758401870728, + 3.015368938446045 + ], + [ + 5.066144943237305, + 0.8033758401870728, + 2.3285040855407715 + ], + [ + 5.066144943237305, + -1.004338264465332e-05, + 3.015368938446045 + ], + [ + 5.066144943237305, + -1.004338264465332e-05, + 2.3285040855407715 + ] + ], + "center": { + "x": 5.35133171081543, + "y": 0.40168288350105286, + "z": 2.671936511993408 + }, + "size": { + "x": 0.57037353515625, + "y": 0.803385853767395, + "z": 0.6868648529052734 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.6637420654296875, + -9.98377799987793e-06, + 2.8985416889190674 + ], + [ + 5.219473361968994, + -9.98377799987793e-06, + 3.028395175933838 + ], + [ + 5.048254489898682, + -9.98377799987793e-06, + 2.44260311126709 + ], + [ + 5.492523193359375, + -9.98377799987793e-06, + 2.3127496242523193 + ], + [ + 5.6637420654296875, + 0.8033754825592041, + 2.8985416889190674 + ], + [ + 5.219473361968994, + 0.8033754825592041, + 3.028395175933838 + ], + [ + 5.048254489898682, + 0.8033754825592041, + 2.44260311126709 + ], + [ + 5.492523193359375, + 0.8033754825592041, + 2.3127496242523193 + ] + ] + } + } + }, + { + "objectId": "CellPhone|surface|4|17", + "object_info": { + "name": "CellPhone|surface|4|17", + "position": { + "x": 3.606998920440674, + "y": 0.6999126672744751, + "z": 6.400298118591309 + }, + "rotation": { + "x": 4.23526716986089e-06, + "y": 180.00010681152344, + "z": -0.0013795691775158048 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1599999964237213, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 5.279437065124512, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|4|17", + "assetId": "Cellphone_8", + "parentReceptacles": [ + "Dresser|4|3", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.645237445831299, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.645237445831299, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.645237445831299, + 0.6992031335830688, + 6.473209381103516 + ], + [ + 3.645237445831299, + 0.6992031335830688, + 6.327386856079102 + ], + [ + 3.568760395050049, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.568760395050049, + 0.6992031335830688, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.6992031335830688, + 6.327386856079102 + ] + ], + "center": { + "x": 3.606998920440674, + "y": 0.7046447992324829, + "z": 6.400298118591309 + }, + "size": { + "x": 0.07647705078125, + "y": 0.010883331298828125, + "z": 0.14582252502441406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.568760395050049, + 0.6992031335830688, + 6.327386856079102 + ], + [ + 3.6452372074127197, + 0.6992049813270569, + 6.327386856079102 + ], + [ + 3.645237445831299, + 0.6992050409317017, + 6.473209381103516 + ], + [ + 3.568760633468628, + 0.6992031931877136, + 6.473209381103516 + ], + [ + 3.5687601566314697, + 0.7100846171379089, + 6.327386856079102 + ], + [ + 3.6452369689941406, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.6452372074127197, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.7100846171379089, + 6.473209381103516 + ] + ] + } + } + }, + { + "objectId": "Vase|surface|4|24", + "object_info": { + "name": "Vase|surface|4|24", + "position": { + "x": 4.730817794799805, + "y": 0.27228501439094543, + "z": 6.289771556854248 + }, + "rotation": { + "x": -1.976354042199091e-06, + "y": 90.0000228881836, + "z": 9.469399060435535e-07 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 5.0788726806640625, + "objectType": "Vase", + "objectId": "Vase|surface|4|24", + "assetId": "Vase_Flat_5", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.8065643310546875, + 0.34241700172424316, + 6.365267753601074 + ], + [ + 4.8065643310546875, + 0.34241700172424316, + 6.2142744064331055 + ], + [ + 4.8065643310546875, + 0.27224910259246826, + 6.365267753601074 + ], + [ + 4.8065643310546875, + 0.27224910259246826, + 6.2142744064331055 + ], + [ + 4.655572891235352, + 0.34241700172424316, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.34241700172424316, + 6.2142744064331055 + ], + [ + 4.655572891235352, + 0.27224910259246826, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.27224910259246826, + 6.2142744064331055 + ] + ], + "center": { + "x": 4.7310686111450195, + "y": 0.3073330521583557, + "z": 6.28977108001709 + }, + "size": { + "x": 0.15099143981933594, + "y": 0.0701678991317749, + "z": 0.15099334716796875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.806564807891846, + 0.2722490131855011, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.2722490131855011, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.2722490131855011, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.2722490131855011, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.3424171209335327, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.3424171209335327, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.3424171209335327, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.3424171209335327, + 6.2142744064331055 + ] + ] + } + } + }, + { + "objectId": "door|4|5", + "object_info": { + "name": "door|4|5", + "position": { + "x": 3.2712955474853516, + "y": -0.0022848844528198242, + "z": 1.335561990737915 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.7348806858062744, + "objectType": "Doorway", + "objectId": "door|4|5", + "assetId": "Doorway_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.322866916656494, + 2.0939149856567383, + 2.3705310821533203 + ], + [ + 3.322866916656494, + 2.0939149856567383, + 1.316781759262085 + ], + [ + 3.322866916656494, + -0.002017974853515625, + 2.3705310821533203 + ], + [ + 3.322866916656494, + -0.002017974853515625, + 1.316781759262085 + ], + [ + 2.355100154876709, + 2.0939149856567383, + 2.3705310821533203 + ], + [ + 2.355100154876709, + 2.0939149856567383, + 1.316781759262085 + ], + [ + 2.355100154876709, + -0.002017974853515625, + 2.3705310821533203 + ], + [ + 2.355100154876709, + -0.002017974853515625, + 1.316781759262085 + ] + ], + "center": { + "x": 2.8389835357666016, + "y": 1.0459485054016113, + "z": 1.8436564207077026 + }, + "size": { + "x": 0.9677667617797852, + "y": 2.095932960510254, + "z": 1.0537493228912354 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CellPhone|surface|4|15", + "object_info": { + "name": "CellPhone|surface|4|15", + "position": { + "x": 4.434444904327393, + "y": 0.08847507834434509, + "z": 6.409006118774414 + }, + "rotation": { + "x": 0.00010714182280935347, + "y": 90.00020599365234, + "z": -0.001583149773068726 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1599999964237213, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 5.232123374938965, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|4|15", + "assetId": "Cellphone_5", + "parentReceptacles": [ + "TVStand|4|0|0___0", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.504461288452148, + 0.09662994742393494, + 6.445829391479492 + ], + [ + 4.504461288452148, + 0.09662994742393494, + 6.372182846069336 + ], + [ + 4.504461288452148, + 0.0882478654384613, + 6.445829391479492 + ], + [ + 4.504461288452148, + 0.0882478654384613, + 6.372182846069336 + ], + [ + 4.363598823547363, + 0.09662994742393494, + 6.445829391479492 + ], + [ + 4.363598823547363, + 0.09662994742393494, + 6.372182846069336 + ], + [ + 4.363598823547363, + 0.0882478654384613, + 6.445829391479492 + ], + [ + 4.363598823547363, + 0.0882478654384613, + 6.372182846069336 + ] + ], + "center": { + "x": 4.434030055999756, + "y": 0.09243890643119812, + "z": 6.409006118774414 + }, + "size": { + "x": 0.14086246490478516, + "y": 0.008382081985473633, + "z": 0.07364654541015625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.504461288452148, + 0.0882478728890419, + 6.372182846069336 + ], + [ + 4.504461288452148, + 0.08824990689754486, + 6.445828914642334 + ], + [ + 4.3635993003845215, + 0.08825016766786575, + 6.445829391479492 + ], + [ + 4.363598823547363, + 0.08824813365936279, + 6.372183322906494 + ], + [ + 4.504461288452148, + 0.09662765264511108, + 6.372182369232178 + ], + [ + 4.504461288452148, + 0.09662968665361404, + 6.445828914642334 + ], + [ + 4.3635993003845215, + 0.09662995487451553, + 6.445829391479492 + ], + [ + 4.363598823547363, + 0.09662792086601257, + 6.372183322906494 + ] + ] + } + } + }, + { + "objectId": "TVStand|4|0|0", + "object_info": { + "name": "TVStand|4|0|0", + "position": { + "x": 4.588324069976807, + "y": 0.0009346157312393188, + "z": 6.329517364501953 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": [ + "Television|4|0|1" + ], + "distance": 5.161177635192871, + "objectType": "TVStand", + "objectId": "TVStand|4|0|0", + "assetId": "TV_Stand_220_1", + "parentReceptacles": [ + "Floor", + "Plate|surface|4|19" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.207240104675293, + 0.4502491354942322, + 6.515999794006348 + ], + [ + 5.207240104675293, + 0.4502491354942322, + 6.146122932434082 + ], + [ + 5.207240104675293, + 2.8312206268310547e-07, + 6.515999794006348 + ], + [ + 5.207240104675293, + 2.8312206268310547e-07, + 6.146122932434082 + ], + [ + 3.969435691833496, + 0.4502491354942322, + 6.515999794006348 + ], + [ + 3.969435691833496, + 0.4502491354942322, + 6.146122932434082 + ], + [ + 3.969435691833496, + 2.8312206268310547e-07, + 6.515999794006348 + ], + [ + 3.969435691833496, + 2.8312206268310547e-07, + 6.146122932434082 + ] + ], + "center": { + "x": 4.5883378982543945, + "y": 0.22512470185756683, + "z": 6.331061363220215 + }, + "size": { + "x": 1.2378044128417969, + "y": 0.4502488374710083, + "z": 0.3698768615722656 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.969435930252075, + 2.682209014892578e-07, + 6.14612340927124 + ], + [ + 5.207239627838135, + 2.682209014892578e-07, + 6.14612340927124 + ], + [ + 5.207239627838135, + 2.682209014892578e-07, + 6.515999794006348 + ], + [ + 3.969435930252075, + 2.682209014892578e-07, + 6.515999794006348 + ], + [ + 3.969435930252075, + 0.4502490758895874, + 6.14612340927124 + ], + [ + 5.207239627838135, + 0.4502490758895874, + 6.14612340927124 + ], + [ + 5.207239627838135, + 0.4502490758895874, + 6.515999794006348 + ], + [ + 3.969435930252075, + 0.4502490758895874, + 6.515999794006348 + ] + ] + } + } + }, + { + "objectId": "DiningTable|4|1|0", + "object_info": { + "name": "DiningTable|4|1|0", + "position": { + "x": 5.355981826782227, + "y": -0.0031822919845581055, + "z": 3.724600076675415 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Laptop|surface|4|23", + "Book|surface|4|26" + ], + "distance": 2.7034060955047607, + "objectType": "DiningTable", + "objectId": "DiningTable|4|1|0", + "assetId": "Dining_Table_218_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.855982780456543, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 5.855982780456543, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 2.8305177688598633 + ] + ], + "center": { + "x": 5.355981826782227, + "y": 0.3905254304409027, + "z": 3.724600076675415 + }, + "size": { + "x": 1.0000019073486328, + "y": 0.7810438275337219, + "z": 1.7881646156311035 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.855982303619385, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 3.5762786865234375e-06, + 4.618681907653809 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 4.618682384490967 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 4.618681907653809 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 4.618682384490967 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 2.8305180072784424 + ] + ] + } + } + }, + { + "objectId": "Chair|4|1|2", + "object_info": { + "name": "Chair|4|1|2", + "position": { + "x": 5.356987476348877, + "y": 0.0031416714191436768, + "z": 4.78104829788208 + }, + "rotation": { + "x": -0.0, + "y": 174.24070739746094, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 3.6936275959014893, + "objectType": "Chair", + "objectId": "Chair|4|1|2", + "assetId": "Chair_224_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.615507125854492, + 0.8033755421638489, + 5.103589057922363 + ], + [ + 5.615507125854492, + 0.8033755421638489, + 4.454636573791504 + ], + [ + 5.615507125854492, + -1.0073184967041016e-05, + 5.103589057922363 + ], + [ + 5.615507125854492, + -1.0073184967041016e-05, + 4.454636573791504 + ], + [ + 5.106142044067383, + 0.8033755421638489, + 5.103589057922363 + ], + [ + 5.106142044067383, + 0.8033755421638489, + 4.454636573791504 + ], + [ + 5.106142044067383, + -1.0073184967041016e-05, + 5.103589057922363 + ], + [ + 5.106142044067383, + -1.0073184967041016e-05, + 4.454636573791504 + ] + ], + "center": { + "x": 5.3608245849609375, + "y": 0.4016827344894409, + "z": 4.779112815856934 + }, + "size": { + "x": 0.5093650817871094, + "y": 0.8033856153488159, + "z": 0.6489524841308594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.15634822845459, + -9.98377799987793e-06, + 4.451790809631348 + ], + [ + 5.61686897277832, + -9.98377799987793e-06, + 4.4982380867004395 + ], + [ + 5.5556254386901855, + -9.98377799987793e-06, + 5.105459213256836 + ], + [ + 5.095105171203613, + -9.98377799987793e-06, + 5.059011936187744 + ], + [ + 5.15634822845459, + 0.8033754825592041, + 4.451790809631348 + ], + [ + 5.61686897277832, + 0.8033754825592041, + 4.4982380867004395 + ], + [ + 5.5556254386901855, + 0.8033754825592041, + 5.105459213256836 + ], + [ + 5.095105171203613, + 0.8033754825592041, + 5.059011936187744 + ] + ] + } + } + }, + { + "objectId": "Book|surface|4|26", + "object_info": { + "name": "Book|surface|4|26", + "position": { + "x": 5.355928897857666, + "y": 0.7821989059448242, + "z": 3.5031158924102783 + }, + "rotation": { + "x": 0.02382192388176918, + "y": 0.004052666947245598, + "z": 0.9088017344474792 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 2.3361923694610596, + "objectType": "Book", + "objectId": "Book|surface|4|26", + "assetId": "Book_15", + "parentReceptacles": [ + "DiningTable|4|1|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.444652557373047, + 0.7986949682235718, + 3.622157096862793 + ], + [ + 5.444652557373047, + 0.7986949682235718, + 3.384079933166504 + ], + [ + 5.444652557373047, + 0.7808306217193604, + 3.622157096862793 + ], + [ + 5.444652557373047, + 0.7808306217193604, + 3.384079933166504 + ], + [ + 5.26725959777832, + 0.7986949682235718, + 3.622157096862793 + ], + [ + 5.26725959777832, + 0.7986949682235718, + 3.384079933166504 + ], + [ + 5.26725959777832, + 0.7808306217193604, + 3.622157096862793 + ], + [ + 5.26725959777832, + 0.7808306217193604, + 3.384079933166504 + ] + ], + "center": { + "x": 5.355956077575684, + "y": 0.7897627949714661, + "z": 3.5031185150146484 + }, + "size": { + "x": 0.17739295959472656, + "y": 0.017864346504211426, + "z": 0.23807716369628906 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.444687366485596, + 0.7814724445343018, + 3.6221396923065186 + ], + [ + 5.267521858215332, + 0.7786621451377869, + 3.6221511363983154 + ], + [ + 5.267505168914795, + 0.778761088848114, + 3.3840901851654053 + ], + [ + 5.4446702003479, + 0.7815714478492737, + 3.3840787410736084 + ], + [ + 5.4444074630737305, + 0.7991089820861816, + 3.6221470832824707 + ], + [ + 5.267242431640625, + 0.796298623085022, + 3.6221582889556885 + ], + [ + 5.26722526550293, + 0.7963976263999939, + 3.3840975761413574 + ], + [ + 5.444390773773193, + 0.7992079854011536, + 3.3840861320495605 + ] + ] + } + } + }, + { + "objectId": "Chair|4|1|4", + "object_info": { + "name": "Chair|4|1|4", + "position": { + "x": 4.753887176513672, + "y": 0.0031416714191436768, + "z": 3.267345666885376 + }, + "rotation": { + "x": -0.0, + "y": 96.67647552490234, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 2.208132266998291, + "objectType": "Chair", + "objectId": "Chair|4|1|4", + "assetId": "Chair_224_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.072547912597656, + 0.8033758401870728, + 3.5126709938049316 + ], + [ + 5.072547912597656, + 0.8033758401870728, + 3.025862216949463 + ], + [ + 5.072547912597656, + -1.0132789611816406e-05, + 3.5126709938049316 + ], + [ + 5.072547912597656, + -1.0132789611816406e-05, + 3.025862216949463 + ], + [ + 4.440659523010254, + 0.8033758401870728, + 3.5126709938049316 + ], + [ + 4.440659523010254, + 0.8033758401870728, + 3.025862216949463 + ], + [ + 4.440659523010254, + -1.0132789611816406e-05, + 3.5126709938049316 + ], + [ + 4.440659523010254, + -1.0132789611816406e-05, + 3.025862216949463 + ] + ], + "center": { + "x": 4.756603717803955, + "y": 0.40168285369873047, + "z": 3.2692666053771973 + }, + "size": { + "x": 0.6318883895874023, + "y": 0.8033859729766846, + "z": 0.48680877685546875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.03221321105957, + -9.98377799987793e-06, + 3.0005099773406982 + ], + [ + 5.086026191711426, + -9.98377799987793e-06, + 3.460228204727173 + ], + [ + 4.479863166809082, + -9.98377799987793e-06, + 3.5311837196350098 + ], + [ + 4.426050186157227, + -9.98377799987793e-06, + 3.071465492248535 + ], + [ + 5.03221321105957, + 0.8033754825592041, + 3.0005099773406982 + ], + [ + 5.086026191711426, + 0.8033754825592041, + 3.460228204727173 + ], + [ + 4.479863166809082, + 0.8033754825592041, + 3.5311837196350098 + ], + [ + 4.426050186157227, + 0.8033754825592041, + 3.071465492248535 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___0", + "object_info": { + "name": "Drawer", + "position": { + "x": 3.606998920440674, + "y": 0.5816994309425354, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.115259647369385, + "objectType": "Drawer", + "objectId": "Dresser|4|3___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.6747716069221497, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.6747716069221497, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.4870700240135193, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.4870700240135193, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.6747716069221497, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.6747716069221497, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.4870700240135193, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.4870700240135193, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.5809208154678345, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|4", + "object_info": { + "name": "door|2|4", + "position": { + "x": 6.539700508117676, + "y": -0.0005981922149658203, + "z": 2.0724358558654785 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1661734580993652, + "objectType": "Doorframe", + "objectId": "door|2|4", + "assetId": "Doorframe_Double_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.590658664703369, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.590658664703369, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.590658664703369, + 0.0, + 4.011923313140869 + ], + [ + 6.590658664703369, + 0.0, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 0.0, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 0.0, + 2.069113254547119 + ] + ], + "center": { + "x": 6.540999889373779, + "y": 1.0435373783111572, + "z": 3.040518283843994 + }, + "size": { + "x": 0.09931755065917969, + "y": 2.0870747566223145, + "z": 1.94281005859375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|4|3", + "object_info": { + "name": "Dresser|4|3", + "position": { + "x": 3.606998920440674, + "y": -4.786252975463867e-05, + "z": 6.362965106964111 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Watch|surface|4|16", + "CellPhone|surface|4|17" + ], + "distance": 5.316083908081055, + "objectType": "Dresser", + "objectId": "Dresser|4|3", + "assetId": "RoboTHOR_dresser_rast_v", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.917998790740967, + 0.6992043256759644, + 6.518101692199707 + ], + [ + 3.917998790740967, + 0.6992043256759644, + 6.203625679016113 + ], + [ + 3.917998790740967, + 3.838539123535156e-05, + 6.518101692199707 + ], + [ + 3.917998790740967, + 3.838539123535156e-05, + 6.203625679016113 + ], + [ + 3.295999050140381, + 0.6992043256759644, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992043256759644, + 6.203625679016113 + ], + [ + 3.295999050140381, + 3.838539123535156e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 3.838539123535156e-05, + 6.203625679016113 + ] + ], + "center": { + "x": 3.606998920440674, + "y": 0.34962135553359985, + "z": 6.36086368560791 + }, + "size": { + "x": 0.6219997406005859, + "y": 0.699165940284729, + "z": 0.31447601318359375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.295999050140381, + 3.8564205169677734e-05, + 6.20362663269043 + ], + [ + 3.917998790740967, + 3.8564205169677734e-05, + 6.20362663269043 + ], + [ + 3.917998790740967, + 3.8564205169677734e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 3.8564205169677734e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992037892341614, + 6.20362663269043 + ], + [ + 3.917998790740967, + 0.6992037892341614, + 6.20362663269043 + ], + [ + 3.917998790740967, + 0.6992037892341614, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992037892341614, + 6.518101692199707 + ] + ] + } + } + }, + { + "objectId": "CreditCard|surface|4|21", + "object_info": { + "name": "CreditCard|surface|4|21", + "position": { + "x": 4.137941837310791, + "y": 0.27259376645088196, + "z": 6.3295159339904785 + }, + "rotation": { + "x": 0.00015720646479167044, + "y": 90.0001449584961, + "z": -0.00030558553407900035 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.15470552444458, + "objectType": "CreditCard", + "objectId": "CreditCard|surface|4|21", + "assetId": "CreditCard_3", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.164941310882568, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.164941310882568, + 0.27673888206481934, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.27224868535995483, + 6.372598171234131 + ], + [ + 4.164941310882568, + 0.27224868535995483, + 6.286433696746826 + ], + [ + 4.110942363739014, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27673888206481934, + 6.286433696746826 + ], + [ + 4.110942363739014, + 0.27224868535995483, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27224868535995483, + 6.286433696746826 + ] + ], + "center": { + "x": 4.137941837310791, + "y": 0.2744937837123871, + "z": 6.3295159339904785 + }, + "size": { + "x": 0.05399894714355469, + "y": 0.004490196704864502, + "z": 0.08616447448730469 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.16494083404541, + 0.27224868535995483, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.27224916219711304, + 6.372598171234131 + ], + [ + 4.110942840576172, + 0.2722492814064026, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.2722488343715668, + 6.286433696746826 + ], + [ + 4.16494083404541, + 0.2767382860183716, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.2767387330532074, + 6.372598171234131 + ], + [ + 4.110942840576172, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27673840522766113, + 6.286433696746826 + ] + ] + } + } + }, + { + "objectId": "Painting|4|6", + "object_info": { + "name": "Painting|4|6", + "position": { + "x": 6.538111209869385, + "y": 1.4183659553527832, + "z": 4.80001974105835 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.008447170257568, + "objectType": "Painting", + "objectId": "Painting|4|6", + "assetId": "Wall_Decor_Painting_8", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.5360002517700195, + 1.681741714477539, + 5.152198791503906 + ], + [ + 6.5360002517700195, + 1.681741714477539, + 4.4491167068481445 + ], + [ + 6.5360002517700195, + 1.1549901962280273, + 5.152198791503906 + ], + [ + 6.5360002517700195, + 1.1549901962280273, + 4.4491167068481445 + ], + [ + 6.518789291381836, + 1.681741714477539, + 5.152198791503906 + ], + [ + 6.518789291381836, + 1.681741714477539, + 4.4491167068481445 + ], + [ + 6.518789291381836, + 1.1549901962280273, + 5.152198791503906 + ], + [ + 6.518789291381836, + 1.1549901962280273, + 4.4491167068481445 + ] + ], + "center": { + "x": 6.527394771575928, + "y": 1.4183659553527832, + "z": 4.800657749176025 + }, + "size": { + "x": 0.017210960388183594, + "y": 0.5267515182495117, + "z": 0.7030820846557617 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TVStand|4|0|0___1", + "object_info": { + "name": "Shelf", + "position": { + "x": 4.588322162628174, + "y": 0.2684445381164551, + "z": 6.3295159339904785 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Watch|surface|4|20", + "Book|surface|4|22", + "KeyChain|surface|4|18", + "Vase|surface|4|24", + "CreditCard|surface|4|21" + ], + "distance": 5.121303558349609, + "objectType": "DiningTable", + "objectId": "TVStand|4|0|0___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.18937349319458, + 0.3674442172050476, + 6.494719982147217 + ], + [ + 5.18937349319458, + 0.3674442172050476, + 6.16431188583374 + ], + [ + 5.18937349319458, + 0.26823681592941284, + 6.494719982147217 + ], + [ + 5.18937349319458, + 0.26823681592941284, + 6.16431188583374 + ], + [ + 3.9872708320617676, + 0.3674442172050476, + 6.494719982147217 + ], + [ + 3.9872708320617676, + 0.3674442172050476, + 6.16431188583374 + ], + [ + 3.9872708320617676, + 0.26823681592941284, + 6.494719982147217 + ], + [ + 3.9872708320617676, + 0.26823681592941284, + 6.16431188583374 + ] + ], + "center": { + "x": 4.588322162628174, + "y": 0.3178405165672302, + "z": 6.3295159339904785 + }, + "size": { + "x": 1.2021026611328125, + "y": 0.09920740127563477, + "z": 0.33040809631347656 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Laptop|surface|4|23", + "object_info": { + "name": "Laptop|surface|4|23", + "position": { + "x": 5.23272705078125, + "y": 0.7810472846031189, + "z": 3.946084976196289 + }, + "rotation": { + "x": 1.3113454770063981e-05, + "y": 4.1948929720092565e-05, + "z": -6.975405267439783e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 2.299999952316284, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 2.7415850162506104, + "objectType": "Laptop", + "objectId": "Laptop|surface|4|23", + "assetId": "Laptop_19", + "parentReceptacles": [ + "DiningTable|4|1|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.459753036499023, + 0.829770028591156, + 4.116103172302246 + ], + [ + 5.459753036499023, + 0.829770028591156, + 3.780513286590576 + ], + [ + 5.459753036499023, + 0.7810469269752502, + 4.116103172302246 + ], + [ + 5.459753036499023, + 0.7810469269752502, + 3.780513286590576 + ], + [ + 5.005701065063477, + 0.829770028591156, + 4.116103172302246 + ], + [ + 5.005701065063477, + 0.829770028591156, + 3.780513286590576 + ], + [ + 5.005701065063477, + 0.7810469269752502, + 4.116103172302246 + ], + [ + 5.005701065063477, + 0.7810469269752502, + 3.780513286590576 + ] + ], + "center": { + "x": 5.23272705078125, + "y": 0.8054084777832031, + "z": 3.948308229446411 + }, + "size": { + "x": 0.4540519714355469, + "y": 0.04872310161590576, + "z": 0.3355898857116699 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.459753036499023, + 0.781046986579895, + 4.116102695465088 + ], + [ + 5.005701065063477, + 0.781047523021698, + 4.116103172302246 + ], + [ + 5.005701065063477, + 0.7810475826263428, + 3.7805135250091553 + ], + [ + 5.459753036499023, + 0.7810470461845398, + 3.780513048171997 + ], + [ + 5.459753036499023, + 0.8297694325447083, + 4.116102695465088 + ], + [ + 5.005701065063477, + 0.8297699689865112, + 4.116103172302246 + ], + [ + 5.005701065063477, + 0.8297700881958008, + 3.7805135250091553 + ], + [ + 5.459753036499023, + 0.829769492149353, + 3.780513048171997 + ] + ] + } + } + }, + { + "objectId": "Watch|surface|4|16", + "object_info": { + "name": "Watch|surface|4|16", + "position": { + "x": 3.6847031116485596, + "y": 0.7003282308578491, + "z": 6.288086414337158 + }, + "rotation": { + "x": 1.9947741031646729, + "y": 180.00387573242188, + "z": 1.19093656539917 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07000000029802322, + "salientMaterials": [ + "Metal", + "Glass", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.153391361236572, + "objectType": "Watch", + "objectId": "Watch|surface|4|16", + "assetId": "Watch_2", + "parentReceptacles": [ + "Dresser|4|3", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.7239737510681152, + 0.7344659566879272, + 6.313935279846191 + ], + [ + 3.7239737510681152, + 0.7344659566879272, + 6.265624046325684 + ], + [ + 3.7239737510681152, + 0.6990219354629517, + 6.313935279846191 + ], + [ + 3.7239737510681152, + 0.6990219354629517, + 6.265624046325684 + ], + [ + 3.6450982093811035, + 0.7344659566879272, + 6.313935279846191 + ], + [ + 3.6450982093811035, + 0.7344659566879272, + 6.265624046325684 + ], + [ + 3.6450982093811035, + 0.6990219354629517, + 6.313935279846191 + ], + [ + 3.6450982093811035, + 0.6990219354629517, + 6.265624046325684 + ] + ], + "center": { + "x": 3.6845359802246094, + "y": 0.7167439460754395, + "z": 6.2897796630859375 + }, + "size": { + "x": 0.07887554168701172, + "y": 0.035444021224975586, + "z": 0.04831123352050781 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.644953966140747, + 0.6981589794158936, + 6.265713691711426 + ], + [ + 3.723494052886963, + 0.6965271830558777, + 6.265765190124512 + ], + [ + 3.723497152328491, + 0.6982251405715942, + 6.314515590667725 + ], + [ + 3.6449573040008545, + 0.6998568773269653, + 6.314464092254639 + ], + [ + 3.645716905593872, + 0.7348403334617615, + 6.2644362449646 + ], + [ + 3.724256992340088, + 0.7332085967063904, + 6.2644877433776855 + ], + [ + 3.724260091781616, + 0.7349065542221069, + 6.31323766708374 + ], + [ + 3.6457202434539795, + 0.736538290977478, + 6.313186168670654 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___2", + "object_info": { + "name": "Drawer (2)", + "position": { + "x": 3.606998920440674, + "y": 0.20109392702579498, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.1530375480651855, + "objectType": "Drawer", + "objectId": "Dresser|4|3___2", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.29416608810424805, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.29416608810424805, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.10646450519561768, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.10646450519561768, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.29416608810424805, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.29416608810424805, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.10646450519561768, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.10646450519561768, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.20031529664993286, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|3", + "object_info": { + "name": "door|2|3", + "position": { + "x": 9.811773300170898, + "y": -0.00026702880859375, + "z": 6.5231428146362305 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 7.364771842956543, + "objectType": "Doorway", + "objectId": "door|2|3", + "assetId": "Doorway_Double_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.727968215942383, + 2.095932960510254, + 6.545433044433594 + ], + [ + 10.727968215942383, + 2.095932960510254, + 4.553407669067383 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 4.553407669067383 + ], + [ + 9.760202407836914, + 2.095932960510254, + 6.545433044433594 + ], + [ + 9.760202407836914, + 2.095932960510254, + 4.553407669067383 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 4.553407669067383 + ] + ], + "center": { + "x": 10.244085311889648, + "y": 1.0479663610458374, + "z": 5.549420356750488 + }, + "size": { + "x": 0.9677658081054688, + "y": 2.095933198928833, + "z": 1.992025375366211 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Chair|4|1|3", + "object_info": { + "name": "Chair|4|1|3", + "position": { + "x": 4.753437519073486, + "y": 0.0031416714191436768, + "z": 4.125640392303467 + }, + "rotation": { + "x": -0.0, + "y": 69.56246948242188, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 3.012551784515381, + "objectType": "Chair", + "objectId": "Chair|4|1|3", + "assetId": "Chair_224_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.112885475158691, + 0.8033758401870728, + 4.443963050842285 + ], + [ + 5.112885475158691, + 0.8033758401870728, + 3.8157224655151367 + ], + [ + 5.112885475158691, + -1.0013580322265625e-05, + 4.443963050842285 + ], + [ + 5.112885475158691, + -1.0013580322265625e-05, + 3.8157224655151367 + ], + [ + 4.39578914642334, + 0.8033758401870728, + 4.443963050842285 + ], + [ + 4.39578914642334, + 0.8033758401870728, + 3.8157224655151367 + ], + [ + 4.39578914642334, + -1.0013580322265625e-05, + 4.443963050842285 + ], + [ + 4.39578914642334, + -1.0013580322265625e-05, + 3.8157224655151367 + ] + ], + "center": { + "x": 4.754337310791016, + "y": 0.40168291330337524, + "z": 4.129842758178711 + }, + "size": { + "x": 0.7170963287353516, + "y": 0.803385853767395, + "z": 0.6282405853271484 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.12278938293457, + -9.98377799987793e-06, + 4.014980316162109 + ], + [ + 4.9611663818359375, + -9.98377799987793e-06, + 4.448701858520508 + ], + [ + 4.389281272888184, + -9.98377799987793e-06, + 4.235593318939209 + ], + [ + 4.550904273986816, + -9.98377799987793e-06, + 3.8018712997436523 + ], + [ + 5.12278938293457, + 0.8033754825592041, + 4.014980316162109 + ], + [ + 4.9611663818359375, + 0.8033754825592041, + 4.448701858520508 + ], + [ + 4.389281272888184, + 0.8033754825592041, + 4.235593318939209 + ], + [ + 4.550904273986816, + 0.8033754825592041, + 3.8018712997436523 + ] + ] + } + } + }, + { + "objectId": "Painting|4|4", + "object_info": { + "name": "Painting|4|4", + "position": { + "x": 3.608247995376587, + "y": 1.9246368408203125, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.503932476043701, + "objectType": "Painting", + "objectId": "Painting|4|4", + "assetId": "Wall_Decor_Photo_1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.9420716762542725, + 2.1772351264953613, + 6.5360002517700195 + ], + [ + 3.9420716762542725, + 2.1772351264953613, + 6.50425910949707 + ], + [ + 3.9420716762542725, + 1.6720385551452637, + 6.5360002517700195 + ], + [ + 3.9420716762542725, + 1.6720385551452637, + 6.50425910949707 + ], + [ + 3.2744243144989014, + 2.1772351264953613, + 6.5360002517700195 + ], + [ + 3.2744243144989014, + 2.1772351264953613, + 6.50425910949707 + ], + [ + 3.2744243144989014, + 1.6720385551452637, + 6.5360002517700195 + ], + [ + 3.2744243144989014, + 1.6720385551452637, + 6.50425910949707 + ] + ], + "center": { + "x": 3.608247995376587, + "y": 1.9246368408203125, + "z": 6.520129680633545 + }, + "size": { + "x": 0.6676473617553711, + "y": 0.5051965713500977, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TVStand|4|0|0___0", + "object_info": { + "name": "Shelf", + "position": { + "x": 4.5883870124816895, + "y": 0.08263473212718964, + "z": 6.329518795013428 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Bowl|surface|4|14", + "Plate|surface|4|19", + "Pen|surface|4|25", + "CellPhone|surface|4|15" + ], + "distance": 5.147557735443115, + "objectType": "DiningTable", + "objectId": "TVStand|4|0|0___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.1894378662109375, + 0.18163445591926575, + 6.494722843170166 + ], + [ + 5.1894378662109375, + 0.18163445591926575, + 6.1643147468566895 + ], + [ + 5.1894378662109375, + 0.08242693543434143, + 6.494722843170166 + ], + [ + 5.1894378662109375, + 0.08242693543434143, + 6.1643147468566895 + ], + [ + 3.9873361587524414, + 0.18163445591926575, + 6.494722843170166 + ], + [ + 3.9873361587524414, + 0.18163445591926575, + 6.1643147468566895 + ], + [ + 3.9873361587524414, + 0.08242693543434143, + 6.494722843170166 + ], + [ + 3.9873361587524414, + 0.08242693543434143, + 6.1643147468566895 + ] + ], + "center": { + "x": 4.5883870124816895, + "y": 0.1320306956768036, + "z": 6.329518795013428 + }, + "size": { + "x": 1.202101707458496, + "y": 0.09920752048492432, + "z": 0.33040809631347656 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Fridge|2|1", + "object_info": { + "name": "Fridge|2|1", + "position": { + "x": 8.027824401855469, + "y": 0.007394969463348389, + "z": 6.196259021759033 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Tomato|surface|2|5", + "Potato|surface|2|7" + ], + "distance": 6.000678539276123, + "objectType": "Fridge", + "objectId": "Fridge|2|1", + "assetId": "Fridge_15", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.576839447021484, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 8.576839447021484, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 8.576839447021484, + 0.0, + 6.515999794006348 + ], + [ + 8.576839447021484, + 0.0, + 5.736844062805176 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 7.494537353515625, + 0.0, + 6.515999794006348 + ], + [ + 7.494537353515625, + 0.0, + 5.736844062805176 + ] + ], + "center": { + "x": 8.035688400268555, + "y": 0.9413036108016968, + "z": 6.126421928405762 + }, + "size": { + "x": 1.0823020935058594, + "y": 1.8826072216033936, + "z": 0.7791557312011719 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Plate|surface|4|19", + "object_info": { + "name": "Plate|surface|4|19", + "position": { + "x": 4.8791022300720215, + "y": 0.08857652544975281, + "z": 6.369263172149658 + }, + "rotation": { + "x": 7.83866344136186e-05, + "y": 89.99977111816406, + "z": 0.0004667239263653755 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [ + "TVStand|4|0|0" + ], + "distance": 5.184935092926025, + "objectType": "Plate", + "objectId": "Plate|surface|4|19", + "assetId": "Plate_14", + "parentReceptacles": [ + "TVStand|4|0|0___0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.997548580169678, + 0.115453340113163, + 6.4866623878479 + ], + [ + 4.997548580169678, + 0.115453340113163, + 6.249765872955322 + ], + [ + 4.997548580169678, + 0.0882486030459404, + 6.4866623878479 + ], + [ + 4.997548580169678, + 0.0882486030459404, + 6.249765872955322 + ], + [ + 4.760651111602783, + 0.115453340113163, + 6.4866623878479 + ], + [ + 4.760651111602783, + 0.115453340113163, + 6.249765872955322 + ], + [ + 4.760651111602783, + 0.0882486030459404, + 6.4866623878479 + ], + [ + 4.760651111602783, + 0.0882486030459404, + 6.249765872955322 + ] + ], + "center": { + "x": 4.8790998458862305, + "y": 0.1018509715795517, + "z": 6.368214130401611 + }, + "size": { + "x": 0.23689746856689453, + "y": 0.027204737067222595, + "z": 0.23689651489257812 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.997549533843994, + 0.08825035393238068, + 6.249766826629639 + ], + [ + 4.997548580169678, + 0.08824842423200607, + 6.486663341522217 + ], + [ + 4.760651111602783, + 0.08824875205755234, + 6.4866623878479 + ], + [ + 4.7606520652771, + 0.08825068175792694, + 6.249765872955322 + ], + [ + 4.997549533843994, + 0.11545311659574509, + 6.249766826629639 + ], + [ + 4.997548580169678, + 0.11545118689537048, + 6.486663341522217 + ], + [ + 4.760651111602783, + 0.11545151472091675, + 6.4866623878479 + ], + [ + 4.7606520652771, + 0.11545343697071075, + 6.249765872955322 + ] + ] + } + } + }, + { + "objectId": "Pen|surface|4|25", + "object_info": { + "name": "Pen|surface|4|25", + "position": { + "x": 4.730879783630371, + "y": 0.09389401972293854, + "z": 6.3692626953125 + }, + "rotation": { + "x": 4.163075573160313e-05, + "y": 179.99993896484375, + "z": 359.9720153808594 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Plastic", + "Metal" + ], + "receptacleObjectIds": null, + "distance": 5.182531833648682, + "objectType": "Pen", + "objectId": "Pen|surface|4|25", + "assetId": "Pen_1", + "parentReceptacles": [ + "TVStand|4|0|0___0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.736525058746338, + 0.09953894466161728, + 6.462701320648193 + ], + [ + 4.736525058746338, + 0.09953894466161728, + 6.262863636016846 + ], + [ + 4.736525058746338, + 0.0882490798830986, + 6.462701320648193 + ], + [ + 4.736525058746338, + 0.0882490798830986, + 6.262863636016846 + ], + [ + 4.725234508514404, + 0.09953894466161728, + 6.462701320648193 + ], + [ + 4.725234508514404, + 0.09953894466161728, + 6.262863636016846 + ], + [ + 4.725234508514404, + 0.0882490798830986, + 6.462701320648193 + ], + [ + 4.725234508514404, + 0.0882490798830986, + 6.262863636016846 + ] + ], + "center": { + "x": 4.730879783630371, + "y": 0.09389401227235794, + "z": 6.3627824783325195 + }, + "size": { + "x": 0.011290550231933594, + "y": 0.011289864778518677, + "z": 0.19983768463134766 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.7252373695373535, + 0.08824633061885834, + 6.262863636016846 + ], + [ + 4.736527919769287, + 0.08825184404850006, + 6.262863636016846 + ], + [ + 4.736527442932129, + 0.0882519856095314, + 6.462701797485352 + ], + [ + 4.7252373695373535, + 0.08824647217988968, + 6.462701797485352 + ], + [ + 4.725232124328613, + 0.09953603893518448, + 6.262863636016846 + ], + [ + 4.736522197723389, + 0.0995415523648262, + 6.262863636016846 + ], + [ + 4.736522197723389, + 0.09954169392585754, + 6.462701797485352 + ], + [ + 4.725231647491455, + 0.09953618794679642, + 6.462701797485352 + ] + ] + } + } + }, + { + "objectId": "Television|4|0|1", + "object_info": { + "name": "Television|4|0|1", + "position": { + "x": 4.5883378982543945, + "y": 0.9386330842971802, + "z": 6.25775671005249 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.010506629943848, + "objectType": "Television", + "objectId": "Television|4|0|1", + "assetId": "Television_23", + "parentReceptacles": [ + "Floor", + "TVStand|4|0|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.0883378982543945, + 1.2561266422271729, + 6.508190631866455 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.153933048248291 + ], + [ + 5.0883378982543945, + 0.4502493143081665, + 6.508190631866455 + ], + [ + 5.0883378982543945, + 0.4502493143081665, + 6.153933048248291 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.508190631866455 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.153933048248291 + ], + [ + 4.0883378982543945, + 0.4502493143081665, + 6.508190631866455 + ], + [ + 4.0883378982543945, + 0.4502493143081665, + 6.153933048248291 + ] + ], + "center": { + "x": 4.5883378982543945, + "y": 0.8531879782676697, + "z": 6.331061840057373 + }, + "size": { + "x": 1.0, + "y": 0.8058773279190063, + "z": 0.35425758361816406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.0883378982543945, + 0.4502493441104889, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 0.4502493441104889, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 0.4502493441104889, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 0.4502493441104889, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.508191108703613 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 4.900000095367432, + "y": 0.9009997844696045, + "z": 1.5 + }, + "agent_rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "agent_cameraHorizon": 30.000003814697266, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 4.900000095367432, + "y": 1.5759997367858887, + "z": 1.5 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Fridge|2|1", + "Chair|4|1|1", + "DiningTable|4|1|0", + "door|2|3", + "door|2|4" + ], + "different_object": [ + "Plate|surface|4|19", + "Book|surface|4|22", + "Television|4|0|1", + "Bowl|surface|4|14", + "Watch|surface|4|16", + "Chair|4|1|2", + "CellPhone|surface|4|15", + "Dresser|4|3", + "Pen|surface|4|25", + "TVStand|4|0|0___1", + "TVStand|4|0|0___0", + "Chair|4|1|3", + "Painting|4|6", + "Dresser|4|3___1", + "Laptop|surface|4|23", + "Dresser|4|3___0", + "CreditCard|surface|4|21", + "door|4|5", + "Book|surface|4|26", + "CellPhone|surface|4|17", + "Chair|4|1|4", + "Dresser|4|3___2", + "Vase|surface|4|24", + "Painting|4|4", + "TVStand|4|0|0" + ] +} \ No newline at end of file diff --git a/train/train315/0/0_depth_npy.npy b/train/train315/0/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..e995a1e41a2228c8a4f0e86f5fd5e9e096e483ca --- /dev/null +++ b/train/train315/0/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9d9f19d6b3f5a68a9a3ab7a5bb4ce6505d620647527f8342ac1abd87efee9678 +size 3145856 diff --git a/train/train315/0/0_semantic_sensor_npy.npy b/train/train315/0/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..36c9324bd9e48a55ea8d24ffb1dd75dec2baf010 --- /dev/null +++ b/train/train315/0/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4d824343a386824bb45f4a57d6210cbe55599c5d7914496db7a5bc8f7cd24311 +size 2359424 diff --git a/train/train315/0/1.json b/train/train315/0/1.json new file mode 100644 index 0000000000000000000000000000000000000000..90ef6f533b0c7215686ddfd8ee2d5adb680f1afc --- /dev/null +++ b/train/train315/0/1.json @@ -0,0 +1,1063 @@ +{ + "object": [ + { + "objectId": "Chair|4|1|1", + "object_info": { + "name": "Chair|4|1|1", + "position": { + "x": 5.354161262512207, + "y": 0.0031416714191436768, + "z": 2.6687018871307373 + }, + "rotation": { + "x": -0.0, + "y": 16.29289436340332, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 1.7843416929244995, + "objectType": "Chair", + "objectId": "Chair|4|1|1", + "assetId": "Chair_224_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.636518478393555, + 0.8033758401870728, + 3.015368938446045 + ], + [ + 5.636518478393555, + 0.8033758401870728, + 2.3285040855407715 + ], + [ + 5.636518478393555, + -1.004338264465332e-05, + 3.015368938446045 + ], + [ + 5.636518478393555, + -1.004338264465332e-05, + 2.3285040855407715 + ], + [ + 5.066144943237305, + 0.8033758401870728, + 3.015368938446045 + ], + [ + 5.066144943237305, + 0.8033758401870728, + 2.3285040855407715 + ], + [ + 5.066144943237305, + -1.004338264465332e-05, + 3.015368938446045 + ], + [ + 5.066144943237305, + -1.004338264465332e-05, + 2.3285040855407715 + ] + ], + "center": { + "x": 5.35133171081543, + "y": 0.40168288350105286, + "z": 2.671936511993408 + }, + "size": { + "x": 0.57037353515625, + "y": 0.803385853767395, + "z": 0.6868648529052734 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.6637420654296875, + -9.98377799987793e-06, + 2.8985416889190674 + ], + [ + 5.219473361968994, + -9.98377799987793e-06, + 3.028395175933838 + ], + [ + 5.048254489898682, + -9.98377799987793e-06, + 2.44260311126709 + ], + [ + 5.492523193359375, + -9.98377799987793e-06, + 2.3127496242523193 + ], + [ + 5.6637420654296875, + 0.8033754825592041, + 2.8985416889190674 + ], + [ + 5.219473361968994, + 0.8033754825592041, + 3.028395175933838 + ], + [ + 5.048254489898682, + 0.8033754825592041, + 2.44260311126709 + ], + [ + 5.492523193359375, + 0.8033754825592041, + 2.3127496242523193 + ] + ] + } + } + }, + { + "objectId": "DiningTable|4|1|0", + "object_info": { + "name": "DiningTable|4|1|0", + "position": { + "x": 5.355981826782227, + "y": -0.0031822919845581055, + "z": 3.724600076675415 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Laptop|surface|4|23", + "Book|surface|4|26" + ], + "distance": 2.7034060955047607, + "objectType": "DiningTable", + "objectId": "DiningTable|4|1|0", + "assetId": "Dining_Table_218_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.855982780456543, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 5.855982780456543, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 2.8305177688598633 + ] + ], + "center": { + "x": 5.355981826782227, + "y": 0.3905254304409027, + "z": 3.724600076675415 + }, + "size": { + "x": 1.0000019073486328, + "y": 0.7810438275337219, + "z": 1.7881646156311035 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.855982303619385, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 3.5762786865234375e-06, + 4.618681907653809 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 4.618682384490967 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 4.618681907653809 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 4.618682384490967 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 2.8305180072784424 + ] + ] + } + } + }, + { + "objectId": "door|2|4", + "object_info": { + "name": "door|2|4", + "position": { + "x": 6.539700508117676, + "y": -0.0005981922149658203, + "z": 2.0724358558654785 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1661734580993652, + "objectType": "Doorframe", + "objectId": "door|2|4", + "assetId": "Doorframe_Double_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.590658664703369, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.590658664703369, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.590658664703369, + 0.0, + 4.011923313140869 + ], + [ + 6.590658664703369, + 0.0, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 0.0, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 0.0, + 2.069113254547119 + ] + ], + "center": { + "x": 6.540999889373779, + "y": 1.0435373783111572, + "z": 3.040518283843994 + }, + "size": { + "x": 0.09931755065917969, + "y": 2.0870747566223145, + "z": 1.94281005859375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|3", + "object_info": { + "name": "door|2|3", + "position": { + "x": 9.811773300170898, + "y": -0.00026702880859375, + "z": 6.5231428146362305 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 7.364771842956543, + "objectType": "Doorway", + "objectId": "door|2|3", + "assetId": "Doorway_Double_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.727968215942383, + 2.095932960510254, + 6.545433044433594 + ], + [ + 10.727968215942383, + 2.095932960510254, + 4.553407669067383 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 4.553407669067383 + ], + [ + 9.760202407836914, + 2.095932960510254, + 6.545433044433594 + ], + [ + 9.760202407836914, + 2.095932960510254, + 4.553407669067383 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 4.553407669067383 + ] + ], + "center": { + "x": 10.244085311889648, + "y": 1.0479663610458374, + "z": 5.549420356750488 + }, + "size": { + "x": 0.9677658081054688, + "y": 2.095933198928833, + "z": 1.992025375366211 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "FloorLamp|4|2", + "object_info": { + "name": "FloorLamp|4|2", + "position": { + "x": 6.263036727905273, + "y": -0.0018747448921203613, + "z": 0.9616859555244446 + }, + "rotation": { + "x": 359.9669189453125, + "y": 269.9986572265625, + "z": 359.9627380371094 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 1.7853816747665405, + "objectType": "FloorLamp", + "objectId": "FloorLamp|4|2", + "assetId": "Floor_Lamp_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.517219543457031, + 2.0757031440734863, + 1.2152924537658691 + ], + [ + 6.517219543457031, + 2.0757031440734863, + 0.7076406478881836 + ], + [ + 6.517219543457031, + -0.0020160675048828125, + 1.2152924537658691 + ], + [ + 6.517219543457031, + -0.0020160675048828125, + 0.7076406478881836 + ], + [ + 6.009941101074219, + 2.0757031440734863, + 1.2152924537658691 + ], + [ + 6.009941101074219, + 2.0757031440734863, + 0.7076406478881836 + ], + [ + 6.009941101074219, + -0.0020160675048828125, + 1.2152924537658691 + ], + [ + 6.009941101074219, + -0.0020160675048828125, + 0.7076406478881836 + ] + ], + "center": { + "x": 6.263580322265625, + "y": 1.0368435382843018, + "z": 0.9614665508270264 + }, + "size": { + "x": 0.5072784423828125, + "y": 2.077719211578369, + "z": 0.5076518058776855 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.00874137878418, + -0.001891990890726447, + 1.213939905166626 + ], + [ + 6.008753776550293, + -0.0015617554308846593, + 0.7062857151031494 + ], + [ + 6.5160441398620605, + -0.0018547163344919682, + 0.706297755241394 + ], + [ + 6.516031742095947, + -0.002184951677918434, + 1.213951826095581 + ], + [ + 6.009941101074219, + 2.0755419731140137, + 1.2152912616729736 + ], + [ + 6.009953498840332, + 2.0758721828460693, + 0.7076371908187866 + ], + [ + 6.5172438621521, + 2.0755791664123535, + 0.7076491713523865 + ], + [ + 6.517231464385986, + 2.075248956680298, + 1.2153033018112183 + ] + ] + } + } + }, + { + "objectId": "Painting|3|7", + "object_info": { + "name": "Painting|3|7", + "position": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.831557273864746, + "objectType": "Painting", + "objectId": "Painting|3|7", + "assetId": "Wall_Decor_Photo_10", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.833455085754395, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.50425910949707 + ] + ], + "center": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.520129680633545 + }, + "size": { + "x": 0.7115726470947266, + "y": 0.4246177673339844, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Fridge|2|1", + "object_info": { + "name": "Fridge|2|1", + "position": { + "x": 8.027824401855469, + "y": 0.007394969463348389, + "z": 6.196259021759033 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Tomato|surface|2|5", + "Potato|surface|2|7" + ], + "distance": 6.000678539276123, + "objectType": "Fridge", + "objectId": "Fridge|2|1", + "assetId": "Fridge_15", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.576839447021484, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 8.576839447021484, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 8.576839447021484, + 0.0, + 6.515999794006348 + ], + [ + 8.576839447021484, + 0.0, + 5.736844062805176 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 7.494537353515625, + 0.0, + 6.515999794006348 + ], + [ + 7.494537353515625, + 0.0, + 5.736844062805176 + ] + ], + "center": { + "x": 8.035688400268555, + "y": 0.9413036108016968, + "z": 6.126421928405762 + }, + "size": { + "x": 1.0823020935058594, + "y": 1.8826072216033936, + "z": 0.7791557312011719 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|3|4", + "object_info": { + "name": "Painting|3|4", + "position": { + "x": 11.443442344665527, + "y": 1.4678616523742676, + "z": 5.477546215057373 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.9369797706604, + "objectType": "Painting", + "objectId": "Painting|3|4", + "assetId": "Wall_Decor_Painting_3", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.442000389099121, + 1.773220181465149, + 5.879675388336182 + ], + [ + 11.442000389099121, + 1.773220181465149, + 5.07399320602417 + ], + [ + 11.442000389099121, + 1.16008460521698, + 5.879675388336182 + ], + [ + 11.442000389099121, + 1.16008460521698, + 5.07399320602417 + ], + [ + 11.422650337219238, + 1.773220181465149, + 5.879675388336182 + ], + [ + 11.422650337219238, + 1.773220181465149, + 5.07399320602417 + ], + [ + 11.422650337219238, + 1.16008460521698, + 5.879675388336182 + ], + [ + 11.422650337219238, + 1.16008460521698, + 5.07399320602417 + ] + ], + "center": { + "x": 11.43232536315918, + "y": 1.4666523933410645, + "z": 5.476834297180176 + }, + "size": { + "x": 0.019350051879882812, + "y": 0.613135576248169, + "z": 0.8056821823120117 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 4.900000095367432, + "y": 0.9009997844696045, + "z": 1.2999999523162842 + }, + "agent_rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "agent_cameraHorizon": 30.000003814697266, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 4.900000095367432, + "y": 1.5759997367858887, + "z": 1.2999999523162842 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Fridge|2|1", + "Chair|4|1|1", + "DiningTable|4|1|0", + "door|2|3", + "door|2|4" + ], + "different_object": [ + "Painting|3|4", + "FloorLamp|4|2", + "Painting|3|7" + ] +} \ No newline at end of file diff --git a/train/train315/0/1_depth_npy.npy b/train/train315/0/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..e7f1794f70220f3cad8428d5be33ad248e579110 --- /dev/null +++ b/train/train315/0/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:93c8387e8577ec6d8be9de0597b514a2b2c23c0333233d2ba611d42f64f0727f +size 3145856 diff --git a/train/train315/0/1_semantic_sensor_npy.npy b/train/train315/0/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..fbad58eff9868154e7e09716108fdef790571339 --- /dev/null +++ b/train/train315/0/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:50a0baab6ebcbfee9972f72ed3156da8dc0169d74b2bfe8f4aa424682e4b0320 +size 2359424 diff --git a/train/train315/0/depth_0.png b/train/train315/0/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..78a873c2b6fd9bf79231ded1645a0b7b15d70084 Binary files /dev/null and b/train/train315/0/depth_0.png differ diff --git a/train/train315/0/depth_1.png b/train/train315/0/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..25b303e3dce5764e78b72291420dafb720eaaaa6 Binary files /dev/null and b/train/train315/0/depth_1.png differ diff --git a/train/train315/0/mask_questions.jsonl b/train/train315/0/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6abb9122239a235c241738b21dbb786b85c78320 --- /dev/null +++ b/train/train315/0/mask_questions.jsonl @@ -0,0 +1,5 @@ +{"id": 2611, "folder_dir": "train315/0", "pair_name": "0-1:Fridge|2|1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Painting\nB. Pen\nC. Fridge\nD. Chair", "answer": "C", "object_name": "Fridge", "image_1": "train315/0/rgb_0.png", "image_2": "train315/0/rgb_1.png", "mask_image": "train315/0/rgb_1_mask_Fridge|2|1.png", "options": ["Painting", "Pen", "Fridge", "Chair"]} +{"id": 2612, "folder_dir": "train315/0", "pair_name": "0-1:Chair|4|1|1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Chair\nB. Television\nC. DiningTable\nD. Fridge", "answer": "A", "object_name": "Chair", "image_1": "train315/0/rgb_0.png", "image_2": "train315/0/rgb_1.png", "mask_image": "train315/0/rgb_1_mask_Chair|4|1|1.png", "options": ["Chair", "Television", "DiningTable", "Fridge"]} +{"id": 2613, "folder_dir": "train315/0", "pair_name": "0-1:DiningTable|4|1|0", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. DiningTable\nB. Vase\nC. Fridge\nD. Painting", "answer": "A", "object_name": "DiningTable", "image_1": "train315/0/rgb_0.png", "image_2": "train315/0/rgb_1.png", "mask_image": "train315/0/rgb_1_mask_DiningTable|4|1|0.png", "options": ["DiningTable", "Vase", "Fridge", "Painting"]} +{"id": 2614, "folder_dir": "train315/0", "pair_name": "1-0:Fridge|2|1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. FloorLamp\nB. Chair\nC. Painting\nD. Fridge", "answer": "D", "object_name": "Fridge", "image_1": "train315/0/rgb_1.png", "image_2": "train315/0/rgb_0.png", "mask_image": "train315/0/rgb_0_mask_Fridge|2|1.png", "options": ["FloorLamp", "Chair", "Painting", "Fridge"]} +{"id": 2615, "folder_dir": "train315/0", "pair_name": "1-0:Chair|4|1|1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Painting\nB. FloorLamp\nC. Fridge\nD. Chair", "answer": "D", "object_name": "Chair", "image_1": "train315/0/rgb_1.png", "image_2": "train315/0/rgb_0.png", "mask_image": "train315/0/rgb_0_mask_Chair|4|1|1.png", "options": ["Painting", "FloorLamp", "Fridge", "Chair"]} diff --git a/train/train315/0/questions_distance.jsonl b/train/train315/0/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1af7fa8027d397ca536f27410a4ede39fb19b142 --- /dev/null +++ b/train/train315/0/questions_distance.jsonl @@ -0,0 +1,2 @@ +{"id": 1055, "folder_dir": "train315/0", "query": "Which of the following objects is closest to Fridge in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Vase\nB. Plate\nC. Pen\nD. Other\n", "answer": "B", "src_object": "Fridge", "target_object": "Plate", "question": "Which of the following objects is closest to Fridge in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Vase", "semantic_id": "Vase|surface|4|24", "distance": 3.3688445445323785, "com": {"x": 4.7310686111450195, "y": 0.3073330521583557, "z": 6.28977108001709}}, {"text": "Plate", "semantic_id": "Plate|surface|4|19", "distance": 3.2752397628418777, "com": {"x": 4.8790998458862305, "y": 0.1018509715795517, "z": 6.368214130401611}}, {"text": "Pen", "semantic_id": "Pen|surface|4|25", "distance": 3.4199019474024865, "com": {"x": 4.730879783630371, "y": 0.09389401227235794, "z": 6.3627824783325195}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train315/0/rgb_0.png", "image_2": "train315/0/rgb_1.png"} +{"id": 1056, "folder_dir": "train315/0", "query": "Which of the following objects is closest to DiningTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Vase\nB. Plate\nC. Laptop\nD. Other\n", "answer": "C", "src_object": "DiningTable", "target_object": "Laptop", "question": "Which of the following objects is closest to DiningTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Vase", "semantic_id": "Vase|surface|4|24", "distance": 2.6415033172924987, "com": {"x": 4.7310686111450195, "y": 0.3073330521583557, "z": 6.28977108001709}}, {"text": "Plate", "semantic_id": "Plate|surface|4|19", "distance": 2.7017484397998337, "com": {"x": 4.8790998458862305, "y": 0.1018509715795517, "z": 6.368214130401611}}, {"text": "Laptop", "semantic_id": "Laptop|surface|4|23", "distance": 0.4872012114058171, "com": {"x": 5.23272705078125, "y": 0.8054084777832031, "z": 3.948308229446411}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train315/0/rgb_0.png", "image_2": "train315/0/rgb_1.png"} diff --git a/train/train315/0/rgb_0.png b/train/train315/0/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..f3b5c35c39d855af563b04ef2c5b165dee2961eb --- /dev/null +++ b/train/train315/0/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:df91ae126fe31db32ac9604bd750b4728d6e815034512cf1076e3437cd2c4031 +size 429956 diff --git a/train/train315/0/rgb_0_mask_Chair|4|1|1.png b/train/train315/0/rgb_0_mask_Chair|4|1|1.png new file mode 100644 index 0000000000000000000000000000000000000000..2434d19a1b922094414d2782846e4468258994c5 --- /dev/null +++ b/train/train315/0/rgb_0_mask_Chair|4|1|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dd862a9f683f67a4650df48113de038a3505d0005ca1e290643777dd9249a515 +size 361363 diff --git a/train/train315/0/rgb_0_mask_Fridge|2|1.png b/train/train315/0/rgb_0_mask_Fridge|2|1.png new file mode 100644 index 0000000000000000000000000000000000000000..5cfcf57f59549d9722ce222b1f854c9d928aac26 --- /dev/null +++ b/train/train315/0/rgb_0_mask_Fridge|2|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9372f341e875c37e67446e0192ab06f153d05f26d4eef42764b192b487b65771 +size 369431 diff --git a/train/train315/0/rgb_1.png b/train/train315/0/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..45a4ae8f1cbb74ea9b2b41b5a3afb48cd637f30a --- /dev/null +++ b/train/train315/0/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6289acfc25f470c3fb81fcb071461dd4562107966c6653b36c3125001bc199b6 +size 449115 diff --git a/train/train315/0/rgb_1_mask_Chair|4|1|1.png b/train/train315/0/rgb_1_mask_Chair|4|1|1.png new file mode 100644 index 0000000000000000000000000000000000000000..276cbcf1a84be90b9d6c5079dca831c961e8eb61 --- /dev/null +++ b/train/train315/0/rgb_1_mask_Chair|4|1|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:27b7eaba35ecc0947787339a6dbf093632a6d6dfb5fb4a13f8b1f5fd9c0279d9 +size 361931 diff --git a/train/train315/0/rgb_1_mask_DiningTable|4|1|0.png b/train/train315/0/rgb_1_mask_DiningTable|4|1|0.png new file mode 100644 index 0000000000000000000000000000000000000000..5943d382667cf40b530296df7f2aaff40590ca1e --- /dev/null +++ b/train/train315/0/rgb_1_mask_DiningTable|4|1|0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c99a82ed3873d7466403694100a899f0bf87306efc50817fd2a2f9c1021230fc +size 382302 diff --git a/train/train315/0/rgb_1_mask_Fridge|2|1.png b/train/train315/0/rgb_1_mask_Fridge|2|1.png new file mode 100644 index 0000000000000000000000000000000000000000..4d1653cc57d60364f9d9bf4c8f8e8549a03d2ffa --- /dev/null +++ b/train/train315/0/rgb_1_mask_Fridge|2|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6b7c28a1d672c7e4b7642ab46ee5bcd14624fc9c699f03be7d6cf7f70fee08a4 +size 397837 diff --git a/train/train315/0/semantic_0.png b/train/train315/0/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..6d22527bfad6713383c87e218b7049f3101991a5 Binary files /dev/null and b/train/train315/0/semantic_0.png differ diff --git a/train/train315/0/semantic_1.png b/train/train315/0/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..e99d41d06754c296c35b90dcc4d537218c79d18b Binary files /dev/null and b/train/train315/0/semantic_1.png differ diff --git a/train/train315/3/0.json b/train/train315/3/0.json new file mode 100644 index 0000000000000000000000000000000000000000..f7a8b0017121eee908e6ccb105a8446474c24ddf --- /dev/null +++ b/train/train315/3/0.json @@ -0,0 +1,634 @@ +{ + "object": [ + { + "objectId": "door|2|4", + "object_info": { + "name": "door|2|4", + "position": { + "x": 6.539700508117676, + "y": -0.0005981922149658203, + "z": 2.0724358558654785 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1661734580993652, + "objectType": "Doorframe", + "objectId": "door|2|4", + "assetId": "Doorframe_Double_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.590658664703369, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.590658664703369, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.590658664703369, + 0.0, + 4.011923313140869 + ], + [ + 6.590658664703369, + 0.0, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 0.0, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 0.0, + 2.069113254547119 + ] + ], + "center": { + "x": 6.540999889373779, + "y": 1.0435373783111572, + "z": 3.040518283843994 + }, + "size": { + "x": 0.09931755065917969, + "y": 2.0870747566223145, + "z": 1.94281005859375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|3", + "object_info": { + "name": "door|2|3", + "position": { + "x": 9.811773300170898, + "y": -0.00026702880859375, + "z": 6.5231428146362305 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 7.364771842956543, + "objectType": "Doorway", + "objectId": "door|2|3", + "assetId": "Doorway_Double_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.727968215942383, + 2.095932960510254, + 6.545433044433594 + ], + [ + 10.727968215942383, + 2.095932960510254, + 4.553407669067383 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 4.553407669067383 + ], + [ + 9.760202407836914, + 2.095932960510254, + 6.545433044433594 + ], + [ + 9.760202407836914, + 2.095932960510254, + 4.553407669067383 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 4.553407669067383 + ] + ], + "center": { + "x": 10.244085311889648, + "y": 1.0479663610458374, + "z": 5.549420356750488 + }, + "size": { + "x": 0.9677658081054688, + "y": 2.095933198928833, + "z": 1.992025375366211 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "FloorLamp|4|2", + "object_info": { + "name": "FloorLamp|4|2", + "position": { + "x": 6.263036727905273, + "y": -0.0018747448921203613, + "z": 0.9616859555244446 + }, + "rotation": { + "x": 359.9669189453125, + "y": 269.9986572265625, + "z": 359.9627380371094 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 1.7853816747665405, + "objectType": "FloorLamp", + "objectId": "FloorLamp|4|2", + "assetId": "Floor_Lamp_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.517219543457031, + 2.0757031440734863, + 1.2152924537658691 + ], + [ + 6.517219543457031, + 2.0757031440734863, + 0.7076406478881836 + ], + [ + 6.517219543457031, + -0.0020160675048828125, + 1.2152924537658691 + ], + [ + 6.517219543457031, + -0.0020160675048828125, + 0.7076406478881836 + ], + [ + 6.009941101074219, + 2.0757031440734863, + 1.2152924537658691 + ], + [ + 6.009941101074219, + 2.0757031440734863, + 0.7076406478881836 + ], + [ + 6.009941101074219, + -0.0020160675048828125, + 1.2152924537658691 + ], + [ + 6.009941101074219, + -0.0020160675048828125, + 0.7076406478881836 + ] + ], + "center": { + "x": 6.263580322265625, + "y": 1.0368435382843018, + "z": 0.9614665508270264 + }, + "size": { + "x": 0.5072784423828125, + "y": 2.077719211578369, + "z": 0.5076518058776855 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.00874137878418, + -0.001891990890726447, + 1.213939905166626 + ], + [ + 6.008753776550293, + -0.0015617554308846593, + 0.7062857151031494 + ], + [ + 6.5160441398620605, + -0.0018547163344919682, + 0.706297755241394 + ], + [ + 6.516031742095947, + -0.002184951677918434, + 1.213951826095581 + ], + [ + 6.009941101074219, + 2.0755419731140137, + 1.2152912616729736 + ], + [ + 6.009953498840332, + 2.0758721828460693, + 0.7076371908187866 + ], + [ + 6.5172438621521, + 2.0755791664123535, + 0.7076491713523865 + ], + [ + 6.517231464385986, + 2.075248956680298, + 1.2153033018112183 + ] + ] + } + } + }, + { + "objectId": "Painting|3|7", + "object_info": { + "name": "Painting|3|7", + "position": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.831557273864746, + "objectType": "Painting", + "objectId": "Painting|3|7", + "assetId": "Wall_Decor_Photo_10", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.833455085754395, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.50425910949707 + ] + ], + "center": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.520129680633545 + }, + "size": { + "x": 0.7115726470947266, + "y": 0.4246177673339844, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|3|4", + "object_info": { + "name": "Painting|3|4", + "position": { + "x": 11.443442344665527, + "y": 1.4678616523742676, + "z": 5.477546215057373 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.9369797706604, + "objectType": "Painting", + "objectId": "Painting|3|4", + "assetId": "Wall_Decor_Painting_3", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.442000389099121, + 1.773220181465149, + 5.879675388336182 + ], + [ + 11.442000389099121, + 1.773220181465149, + 5.07399320602417 + ], + [ + 11.442000389099121, + 1.16008460521698, + 5.879675388336182 + ], + [ + 11.442000389099121, + 1.16008460521698, + 5.07399320602417 + ], + [ + 11.422650337219238, + 1.773220181465149, + 5.879675388336182 + ], + [ + 11.422650337219238, + 1.773220181465149, + 5.07399320602417 + ], + [ + 11.422650337219238, + 1.16008460521698, + 5.879675388336182 + ], + [ + 11.422650337219238, + 1.16008460521698, + 5.07399320602417 + ] + ], + "center": { + "x": 11.43232536315918, + "y": 1.4666523933410645, + "z": 5.476834297180176 + }, + "size": { + "x": 0.019350051879882812, + "y": 0.613135576248169, + "z": 0.8056821823120117 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 5.199999809265137, + "y": 0.9009997844696045, + "z": 1.2999999523162842 + }, + "agent_rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "agent_cameraHorizon": -30.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 5.199999809265137, + "y": 1.5759997367858887, + "z": 1.2999999523162842 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "door|2|4", + "door|2|3", + "Painting|3|7" + ], + "different_object": [ + "Painting|3|4", + "FloorLamp|4|2" + ] +} \ No newline at end of file diff --git a/train/train315/3/0_depth_npy.npy b/train/train315/3/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..61ed6212f16af9cd25273c1a80e5059f87151f46 --- /dev/null +++ b/train/train315/3/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7f59aea51b16c39033839b911e43b41a5c13a617b384ef8d43521284eaa84fa9 +size 3145856 diff --git a/train/train315/3/0_semantic_sensor_npy.npy b/train/train315/3/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..d10acd8cc71b9742302d84b9118ce995011a3366 --- /dev/null +++ b/train/train315/3/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:43030abbe24ca2737b838fdaf4b9b4a5d8c441fec5386c69d7bab55125b20b30 +size 2359424 diff --git a/train/train315/3/1.json b/train/train315/3/1.json new file mode 100644 index 0000000000000000000000000000000000000000..d4ee3ae4ad4bd4efee3979856b1c983f15e31516 --- /dev/null +++ b/train/train315/3/1.json @@ -0,0 +1,2733 @@ +{ + "object": [ + { + "objectId": "Book|surface|4|22", + "object_info": { + "name": "Book|surface|4|22", + "position": { + "x": 4.434379577636719, + "y": 0.27263882756233215, + "z": 6.329527378082275 + }, + "rotation": { + "x": 0.002365913474932313, + "y": 90.0003890991211, + "z": 0.25729310512542725 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 5.127967834472656, + "objectType": "Book", + "objectId": "Book|surface|4|22", + "assetId": "Book_20", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.586941719055176, + 0.30716240406036377, + 6.458010673522949 + ], + [ + 4.586941719055176, + 0.30716240406036377, + 6.2023820877075195 + ], + [ + 4.586941719055176, + 0.2722126245498657, + 6.458010673522949 + ], + [ + 4.586941719055176, + 0.2722126245498657, + 6.2023820877075195 + ], + [ + 4.2818193435668945, + 0.30716240406036377, + 6.458010673522949 + ], + [ + 4.2818193435668945, + 0.30716240406036377, + 6.2023820877075195 + ], + [ + 4.2818193435668945, + 0.2722126245498657, + 6.458010673522949 + ], + [ + 4.2818193435668945, + 0.2722126245498657, + 6.2023820877075195 + ] + ], + "center": { + "x": 4.434380531311035, + "y": 0.28968751430511475, + "z": 6.330196380615234 + }, + "size": { + "x": 0.30512237548828125, + "y": 0.03494977951049805, + "z": 0.2556285858154297 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.586939334869385, + 0.2724279761314392, + 6.202378273010254 + ], + [ + 4.586941242218018, + 0.2712807059288025, + 6.45785665512085 + ], + [ + 4.2818193435668945, + 0.2712933123111725, + 6.457858562469482 + ], + [ + 4.281817436218262, + 0.2724405825138092, + 6.202380657196045 + ], + [ + 4.586940765380859, + 0.3073573708534241, + 6.202535152435303 + ], + [ + 4.586942672729492, + 0.30621010065078735, + 6.458013534545898 + ], + [ + 4.281820774078369, + 0.30622270703315735, + 6.458015441894531 + ], + [ + 4.281818866729736, + 0.30736997723579407, + 6.202537536621094 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___1", + "object_info": { + "name": "Drawer (1)", + "position": { + "x": 3.606998920440674, + "y": 0.39762961864471436, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.130039691925049, + "objectType": "Drawer", + "objectId": "Dresser|4|3___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.4907017946243286, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.4907017946243286, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.30300021171569824, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.30300021171569824, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.4907017946243286, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.4907017946243286, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.30300021171569824, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.30300021171569824, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.3968510031700134, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CellPhone|surface|4|17", + "object_info": { + "name": "CellPhone|surface|4|17", + "position": { + "x": 3.606998920440674, + "y": 0.6999126672744751, + "z": 6.400298118591309 + }, + "rotation": { + "x": 4.23526716986089e-06, + "y": 180.00010681152344, + "z": -0.0013795691775158048 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1599999964237213, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 5.279437065124512, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|4|17", + "assetId": "Cellphone_8", + "parentReceptacles": [ + "Dresser|4|3", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.645237445831299, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.645237445831299, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.645237445831299, + 0.6992031335830688, + 6.473209381103516 + ], + [ + 3.645237445831299, + 0.6992031335830688, + 6.327386856079102 + ], + [ + 3.568760395050049, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.568760395050049, + 0.6992031335830688, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.6992031335830688, + 6.327386856079102 + ] + ], + "center": { + "x": 3.606998920440674, + "y": 0.7046447992324829, + "z": 6.400298118591309 + }, + "size": { + "x": 0.07647705078125, + "y": 0.010883331298828125, + "z": 0.14582252502441406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.568760395050049, + 0.6992031335830688, + 6.327386856079102 + ], + [ + 3.6452372074127197, + 0.6992049813270569, + 6.327386856079102 + ], + [ + 3.645237445831299, + 0.6992050409317017, + 6.473209381103516 + ], + [ + 3.568760633468628, + 0.6992031931877136, + 6.473209381103516 + ], + [ + 3.5687601566314697, + 0.7100846171379089, + 6.327386856079102 + ], + [ + 3.6452369689941406, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.6452372074127197, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.7100846171379089, + 6.473209381103516 + ] + ] + } + } + }, + { + "objectId": "Vase|surface|4|24", + "object_info": { + "name": "Vase|surface|4|24", + "position": { + "x": 4.730817794799805, + "y": 0.27228501439094543, + "z": 6.289771556854248 + }, + "rotation": { + "x": -1.976354042199091e-06, + "y": 90.0000228881836, + "z": 9.469399060435535e-07 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 5.0788726806640625, + "objectType": "Vase", + "objectId": "Vase|surface|4|24", + "assetId": "Vase_Flat_5", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.8065643310546875, + 0.34241700172424316, + 6.365267753601074 + ], + [ + 4.8065643310546875, + 0.34241700172424316, + 6.2142744064331055 + ], + [ + 4.8065643310546875, + 0.27224910259246826, + 6.365267753601074 + ], + [ + 4.8065643310546875, + 0.27224910259246826, + 6.2142744064331055 + ], + [ + 4.655572891235352, + 0.34241700172424316, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.34241700172424316, + 6.2142744064331055 + ], + [ + 4.655572891235352, + 0.27224910259246826, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.27224910259246826, + 6.2142744064331055 + ] + ], + "center": { + "x": 4.7310686111450195, + "y": 0.3073330521583557, + "z": 6.28977108001709 + }, + "size": { + "x": 0.15099143981933594, + "y": 0.0701678991317749, + "z": 0.15099334716796875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.806564807891846, + 0.2722490131855011, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.2722490131855011, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.2722490131855011, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.2722490131855011, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.3424171209335327, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.3424171209335327, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.3424171209335327, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.3424171209335327, + 6.2142744064331055 + ] + ] + } + } + }, + { + "objectId": "TVStand|4|0|0", + "object_info": { + "name": "TVStand|4|0|0", + "position": { + "x": 4.588324069976807, + "y": 0.0009346157312393188, + "z": 6.329517364501953 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": [ + "Television|4|0|1" + ], + "distance": 5.161177635192871, + "objectType": "TVStand", + "objectId": "TVStand|4|0|0", + "assetId": "TV_Stand_220_1", + "parentReceptacles": [ + "Floor", + "Plate|surface|4|19" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.207240104675293, + 0.4502491354942322, + 6.515999794006348 + ], + [ + 5.207240104675293, + 0.4502491354942322, + 6.146122932434082 + ], + [ + 5.207240104675293, + 2.8312206268310547e-07, + 6.515999794006348 + ], + [ + 5.207240104675293, + 2.8312206268310547e-07, + 6.146122932434082 + ], + [ + 3.969435691833496, + 0.4502491354942322, + 6.515999794006348 + ], + [ + 3.969435691833496, + 0.4502491354942322, + 6.146122932434082 + ], + [ + 3.969435691833496, + 2.8312206268310547e-07, + 6.515999794006348 + ], + [ + 3.969435691833496, + 2.8312206268310547e-07, + 6.146122932434082 + ] + ], + "center": { + "x": 4.5883378982543945, + "y": 0.22512470185756683, + "z": 6.331061363220215 + }, + "size": { + "x": 1.2378044128417969, + "y": 0.4502488374710083, + "z": 0.3698768615722656 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.969435930252075, + 2.682209014892578e-07, + 6.14612340927124 + ], + [ + 5.207239627838135, + 2.682209014892578e-07, + 6.14612340927124 + ], + [ + 5.207239627838135, + 2.682209014892578e-07, + 6.515999794006348 + ], + [ + 3.969435930252075, + 2.682209014892578e-07, + 6.515999794006348 + ], + [ + 3.969435930252075, + 0.4502490758895874, + 6.14612340927124 + ], + [ + 5.207239627838135, + 0.4502490758895874, + 6.14612340927124 + ], + [ + 5.207239627838135, + 0.4502490758895874, + 6.515999794006348 + ], + [ + 3.969435930252075, + 0.4502490758895874, + 6.515999794006348 + ] + ] + } + } + }, + { + "objectId": "DiningTable|4|1|0", + "object_info": { + "name": "DiningTable|4|1|0", + "position": { + "x": 5.355981826782227, + "y": -0.0031822919845581055, + "z": 3.724600076675415 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Laptop|surface|4|23", + "Book|surface|4|26" + ], + "distance": 2.7034060955047607, + "objectType": "DiningTable", + "objectId": "DiningTable|4|1|0", + "assetId": "Dining_Table_218_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.855982780456543, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 5.855982780456543, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 2.8305177688598633 + ] + ], + "center": { + "x": 5.355981826782227, + "y": 0.3905254304409027, + "z": 3.724600076675415 + }, + "size": { + "x": 1.0000019073486328, + "y": 0.7810438275337219, + "z": 1.7881646156311035 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.855982303619385, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 3.5762786865234375e-06, + 4.618681907653809 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 4.618682384490967 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 4.618681907653809 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 4.618682384490967 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 2.8305180072784424 + ] + ] + } + } + }, + { + "objectId": "Chair|4|1|2", + "object_info": { + "name": "Chair|4|1|2", + "position": { + "x": 5.356987476348877, + "y": 0.0031416714191436768, + "z": 4.78104829788208 + }, + "rotation": { + "x": -0.0, + "y": 174.24070739746094, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 3.6936275959014893, + "objectType": "Chair", + "objectId": "Chair|4|1|2", + "assetId": "Chair_224_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.615507125854492, + 0.8033755421638489, + 5.103589057922363 + ], + [ + 5.615507125854492, + 0.8033755421638489, + 4.454636573791504 + ], + [ + 5.615507125854492, + -1.0073184967041016e-05, + 5.103589057922363 + ], + [ + 5.615507125854492, + -1.0073184967041016e-05, + 4.454636573791504 + ], + [ + 5.106142044067383, + 0.8033755421638489, + 5.103589057922363 + ], + [ + 5.106142044067383, + 0.8033755421638489, + 4.454636573791504 + ], + [ + 5.106142044067383, + -1.0073184967041016e-05, + 5.103589057922363 + ], + [ + 5.106142044067383, + -1.0073184967041016e-05, + 4.454636573791504 + ] + ], + "center": { + "x": 5.3608245849609375, + "y": 0.4016827344894409, + "z": 4.779112815856934 + }, + "size": { + "x": 0.5093650817871094, + "y": 0.8033856153488159, + "z": 0.6489524841308594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.15634822845459, + -9.98377799987793e-06, + 4.451790809631348 + ], + [ + 5.61686897277832, + -9.98377799987793e-06, + 4.4982380867004395 + ], + [ + 5.5556254386901855, + -9.98377799987793e-06, + 5.105459213256836 + ], + [ + 5.095105171203613, + -9.98377799987793e-06, + 5.059011936187744 + ], + [ + 5.15634822845459, + 0.8033754825592041, + 4.451790809631348 + ], + [ + 5.61686897277832, + 0.8033754825592041, + 4.4982380867004395 + ], + [ + 5.5556254386901855, + 0.8033754825592041, + 5.105459213256836 + ], + [ + 5.095105171203613, + 0.8033754825592041, + 5.059011936187744 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___0", + "object_info": { + "name": "Drawer", + "position": { + "x": 3.606998920440674, + "y": 0.5816994309425354, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.115259647369385, + "objectType": "Drawer", + "objectId": "Dresser|4|3___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.6747716069221497, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.6747716069221497, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.4870700240135193, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.4870700240135193, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.6747716069221497, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.6747716069221497, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.4870700240135193, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.4870700240135193, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.5809208154678345, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|4", + "object_info": { + "name": "door|2|4", + "position": { + "x": 6.539700508117676, + "y": -0.0005981922149658203, + "z": 2.0724358558654785 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1661734580993652, + "objectType": "Doorframe", + "objectId": "door|2|4", + "assetId": "Doorframe_Double_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.590658664703369, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.590658664703369, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.590658664703369, + 0.0, + 4.011923313140869 + ], + [ + 6.590658664703369, + 0.0, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 0.0, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 0.0, + 2.069113254547119 + ] + ], + "center": { + "x": 6.540999889373779, + "y": 1.0435373783111572, + "z": 3.040518283843994 + }, + "size": { + "x": 0.09931755065917969, + "y": 2.0870747566223145, + "z": 1.94281005859375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|4|3", + "object_info": { + "name": "Dresser|4|3", + "position": { + "x": 3.606998920440674, + "y": -4.786252975463867e-05, + "z": 6.362965106964111 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Watch|surface|4|16", + "CellPhone|surface|4|17" + ], + "distance": 5.316083908081055, + "objectType": "Dresser", + "objectId": "Dresser|4|3", + "assetId": "RoboTHOR_dresser_rast_v", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.917998790740967, + 0.6992043256759644, + 6.518101692199707 + ], + [ + 3.917998790740967, + 0.6992043256759644, + 6.203625679016113 + ], + [ + 3.917998790740967, + 3.838539123535156e-05, + 6.518101692199707 + ], + [ + 3.917998790740967, + 3.838539123535156e-05, + 6.203625679016113 + ], + [ + 3.295999050140381, + 0.6992043256759644, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992043256759644, + 6.203625679016113 + ], + [ + 3.295999050140381, + 3.838539123535156e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 3.838539123535156e-05, + 6.203625679016113 + ] + ], + "center": { + "x": 3.606998920440674, + "y": 0.34962135553359985, + "z": 6.36086368560791 + }, + "size": { + "x": 0.6219997406005859, + "y": 0.699165940284729, + "z": 0.31447601318359375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.295999050140381, + 3.8564205169677734e-05, + 6.20362663269043 + ], + [ + 3.917998790740967, + 3.8564205169677734e-05, + 6.20362663269043 + ], + [ + 3.917998790740967, + 3.8564205169677734e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 3.8564205169677734e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992037892341614, + 6.20362663269043 + ], + [ + 3.917998790740967, + 0.6992037892341614, + 6.20362663269043 + ], + [ + 3.917998790740967, + 0.6992037892341614, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992037892341614, + 6.518101692199707 + ] + ] + } + } + }, + { + "objectId": "CreditCard|surface|4|21", + "object_info": { + "name": "CreditCard|surface|4|21", + "position": { + "x": 4.137941837310791, + "y": 0.27259376645088196, + "z": 6.3295159339904785 + }, + "rotation": { + "x": 0.00015720646479167044, + "y": 90.0001449584961, + "z": -0.00030558553407900035 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.15470552444458, + "objectType": "CreditCard", + "objectId": "CreditCard|surface|4|21", + "assetId": "CreditCard_3", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.164941310882568, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.164941310882568, + 0.27673888206481934, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.27224868535995483, + 6.372598171234131 + ], + [ + 4.164941310882568, + 0.27224868535995483, + 6.286433696746826 + ], + [ + 4.110942363739014, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27673888206481934, + 6.286433696746826 + ], + [ + 4.110942363739014, + 0.27224868535995483, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27224868535995483, + 6.286433696746826 + ] + ], + "center": { + "x": 4.137941837310791, + "y": 0.2744937837123871, + "z": 6.3295159339904785 + }, + "size": { + "x": 0.05399894714355469, + "y": 0.004490196704864502, + "z": 0.08616447448730469 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.16494083404541, + 0.27224868535995483, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.27224916219711304, + 6.372598171234131 + ], + [ + 4.110942840576172, + 0.2722492814064026, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.2722488343715668, + 6.286433696746826 + ], + [ + 4.16494083404541, + 0.2767382860183716, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.2767387330532074, + 6.372598171234131 + ], + [ + 4.110942840576172, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27673840522766113, + 6.286433696746826 + ] + ] + } + } + }, + { + "objectId": "Painting|4|6", + "object_info": { + "name": "Painting|4|6", + "position": { + "x": 6.538111209869385, + "y": 1.4183659553527832, + "z": 4.80001974105835 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.008447170257568, + "objectType": "Painting", + "objectId": "Painting|4|6", + "assetId": "Wall_Decor_Painting_8", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.5360002517700195, + 1.681741714477539, + 5.152198791503906 + ], + [ + 6.5360002517700195, + 1.681741714477539, + 4.4491167068481445 + ], + [ + 6.5360002517700195, + 1.1549901962280273, + 5.152198791503906 + ], + [ + 6.5360002517700195, + 1.1549901962280273, + 4.4491167068481445 + ], + [ + 6.518789291381836, + 1.681741714477539, + 5.152198791503906 + ], + [ + 6.518789291381836, + 1.681741714477539, + 4.4491167068481445 + ], + [ + 6.518789291381836, + 1.1549901962280273, + 5.152198791503906 + ], + [ + 6.518789291381836, + 1.1549901962280273, + 4.4491167068481445 + ] + ], + "center": { + "x": 6.527394771575928, + "y": 1.4183659553527832, + "z": 4.800657749176025 + }, + "size": { + "x": 0.017210960388183594, + "y": 0.5267515182495117, + "z": 0.7030820846557617 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TVStand|4|0|0___1", + "object_info": { + "name": "Shelf", + "position": { + "x": 4.588322162628174, + "y": 0.2684445381164551, + "z": 6.3295159339904785 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Watch|surface|4|20", + "Book|surface|4|22", + "KeyChain|surface|4|18", + "Vase|surface|4|24", + "CreditCard|surface|4|21" + ], + "distance": 5.121303558349609, + "objectType": "DiningTable", + "objectId": "TVStand|4|0|0___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.18937349319458, + 0.3674442172050476, + 6.494719982147217 + ], + [ + 5.18937349319458, + 0.3674442172050476, + 6.16431188583374 + ], + [ + 5.18937349319458, + 0.26823681592941284, + 6.494719982147217 + ], + [ + 5.18937349319458, + 0.26823681592941284, + 6.16431188583374 + ], + [ + 3.9872708320617676, + 0.3674442172050476, + 6.494719982147217 + ], + [ + 3.9872708320617676, + 0.3674442172050476, + 6.16431188583374 + ], + [ + 3.9872708320617676, + 0.26823681592941284, + 6.494719982147217 + ], + [ + 3.9872708320617676, + 0.26823681592941284, + 6.16431188583374 + ] + ], + "center": { + "x": 4.588322162628174, + "y": 0.3178405165672302, + "z": 6.3295159339904785 + }, + "size": { + "x": 1.2021026611328125, + "y": 0.09920740127563477, + "z": 0.33040809631347656 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Watch|surface|4|16", + "object_info": { + "name": "Watch|surface|4|16", + "position": { + "x": 3.6847031116485596, + "y": 0.7003282308578491, + "z": 6.288086414337158 + }, + "rotation": { + "x": 1.9947741031646729, + "y": 180.00387573242188, + "z": 1.19093656539917 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07000000029802322, + "salientMaterials": [ + "Metal", + "Glass", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.153391361236572, + "objectType": "Watch", + "objectId": "Watch|surface|4|16", + "assetId": "Watch_2", + "parentReceptacles": [ + "Dresser|4|3", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.7239737510681152, + 0.7344659566879272, + 6.313935279846191 + ], + [ + 3.7239737510681152, + 0.7344659566879272, + 6.265624046325684 + ], + [ + 3.7239737510681152, + 0.6990219354629517, + 6.313935279846191 + ], + [ + 3.7239737510681152, + 0.6990219354629517, + 6.265624046325684 + ], + [ + 3.6450982093811035, + 0.7344659566879272, + 6.313935279846191 + ], + [ + 3.6450982093811035, + 0.7344659566879272, + 6.265624046325684 + ], + [ + 3.6450982093811035, + 0.6990219354629517, + 6.313935279846191 + ], + [ + 3.6450982093811035, + 0.6990219354629517, + 6.265624046325684 + ] + ], + "center": { + "x": 3.6845359802246094, + "y": 0.7167439460754395, + "z": 6.2897796630859375 + }, + "size": { + "x": 0.07887554168701172, + "y": 0.035444021224975586, + "z": 0.04831123352050781 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.644953966140747, + 0.6981589794158936, + 6.265713691711426 + ], + [ + 3.723494052886963, + 0.6965271830558777, + 6.265765190124512 + ], + [ + 3.723497152328491, + 0.6982251405715942, + 6.314515590667725 + ], + [ + 3.6449573040008545, + 0.6998568773269653, + 6.314464092254639 + ], + [ + 3.645716905593872, + 0.7348403334617615, + 6.2644362449646 + ], + [ + 3.724256992340088, + 0.7332085967063904, + 6.2644877433776855 + ], + [ + 3.724260091781616, + 0.7349065542221069, + 6.31323766708374 + ], + [ + 3.6457202434539795, + 0.736538290977478, + 6.313186168670654 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___2", + "object_info": { + "name": "Drawer (2)", + "position": { + "x": 3.606998920440674, + "y": 0.20109392702579498, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.1530375480651855, + "objectType": "Drawer", + "objectId": "Dresser|4|3___2", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.29416608810424805, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.29416608810424805, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.10646450519561768, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.10646450519561768, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.29416608810424805, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.29416608810424805, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.10646450519561768, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.10646450519561768, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.20031529664993286, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|3", + "object_info": { + "name": "door|2|3", + "position": { + "x": 9.811773300170898, + "y": -0.00026702880859375, + "z": 6.5231428146362305 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 7.364771842956543, + "objectType": "Doorway", + "objectId": "door|2|3", + "assetId": "Doorway_Double_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.727968215942383, + 2.095932960510254, + 6.545433044433594 + ], + [ + 10.727968215942383, + 2.095932960510254, + 4.553407669067383 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 4.553407669067383 + ], + [ + 9.760202407836914, + 2.095932960510254, + 6.545433044433594 + ], + [ + 9.760202407836914, + 2.095932960510254, + 4.553407669067383 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 4.553407669067383 + ] + ], + "center": { + "x": 10.244085311889648, + "y": 1.0479663610458374, + "z": 5.549420356750488 + }, + "size": { + "x": 0.9677658081054688, + "y": 2.095933198928833, + "z": 1.992025375366211 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|3|7", + "object_info": { + "name": "Painting|3|7", + "position": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.831557273864746, + "objectType": "Painting", + "objectId": "Painting|3|7", + "assetId": "Wall_Decor_Photo_10", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.833455085754395, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.50425910949707 + ] + ], + "center": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.520129680633545 + }, + "size": { + "x": 0.7115726470947266, + "y": 0.4246177673339844, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|4|4", + "object_info": { + "name": "Painting|4|4", + "position": { + "x": 3.608247995376587, + "y": 1.9246368408203125, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.503932476043701, + "objectType": "Painting", + "objectId": "Painting|4|4", + "assetId": "Wall_Decor_Photo_1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.9420716762542725, + 2.1772351264953613, + 6.5360002517700195 + ], + [ + 3.9420716762542725, + 2.1772351264953613, + 6.50425910949707 + ], + [ + 3.9420716762542725, + 1.6720385551452637, + 6.5360002517700195 + ], + [ + 3.9420716762542725, + 1.6720385551452637, + 6.50425910949707 + ], + [ + 3.2744243144989014, + 2.1772351264953613, + 6.5360002517700195 + ], + [ + 3.2744243144989014, + 2.1772351264953613, + 6.50425910949707 + ], + [ + 3.2744243144989014, + 1.6720385551452637, + 6.5360002517700195 + ], + [ + 3.2744243144989014, + 1.6720385551452637, + 6.50425910949707 + ] + ], + "center": { + "x": 3.608247995376587, + "y": 1.9246368408203125, + "z": 6.520129680633545 + }, + "size": { + "x": 0.6676473617553711, + "y": 0.5051965713500977, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Fridge|2|1", + "object_info": { + "name": "Fridge|2|1", + "position": { + "x": 8.027824401855469, + "y": 0.007394969463348389, + "z": 6.196259021759033 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Tomato|surface|2|5", + "Potato|surface|2|7" + ], + "distance": 6.000678539276123, + "objectType": "Fridge", + "objectId": "Fridge|2|1", + "assetId": "Fridge_15", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.576839447021484, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 8.576839447021484, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 8.576839447021484, + 0.0, + 6.515999794006348 + ], + [ + 8.576839447021484, + 0.0, + 5.736844062805176 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 7.494537353515625, + 0.0, + 6.515999794006348 + ], + [ + 7.494537353515625, + 0.0, + 5.736844062805176 + ] + ], + "center": { + "x": 8.035688400268555, + "y": 0.9413036108016968, + "z": 6.126421928405762 + }, + "size": { + "x": 1.0823020935058594, + "y": 1.8826072216033936, + "z": 0.7791557312011719 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Television|4|0|1", + "object_info": { + "name": "Television|4|0|1", + "position": { + "x": 4.5883378982543945, + "y": 0.9386330842971802, + "z": 6.25775671005249 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.010506629943848, + "objectType": "Television", + "objectId": "Television|4|0|1", + "assetId": "Television_23", + "parentReceptacles": [ + "Floor", + "TVStand|4|0|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.0883378982543945, + 1.2561266422271729, + 6.508190631866455 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.153933048248291 + ], + [ + 5.0883378982543945, + 0.4502493143081665, + 6.508190631866455 + ], + [ + 5.0883378982543945, + 0.4502493143081665, + 6.153933048248291 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.508190631866455 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.153933048248291 + ], + [ + 4.0883378982543945, + 0.4502493143081665, + 6.508190631866455 + ], + [ + 4.0883378982543945, + 0.4502493143081665, + 6.153933048248291 + ] + ], + "center": { + "x": 4.5883378982543945, + "y": 0.8531879782676697, + "z": 6.331061840057373 + }, + "size": { + "x": 1.0, + "y": 0.8058773279190063, + "z": 0.35425758361816406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.0883378982543945, + 0.4502493441104889, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 0.4502493441104889, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 0.4502493441104889, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 0.4502493441104889, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.508191108703613 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 5.199999809265137, + "y": 0.9009997844696045, + "z": 1.2999999523162842 + }, + "agent_rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "agent_cameraHorizon": -30.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 5.199999809265137, + "y": 1.5759997367858887, + "z": 1.2999999523162842 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "door|2|4", + "door|2|3", + "Painting|3|7" + ], + "different_object": [ + "Fridge|2|1", + "CellPhone|surface|4|17", + "Dresser|4|3", + "Book|surface|4|22", + "DiningTable|4|1|0", + "Dresser|4|3___0", + "TVStand|4|0|0___1", + "Watch|surface|4|16", + "Dresser|4|3___2", + "CreditCard|surface|4|21", + "Vase|surface|4|24", + "Painting|4|6", + "Dresser|4|3___1", + "Television|4|0|1", + "Painting|4|4", + "Chair|4|1|2", + "TVStand|4|0|0" + ] +} \ No newline at end of file diff --git a/train/train315/3/1_depth_npy.npy b/train/train315/3/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..c7f0ed435248ac29e19a6d08903a38a92e85e10e --- /dev/null +++ b/train/train315/3/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:41653694ff43bda7aeb1b5e782d44c264a56f65cb46fc196d04dcdb0fcb94b3a +size 3145856 diff --git a/train/train315/3/1_semantic_sensor_npy.npy b/train/train315/3/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..9eca891343d758ecd9650a2df7fd41d85315f931 --- /dev/null +++ b/train/train315/3/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0903989acf87dc1ea27c974a6395a9d85ca7a3a021e0b86bfd904ea090818066 +size 2359424 diff --git a/train/train315/3/depth_0.png b/train/train315/3/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..6434bd9b15dfa0475b46915937bc0eb5cf54b9f4 Binary files /dev/null and b/train/train315/3/depth_0.png differ diff --git a/train/train315/3/depth_1.png b/train/train315/3/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..4ddc76db69fc926a2d9f54f85772c2ec83a995d8 Binary files /dev/null and b/train/train315/3/depth_1.png differ diff --git a/train/train315/3/mask_questions.jsonl b/train/train315/3/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/train/train315/3/questions_direction.jsonl b/train/train315/3/questions_direction.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..08e6563b1218922990860ba9032cc585d21d36ac --- /dev/null +++ b/train/train315/3/questions_direction.jsonl @@ -0,0 +1,6 @@ +{"id": 4365, "folder_dir": "train315/3", "pair_name": "FloorLamp-Book", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of FloorLamp. Where is the centroid position of Book in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "FloorLamp", "tgt_object": "Book", "src_com": {"x": 6.263580322265625, "y": 1.0368435382843018, "z": 0.9614665508270264}, "tgt_com": {"x": 4.434380531311035, "y": 0.28968751430511475, "z": 6.330196380615234}, "agent_pos": {"x": 5.199999809265137, "y": 1.5759997367858887, "z": 1.2999999523162842}, "image_1": "train315/3/rgb_0.png", "image_2": "train315/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4366, "folder_dir": "train315/3", "pair_name": "FloorLamp-Chair", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of FloorLamp. Where is the centroid position of Chair in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "FloorLamp", "tgt_object": "Chair", "src_com": {"x": 6.263580322265625, "y": 1.0368435382843018, "z": 0.9614665508270264}, "tgt_com": {"x": 5.3608245849609375, "y": 0.4016827344894409, "z": 4.779112815856934}, "agent_pos": {"x": 5.199999809265137, "y": 1.5759997367858887, "z": 1.2999999523162842}, "image_1": "train315/3/rgb_0.png", "image_2": "train315/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4367, "folder_dir": "train315/3", "pair_name": "FloorLamp-Television", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of FloorLamp. Where is the centroid position of Television in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "FloorLamp", "tgt_object": "Television", "src_com": {"x": 6.263580322265625, "y": 1.0368435382843018, "z": 0.9614665508270264}, "tgt_com": {"x": 4.5883378982543945, "y": 0.8531879782676697, "z": 6.331061840057373}, "agent_pos": {"x": 5.199999809265137, "y": 1.5759997367858887, "z": 1.2999999523162842}, "image_1": "train315/3/rgb_0.png", "image_2": "train315/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4368, "folder_dir": "train315/3", "pair_name": "Book-FloorLamp", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Book. Where is the centroid position of FloorLamp in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Book", "tgt_object": "FloorLamp", "src_com": {"x": 4.434380531311035, "y": 0.28968751430511475, "z": 6.330196380615234}, "tgt_com": {"x": 6.263580322265625, "y": 1.0368435382843018, "z": 0.9614665508270264}, "agent_pos": {"x": 5.199999809265137, "y": 1.5759997367858887, "z": 1.2999999523162842}, "image_1": "train315/3/rgb_1.png", "image_2": "train315/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4369, "folder_dir": "train315/3", "pair_name": "Chair-FloorLamp", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Chair. Where is the centroid position of FloorLamp in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Chair", "tgt_object": "FloorLamp", "src_com": {"x": 5.3608245849609375, "y": 0.4016827344894409, "z": 4.779112815856934}, "tgt_com": {"x": 6.263580322265625, "y": 1.0368435382843018, "z": 0.9614665508270264}, "agent_pos": {"x": 5.199999809265137, "y": 1.5759997367858887, "z": 1.2999999523162842}, "image_1": "train315/3/rgb_1.png", "image_2": "train315/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4370, "folder_dir": "train315/3", "pair_name": "Television-FloorLamp", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Television. Where is the centroid position of FloorLamp in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Television", "tgt_object": "FloorLamp", "src_com": {"x": 4.5883378982543945, "y": 0.8531879782676697, "z": 6.331061840057373}, "tgt_com": {"x": 6.263580322265625, "y": 1.0368435382843018, "z": 0.9614665508270264}, "agent_pos": {"x": 5.199999809265137, "y": 1.5759997367858887, "z": 1.2999999523162842}, "image_1": "train315/3/rgb_1.png", "image_2": "train315/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} diff --git a/train/train315/3/rgb_0.png b/train/train315/3/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..172c63b49e444b5ab095e55a15851ef27925e11a --- /dev/null +++ b/train/train315/3/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:94e81269fddaf93b41a17fffcc1e2d5c5851916d394eff97cd77cb3a3c0cb475 +size 193695 diff --git a/train/train315/3/rgb_1.png b/train/train315/3/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..da2c9d5886a5731c2b833577e0b4550626caa105 --- /dev/null +++ b/train/train315/3/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cad9c03fcec980906481362d37a74b39e8d9550ec635fed1eacb9c0829179b84 +size 244091 diff --git a/train/train315/3/semantic_0.png b/train/train315/3/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..b1408724fe5271baa427d242fca9638154ae2e38 Binary files /dev/null and b/train/train315/3/semantic_0.png differ diff --git a/train/train315/3/semantic_1.png b/train/train315/3/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..955221a1931a65d9f4f15b6f02b69aa9d401dd18 Binary files /dev/null and b/train/train315/3/semantic_1.png differ diff --git a/train/train315/4/0.json b/train/train315/4/0.json new file mode 100644 index 0000000000000000000000000000000000000000..9079afcc75414ddc2de84ae8a393c76c597abb12 --- /dev/null +++ b/train/train315/4/0.json @@ -0,0 +1,2622 @@ +{ + "object": [ + { + "objectId": "Book|surface|4|22", + "object_info": { + "name": "Book|surface|4|22", + "position": { + "x": 4.434379577636719, + "y": 0.27263882756233215, + "z": 6.329527378082275 + }, + "rotation": { + "x": 0.002365913474932313, + "y": 90.0003890991211, + "z": 0.25729310512542725 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 5.127967834472656, + "objectType": "Book", + "objectId": "Book|surface|4|22", + "assetId": "Book_20", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.586941719055176, + 0.30716240406036377, + 6.458010673522949 + ], + [ + 4.586941719055176, + 0.30716240406036377, + 6.2023820877075195 + ], + [ + 4.586941719055176, + 0.2722126245498657, + 6.458010673522949 + ], + [ + 4.586941719055176, + 0.2722126245498657, + 6.2023820877075195 + ], + [ + 4.2818193435668945, + 0.30716240406036377, + 6.458010673522949 + ], + [ + 4.2818193435668945, + 0.30716240406036377, + 6.2023820877075195 + ], + [ + 4.2818193435668945, + 0.2722126245498657, + 6.458010673522949 + ], + [ + 4.2818193435668945, + 0.2722126245498657, + 6.2023820877075195 + ] + ], + "center": { + "x": 4.434380531311035, + "y": 0.28968751430511475, + "z": 6.330196380615234 + }, + "size": { + "x": 0.30512237548828125, + "y": 0.03494977951049805, + "z": 0.2556285858154297 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.586939334869385, + 0.2724279761314392, + 6.202378273010254 + ], + [ + 4.586941242218018, + 0.2712807059288025, + 6.45785665512085 + ], + [ + 4.2818193435668945, + 0.2712933123111725, + 6.457858562469482 + ], + [ + 4.281817436218262, + 0.2724405825138092, + 6.202380657196045 + ], + [ + 4.586940765380859, + 0.3073573708534241, + 6.202535152435303 + ], + [ + 4.586942672729492, + 0.30621010065078735, + 6.458013534545898 + ], + [ + 4.281820774078369, + 0.30622270703315735, + 6.458015441894531 + ], + [ + 4.281818866729736, + 0.30736997723579407, + 6.202537536621094 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___1", + "object_info": { + "name": "Drawer (1)", + "position": { + "x": 3.606998920440674, + "y": 0.39762961864471436, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.130039691925049, + "objectType": "Drawer", + "objectId": "Dresser|4|3___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.4907017946243286, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.4907017946243286, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.30300021171569824, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.30300021171569824, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.4907017946243286, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.4907017946243286, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.30300021171569824, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.30300021171569824, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.3968510031700134, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CellPhone|surface|4|17", + "object_info": { + "name": "CellPhone|surface|4|17", + "position": { + "x": 3.606998920440674, + "y": 0.6999126672744751, + "z": 6.400298118591309 + }, + "rotation": { + "x": 4.23526716986089e-06, + "y": 180.00010681152344, + "z": -0.0013795691775158048 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1599999964237213, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 5.279437065124512, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|4|17", + "assetId": "Cellphone_8", + "parentReceptacles": [ + "Dresser|4|3", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.645237445831299, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.645237445831299, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.645237445831299, + 0.6992031335830688, + 6.473209381103516 + ], + [ + 3.645237445831299, + 0.6992031335830688, + 6.327386856079102 + ], + [ + 3.568760395050049, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.568760395050049, + 0.6992031335830688, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.6992031335830688, + 6.327386856079102 + ] + ], + "center": { + "x": 3.606998920440674, + "y": 0.7046447992324829, + "z": 6.400298118591309 + }, + "size": { + "x": 0.07647705078125, + "y": 0.010883331298828125, + "z": 0.14582252502441406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.568760395050049, + 0.6992031335830688, + 6.327386856079102 + ], + [ + 3.6452372074127197, + 0.6992049813270569, + 6.327386856079102 + ], + [ + 3.645237445831299, + 0.6992050409317017, + 6.473209381103516 + ], + [ + 3.568760633468628, + 0.6992031931877136, + 6.473209381103516 + ], + [ + 3.5687601566314697, + 0.7100846171379089, + 6.327386856079102 + ], + [ + 3.6452369689941406, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.6452372074127197, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.7100846171379089, + 6.473209381103516 + ] + ] + } + } + }, + { + "objectId": "Vase|surface|4|24", + "object_info": { + "name": "Vase|surface|4|24", + "position": { + "x": 4.730817794799805, + "y": 0.27228501439094543, + "z": 6.289771556854248 + }, + "rotation": { + "x": -1.976354042199091e-06, + "y": 90.0000228881836, + "z": 9.469399060435535e-07 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 5.0788726806640625, + "objectType": "Vase", + "objectId": "Vase|surface|4|24", + "assetId": "Vase_Flat_5", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.8065643310546875, + 0.34241700172424316, + 6.365267753601074 + ], + [ + 4.8065643310546875, + 0.34241700172424316, + 6.2142744064331055 + ], + [ + 4.8065643310546875, + 0.27224910259246826, + 6.365267753601074 + ], + [ + 4.8065643310546875, + 0.27224910259246826, + 6.2142744064331055 + ], + [ + 4.655572891235352, + 0.34241700172424316, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.34241700172424316, + 6.2142744064331055 + ], + [ + 4.655572891235352, + 0.27224910259246826, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.27224910259246826, + 6.2142744064331055 + ] + ], + "center": { + "x": 4.7310686111450195, + "y": 0.3073330521583557, + "z": 6.28977108001709 + }, + "size": { + "x": 0.15099143981933594, + "y": 0.0701678991317749, + "z": 0.15099334716796875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.806564807891846, + 0.2722490131855011, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.2722490131855011, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.2722490131855011, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.2722490131855011, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.3424171209335327, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.3424171209335327, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.3424171209335327, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.3424171209335327, + 6.2142744064331055 + ] + ] + } + } + }, + { + "objectId": "TVStand|4|0|0", + "object_info": { + "name": "TVStand|4|0|0", + "position": { + "x": 4.588324069976807, + "y": 0.0009346157312393188, + "z": 6.329517364501953 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": [ + "Television|4|0|1" + ], + "distance": 5.161177635192871, + "objectType": "TVStand", + "objectId": "TVStand|4|0|0", + "assetId": "TV_Stand_220_1", + "parentReceptacles": [ + "Floor", + "Plate|surface|4|19" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.207240104675293, + 0.4502491354942322, + 6.515999794006348 + ], + [ + 5.207240104675293, + 0.4502491354942322, + 6.146122932434082 + ], + [ + 5.207240104675293, + 2.8312206268310547e-07, + 6.515999794006348 + ], + [ + 5.207240104675293, + 2.8312206268310547e-07, + 6.146122932434082 + ], + [ + 3.969435691833496, + 0.4502491354942322, + 6.515999794006348 + ], + [ + 3.969435691833496, + 0.4502491354942322, + 6.146122932434082 + ], + [ + 3.969435691833496, + 2.8312206268310547e-07, + 6.515999794006348 + ], + [ + 3.969435691833496, + 2.8312206268310547e-07, + 6.146122932434082 + ] + ], + "center": { + "x": 4.5883378982543945, + "y": 0.22512470185756683, + "z": 6.331061363220215 + }, + "size": { + "x": 1.2378044128417969, + "y": 0.4502488374710083, + "z": 0.3698768615722656 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.969435930252075, + 2.682209014892578e-07, + 6.14612340927124 + ], + [ + 5.207239627838135, + 2.682209014892578e-07, + 6.14612340927124 + ], + [ + 5.207239627838135, + 2.682209014892578e-07, + 6.515999794006348 + ], + [ + 3.969435930252075, + 2.682209014892578e-07, + 6.515999794006348 + ], + [ + 3.969435930252075, + 0.4502490758895874, + 6.14612340927124 + ], + [ + 5.207239627838135, + 0.4502490758895874, + 6.14612340927124 + ], + [ + 5.207239627838135, + 0.4502490758895874, + 6.515999794006348 + ], + [ + 3.969435930252075, + 0.4502490758895874, + 6.515999794006348 + ] + ] + } + } + }, + { + "objectId": "DiningTable|4|1|0", + "object_info": { + "name": "DiningTable|4|1|0", + "position": { + "x": 5.355981826782227, + "y": -0.0031822919845581055, + "z": 3.724600076675415 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Laptop|surface|4|23", + "Book|surface|4|26" + ], + "distance": 2.7034060955047607, + "objectType": "DiningTable", + "objectId": "DiningTable|4|1|0", + "assetId": "Dining_Table_218_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.855982780456543, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 5.855982780456543, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 2.8305177688598633 + ] + ], + "center": { + "x": 5.355981826782227, + "y": 0.3905254304409027, + "z": 3.724600076675415 + }, + "size": { + "x": 1.0000019073486328, + "y": 0.7810438275337219, + "z": 1.7881646156311035 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.855982303619385, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 3.5762786865234375e-06, + 4.618681907653809 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 4.618682384490967 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 4.618681907653809 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 4.618682384490967 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 2.8305180072784424 + ] + ] + } + } + }, + { + "objectId": "Chair|4|1|2", + "object_info": { + "name": "Chair|4|1|2", + "position": { + "x": 5.356987476348877, + "y": 0.0031416714191436768, + "z": 4.78104829788208 + }, + "rotation": { + "x": -0.0, + "y": 174.24070739746094, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 3.6936275959014893, + "objectType": "Chair", + "objectId": "Chair|4|1|2", + "assetId": "Chair_224_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.615507125854492, + 0.8033755421638489, + 5.103589057922363 + ], + [ + 5.615507125854492, + 0.8033755421638489, + 4.454636573791504 + ], + [ + 5.615507125854492, + -1.0073184967041016e-05, + 5.103589057922363 + ], + [ + 5.615507125854492, + -1.0073184967041016e-05, + 4.454636573791504 + ], + [ + 5.106142044067383, + 0.8033755421638489, + 5.103589057922363 + ], + [ + 5.106142044067383, + 0.8033755421638489, + 4.454636573791504 + ], + [ + 5.106142044067383, + -1.0073184967041016e-05, + 5.103589057922363 + ], + [ + 5.106142044067383, + -1.0073184967041016e-05, + 4.454636573791504 + ] + ], + "center": { + "x": 5.3608245849609375, + "y": 0.4016827344894409, + "z": 4.779112815856934 + }, + "size": { + "x": 0.5093650817871094, + "y": 0.8033856153488159, + "z": 0.6489524841308594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.15634822845459, + -9.98377799987793e-06, + 4.451790809631348 + ], + [ + 5.61686897277832, + -9.98377799987793e-06, + 4.4982380867004395 + ], + [ + 5.5556254386901855, + -9.98377799987793e-06, + 5.105459213256836 + ], + [ + 5.095105171203613, + -9.98377799987793e-06, + 5.059011936187744 + ], + [ + 5.15634822845459, + 0.8033754825592041, + 4.451790809631348 + ], + [ + 5.61686897277832, + 0.8033754825592041, + 4.4982380867004395 + ], + [ + 5.5556254386901855, + 0.8033754825592041, + 5.105459213256836 + ], + [ + 5.095105171203613, + 0.8033754825592041, + 5.059011936187744 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___0", + "object_info": { + "name": "Drawer", + "position": { + "x": 3.606998920440674, + "y": 0.5816994309425354, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.115259647369385, + "objectType": "Drawer", + "objectId": "Dresser|4|3___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.6747716069221497, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.6747716069221497, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.4870700240135193, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.4870700240135193, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.6747716069221497, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.6747716069221497, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.4870700240135193, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.4870700240135193, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.5809208154678345, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|4", + "object_info": { + "name": "door|2|4", + "position": { + "x": 6.539700508117676, + "y": -0.0005981922149658203, + "z": 2.0724358558654785 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1661734580993652, + "objectType": "Doorframe", + "objectId": "door|2|4", + "assetId": "Doorframe_Double_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.590658664703369, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.590658664703369, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.590658664703369, + 0.0, + 4.011923313140869 + ], + [ + 6.590658664703369, + 0.0, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 0.0, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 0.0, + 2.069113254547119 + ] + ], + "center": { + "x": 6.540999889373779, + "y": 1.0435373783111572, + "z": 3.040518283843994 + }, + "size": { + "x": 0.09931755065917969, + "y": 2.0870747566223145, + "z": 1.94281005859375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|4|3", + "object_info": { + "name": "Dresser|4|3", + "position": { + "x": 3.606998920440674, + "y": -4.786252975463867e-05, + "z": 6.362965106964111 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Watch|surface|4|16", + "CellPhone|surface|4|17" + ], + "distance": 5.316083908081055, + "objectType": "Dresser", + "objectId": "Dresser|4|3", + "assetId": "RoboTHOR_dresser_rast_v", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.917998790740967, + 0.6992043256759644, + 6.518101692199707 + ], + [ + 3.917998790740967, + 0.6992043256759644, + 6.203625679016113 + ], + [ + 3.917998790740967, + 3.838539123535156e-05, + 6.518101692199707 + ], + [ + 3.917998790740967, + 3.838539123535156e-05, + 6.203625679016113 + ], + [ + 3.295999050140381, + 0.6992043256759644, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992043256759644, + 6.203625679016113 + ], + [ + 3.295999050140381, + 3.838539123535156e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 3.838539123535156e-05, + 6.203625679016113 + ] + ], + "center": { + "x": 3.606998920440674, + "y": 0.34962135553359985, + "z": 6.36086368560791 + }, + "size": { + "x": 0.6219997406005859, + "y": 0.699165940284729, + "z": 0.31447601318359375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.295999050140381, + 3.8564205169677734e-05, + 6.20362663269043 + ], + [ + 3.917998790740967, + 3.8564205169677734e-05, + 6.20362663269043 + ], + [ + 3.917998790740967, + 3.8564205169677734e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 3.8564205169677734e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992037892341614, + 6.20362663269043 + ], + [ + 3.917998790740967, + 0.6992037892341614, + 6.20362663269043 + ], + [ + 3.917998790740967, + 0.6992037892341614, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992037892341614, + 6.518101692199707 + ] + ] + } + } + }, + { + "objectId": "CreditCard|surface|4|21", + "object_info": { + "name": "CreditCard|surface|4|21", + "position": { + "x": 4.137941837310791, + "y": 0.27259376645088196, + "z": 6.3295159339904785 + }, + "rotation": { + "x": 0.00015720646479167044, + "y": 90.0001449584961, + "z": -0.00030558553407900035 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.15470552444458, + "objectType": "CreditCard", + "objectId": "CreditCard|surface|4|21", + "assetId": "CreditCard_3", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.164941310882568, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.164941310882568, + 0.27673888206481934, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.27224868535995483, + 6.372598171234131 + ], + [ + 4.164941310882568, + 0.27224868535995483, + 6.286433696746826 + ], + [ + 4.110942363739014, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27673888206481934, + 6.286433696746826 + ], + [ + 4.110942363739014, + 0.27224868535995483, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27224868535995483, + 6.286433696746826 + ] + ], + "center": { + "x": 4.137941837310791, + "y": 0.2744937837123871, + "z": 6.3295159339904785 + }, + "size": { + "x": 0.05399894714355469, + "y": 0.004490196704864502, + "z": 0.08616447448730469 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.16494083404541, + 0.27224868535995483, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.27224916219711304, + 6.372598171234131 + ], + [ + 4.110942840576172, + 0.2722492814064026, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.2722488343715668, + 6.286433696746826 + ], + [ + 4.16494083404541, + 0.2767382860183716, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.2767387330532074, + 6.372598171234131 + ], + [ + 4.110942840576172, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27673840522766113, + 6.286433696746826 + ] + ] + } + } + }, + { + "objectId": "Painting|4|6", + "object_info": { + "name": "Painting|4|6", + "position": { + "x": 6.538111209869385, + "y": 1.4183659553527832, + "z": 4.80001974105835 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.008447170257568, + "objectType": "Painting", + "objectId": "Painting|4|6", + "assetId": "Wall_Decor_Painting_8", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.5360002517700195, + 1.681741714477539, + 5.152198791503906 + ], + [ + 6.5360002517700195, + 1.681741714477539, + 4.4491167068481445 + ], + [ + 6.5360002517700195, + 1.1549901962280273, + 5.152198791503906 + ], + [ + 6.5360002517700195, + 1.1549901962280273, + 4.4491167068481445 + ], + [ + 6.518789291381836, + 1.681741714477539, + 5.152198791503906 + ], + [ + 6.518789291381836, + 1.681741714477539, + 4.4491167068481445 + ], + [ + 6.518789291381836, + 1.1549901962280273, + 5.152198791503906 + ], + [ + 6.518789291381836, + 1.1549901962280273, + 4.4491167068481445 + ] + ], + "center": { + "x": 6.527394771575928, + "y": 1.4183659553527832, + "z": 4.800657749176025 + }, + "size": { + "x": 0.017210960388183594, + "y": 0.5267515182495117, + "z": 0.7030820846557617 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TVStand|4|0|0___1", + "object_info": { + "name": "Shelf", + "position": { + "x": 4.588322162628174, + "y": 0.2684445381164551, + "z": 6.3295159339904785 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Watch|surface|4|20", + "Book|surface|4|22", + "KeyChain|surface|4|18", + "Vase|surface|4|24", + "CreditCard|surface|4|21" + ], + "distance": 5.121303558349609, + "objectType": "DiningTable", + "objectId": "TVStand|4|0|0___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.18937349319458, + 0.3674442172050476, + 6.494719982147217 + ], + [ + 5.18937349319458, + 0.3674442172050476, + 6.16431188583374 + ], + [ + 5.18937349319458, + 0.26823681592941284, + 6.494719982147217 + ], + [ + 5.18937349319458, + 0.26823681592941284, + 6.16431188583374 + ], + [ + 3.9872708320617676, + 0.3674442172050476, + 6.494719982147217 + ], + [ + 3.9872708320617676, + 0.3674442172050476, + 6.16431188583374 + ], + [ + 3.9872708320617676, + 0.26823681592941284, + 6.494719982147217 + ], + [ + 3.9872708320617676, + 0.26823681592941284, + 6.16431188583374 + ] + ], + "center": { + "x": 4.588322162628174, + "y": 0.3178405165672302, + "z": 6.3295159339904785 + }, + "size": { + "x": 1.2021026611328125, + "y": 0.09920740127563477, + "z": 0.33040809631347656 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Watch|surface|4|16", + "object_info": { + "name": "Watch|surface|4|16", + "position": { + "x": 3.6847031116485596, + "y": 0.7003282308578491, + "z": 6.288086414337158 + }, + "rotation": { + "x": 1.9947741031646729, + "y": 180.00387573242188, + "z": 1.19093656539917 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07000000029802322, + "salientMaterials": [ + "Metal", + "Glass", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.153391361236572, + "objectType": "Watch", + "objectId": "Watch|surface|4|16", + "assetId": "Watch_2", + "parentReceptacles": [ + "Dresser|4|3", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.7239737510681152, + 0.7344659566879272, + 6.313935279846191 + ], + [ + 3.7239737510681152, + 0.7344659566879272, + 6.265624046325684 + ], + [ + 3.7239737510681152, + 0.6990219354629517, + 6.313935279846191 + ], + [ + 3.7239737510681152, + 0.6990219354629517, + 6.265624046325684 + ], + [ + 3.6450982093811035, + 0.7344659566879272, + 6.313935279846191 + ], + [ + 3.6450982093811035, + 0.7344659566879272, + 6.265624046325684 + ], + [ + 3.6450982093811035, + 0.6990219354629517, + 6.313935279846191 + ], + [ + 3.6450982093811035, + 0.6990219354629517, + 6.265624046325684 + ] + ], + "center": { + "x": 3.6845359802246094, + "y": 0.7167439460754395, + "z": 6.2897796630859375 + }, + "size": { + "x": 0.07887554168701172, + "y": 0.035444021224975586, + "z": 0.04831123352050781 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.644953966140747, + 0.6981589794158936, + 6.265713691711426 + ], + [ + 3.723494052886963, + 0.6965271830558777, + 6.265765190124512 + ], + [ + 3.723497152328491, + 0.6982251405715942, + 6.314515590667725 + ], + [ + 3.6449573040008545, + 0.6998568773269653, + 6.314464092254639 + ], + [ + 3.645716905593872, + 0.7348403334617615, + 6.2644362449646 + ], + [ + 3.724256992340088, + 0.7332085967063904, + 6.2644877433776855 + ], + [ + 3.724260091781616, + 0.7349065542221069, + 6.31323766708374 + ], + [ + 3.6457202434539795, + 0.736538290977478, + 6.313186168670654 + ] + ] + } + } + }, + { + "objectId": "door|2|3", + "object_info": { + "name": "door|2|3", + "position": { + "x": 9.811773300170898, + "y": -0.00026702880859375, + "z": 6.5231428146362305 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 7.364771842956543, + "objectType": "Doorway", + "objectId": "door|2|3", + "assetId": "Doorway_Double_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.727968215942383, + 2.095932960510254, + 6.545433044433594 + ], + [ + 10.727968215942383, + 2.095932960510254, + 4.553407669067383 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 4.553407669067383 + ], + [ + 9.760202407836914, + 2.095932960510254, + 6.545433044433594 + ], + [ + 9.760202407836914, + 2.095932960510254, + 4.553407669067383 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 4.553407669067383 + ] + ], + "center": { + "x": 10.244085311889648, + "y": 1.0479663610458374, + "z": 5.549420356750488 + }, + "size": { + "x": 0.9677658081054688, + "y": 2.095933198928833, + "z": 1.992025375366211 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|3|7", + "object_info": { + "name": "Painting|3|7", + "position": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.831557273864746, + "objectType": "Painting", + "objectId": "Painting|3|7", + "assetId": "Wall_Decor_Photo_10", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.833455085754395, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.50425910949707 + ] + ], + "center": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.520129680633545 + }, + "size": { + "x": 0.7115726470947266, + "y": 0.4246177673339844, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|4|4", + "object_info": { + "name": "Painting|4|4", + "position": { + "x": 3.608247995376587, + "y": 1.9246368408203125, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.503932476043701, + "objectType": "Painting", + "objectId": "Painting|4|4", + "assetId": "Wall_Decor_Photo_1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.9420716762542725, + 2.1772351264953613, + 6.5360002517700195 + ], + [ + 3.9420716762542725, + 2.1772351264953613, + 6.50425910949707 + ], + [ + 3.9420716762542725, + 1.6720385551452637, + 6.5360002517700195 + ], + [ + 3.9420716762542725, + 1.6720385551452637, + 6.50425910949707 + ], + [ + 3.2744243144989014, + 2.1772351264953613, + 6.5360002517700195 + ], + [ + 3.2744243144989014, + 2.1772351264953613, + 6.50425910949707 + ], + [ + 3.2744243144989014, + 1.6720385551452637, + 6.5360002517700195 + ], + [ + 3.2744243144989014, + 1.6720385551452637, + 6.50425910949707 + ] + ], + "center": { + "x": 3.608247995376587, + "y": 1.9246368408203125, + "z": 6.520129680633545 + }, + "size": { + "x": 0.6676473617553711, + "y": 0.5051965713500977, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Fridge|2|1", + "object_info": { + "name": "Fridge|2|1", + "position": { + "x": 8.027824401855469, + "y": 0.007394969463348389, + "z": 6.196259021759033 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Tomato|surface|2|5", + "Potato|surface|2|7" + ], + "distance": 6.000678539276123, + "objectType": "Fridge", + "objectId": "Fridge|2|1", + "assetId": "Fridge_15", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.576839447021484, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 8.576839447021484, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 8.576839447021484, + 0.0, + 6.515999794006348 + ], + [ + 8.576839447021484, + 0.0, + 5.736844062805176 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 7.494537353515625, + 0.0, + 6.515999794006348 + ], + [ + 7.494537353515625, + 0.0, + 5.736844062805176 + ] + ], + "center": { + "x": 8.035688400268555, + "y": 0.9413036108016968, + "z": 6.126421928405762 + }, + "size": { + "x": 1.0823020935058594, + "y": 1.8826072216033936, + "z": 0.7791557312011719 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Television|4|0|1", + "object_info": { + "name": "Television|4|0|1", + "position": { + "x": 4.5883378982543945, + "y": 0.9386330842971802, + "z": 6.25775671005249 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.010506629943848, + "objectType": "Television", + "objectId": "Television|4|0|1", + "assetId": "Television_23", + "parentReceptacles": [ + "Floor", + "TVStand|4|0|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.0883378982543945, + 1.2561266422271729, + 6.508190631866455 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.153933048248291 + ], + [ + 5.0883378982543945, + 0.4502493143081665, + 6.508190631866455 + ], + [ + 5.0883378982543945, + 0.4502493143081665, + 6.153933048248291 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.508190631866455 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.153933048248291 + ], + [ + 4.0883378982543945, + 0.4502493143081665, + 6.508190631866455 + ], + [ + 4.0883378982543945, + 0.4502493143081665, + 6.153933048248291 + ] + ], + "center": { + "x": 4.5883378982543945, + "y": 0.8531879782676697, + "z": 6.331061840057373 + }, + "size": { + "x": 1.0, + "y": 0.8058773279190063, + "z": 0.35425758361816406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.0883378982543945, + 0.4502493441104889, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 0.4502493441104889, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 0.4502493441104889, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 0.4502493441104889, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.508191108703613 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 5.199999809265137, + "y": 0.9009997844696045, + "z": 1.5 + }, + "agent_rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "agent_cameraHorizon": -30.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 5.199999809265137, + "y": 1.5759997367858887, + "z": 1.5 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "door|2|4", + "door|2|3", + "Painting|3|7" + ], + "different_object": [ + "Fridge|2|1", + "CellPhone|surface|4|17", + "Dresser|4|3", + "Book|surface|4|22", + "DiningTable|4|1|0", + "Dresser|4|3___0", + "TVStand|4|0|0___1", + "Watch|surface|4|16", + "Vase|surface|4|24", + "CreditCard|surface|4|21", + "Painting|4|6", + "Dresser|4|3___1", + "Television|4|0|1", + "Painting|4|4", + "Chair|4|1|2", + "TVStand|4|0|0" + ] +} \ No newline at end of file diff --git a/train/train315/4/0_depth_npy.npy b/train/train315/4/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..b2bd662e4a39b2b9d28fe9c788397f4f490df6c1 --- /dev/null +++ b/train/train315/4/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:94836a38665c791898b291c07cb87aa0a2b0f066ed79b58924d136804ecd770c +size 3145856 diff --git a/train/train315/4/0_semantic_sensor_npy.npy b/train/train315/4/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..c6180a9b6948ac81efe8b3b5c9e4787bf2adee0e --- /dev/null +++ b/train/train315/4/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2d6d9d2695377cb03de339fe41f75902753293db02dc668ceaafc63fda2b204f +size 2359424 diff --git a/train/train315/4/1.json b/train/train315/4/1.json new file mode 100644 index 0000000000000000000000000000000000000000..17e6e37a058eb81a77905bc5fdbde7538e939425 --- /dev/null +++ b/train/train315/4/1.json @@ -0,0 +1,634 @@ +{ + "object": [ + { + "objectId": "door|2|4", + "object_info": { + "name": "door|2|4", + "position": { + "x": 6.539700508117676, + "y": -0.0005981922149658203, + "z": 2.0724358558654785 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1661734580993652, + "objectType": "Doorframe", + "objectId": "door|2|4", + "assetId": "Doorframe_Double_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.590658664703369, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.590658664703369, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.590658664703369, + 0.0, + 4.011923313140869 + ], + [ + 6.590658664703369, + 0.0, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 0.0, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 0.0, + 2.069113254547119 + ] + ], + "center": { + "x": 6.540999889373779, + "y": 1.0435373783111572, + "z": 3.040518283843994 + }, + "size": { + "x": 0.09931755065917969, + "y": 2.0870747566223145, + "z": 1.94281005859375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|3", + "object_info": { + "name": "door|2|3", + "position": { + "x": 9.811773300170898, + "y": -0.00026702880859375, + "z": 6.5231428146362305 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 7.364771842956543, + "objectType": "Doorway", + "objectId": "door|2|3", + "assetId": "Doorway_Double_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.727968215942383, + 2.095932960510254, + 6.545433044433594 + ], + [ + 10.727968215942383, + 2.095932960510254, + 4.553407669067383 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 4.553407669067383 + ], + [ + 9.760202407836914, + 2.095932960510254, + 6.545433044433594 + ], + [ + 9.760202407836914, + 2.095932960510254, + 4.553407669067383 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 4.553407669067383 + ] + ], + "center": { + "x": 10.244085311889648, + "y": 1.0479663610458374, + "z": 5.549420356750488 + }, + "size": { + "x": 0.9677658081054688, + "y": 2.095933198928833, + "z": 1.992025375366211 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "FloorLamp|4|2", + "object_info": { + "name": "FloorLamp|4|2", + "position": { + "x": 6.263036727905273, + "y": -0.0018747448921203613, + "z": 0.9616859555244446 + }, + "rotation": { + "x": 359.9669189453125, + "y": 269.9986572265625, + "z": 359.9627380371094 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 1.7853816747665405, + "objectType": "FloorLamp", + "objectId": "FloorLamp|4|2", + "assetId": "Floor_Lamp_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.517219543457031, + 2.0757031440734863, + 1.2152924537658691 + ], + [ + 6.517219543457031, + 2.0757031440734863, + 0.7076406478881836 + ], + [ + 6.517219543457031, + -0.0020160675048828125, + 1.2152924537658691 + ], + [ + 6.517219543457031, + -0.0020160675048828125, + 0.7076406478881836 + ], + [ + 6.009941101074219, + 2.0757031440734863, + 1.2152924537658691 + ], + [ + 6.009941101074219, + 2.0757031440734863, + 0.7076406478881836 + ], + [ + 6.009941101074219, + -0.0020160675048828125, + 1.2152924537658691 + ], + [ + 6.009941101074219, + -0.0020160675048828125, + 0.7076406478881836 + ] + ], + "center": { + "x": 6.263580322265625, + "y": 1.0368435382843018, + "z": 0.9614665508270264 + }, + "size": { + "x": 0.5072784423828125, + "y": 2.077719211578369, + "z": 0.5076518058776855 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.00874137878418, + -0.001891990890726447, + 1.213939905166626 + ], + [ + 6.008753776550293, + -0.0015617554308846593, + 0.7062857151031494 + ], + [ + 6.5160441398620605, + -0.0018547163344919682, + 0.706297755241394 + ], + [ + 6.516031742095947, + -0.002184951677918434, + 1.213951826095581 + ], + [ + 6.009941101074219, + 2.0755419731140137, + 1.2152912616729736 + ], + [ + 6.009953498840332, + 2.0758721828460693, + 0.7076371908187866 + ], + [ + 6.5172438621521, + 2.0755791664123535, + 0.7076491713523865 + ], + [ + 6.517231464385986, + 2.075248956680298, + 1.2153033018112183 + ] + ] + } + } + }, + { + "objectId": "Painting|3|7", + "object_info": { + "name": "Painting|3|7", + "position": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.831557273864746, + "objectType": "Painting", + "objectId": "Painting|3|7", + "assetId": "Wall_Decor_Photo_10", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.833455085754395, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.50425910949707 + ] + ], + "center": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.520129680633545 + }, + "size": { + "x": 0.7115726470947266, + "y": 0.4246177673339844, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|3|4", + "object_info": { + "name": "Painting|3|4", + "position": { + "x": 11.443442344665527, + "y": 1.4678616523742676, + "z": 5.477546215057373 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.9369797706604, + "objectType": "Painting", + "objectId": "Painting|3|4", + "assetId": "Wall_Decor_Painting_3", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.442000389099121, + 1.773220181465149, + 5.879675388336182 + ], + [ + 11.442000389099121, + 1.773220181465149, + 5.07399320602417 + ], + [ + 11.442000389099121, + 1.16008460521698, + 5.879675388336182 + ], + [ + 11.442000389099121, + 1.16008460521698, + 5.07399320602417 + ], + [ + 11.422650337219238, + 1.773220181465149, + 5.879675388336182 + ], + [ + 11.422650337219238, + 1.773220181465149, + 5.07399320602417 + ], + [ + 11.422650337219238, + 1.16008460521698, + 5.879675388336182 + ], + [ + 11.422650337219238, + 1.16008460521698, + 5.07399320602417 + ] + ], + "center": { + "x": 11.43232536315918, + "y": 1.4666523933410645, + "z": 5.476834297180176 + }, + "size": { + "x": 0.019350051879882812, + "y": 0.613135576248169, + "z": 0.8056821823120117 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 5.199999809265137, + "y": 0.9009997844696045, + "z": 1.5 + }, + "agent_rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "agent_cameraHorizon": -30.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 5.199999809265137, + "y": 1.5759997367858887, + "z": 1.5 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "door|2|4", + "door|2|3", + "Painting|3|7" + ], + "different_object": [ + "Painting|3|4", + "FloorLamp|4|2" + ] +} \ No newline at end of file diff --git a/train/train315/4/1_depth_npy.npy b/train/train315/4/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..410ce7708dd26e214a7feb3389b9c4ce80a9b101 --- /dev/null +++ b/train/train315/4/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:58bb85a2bcc591f0ab4df3916f5f8a4e0d8821500f2ca129c37eb35f25d362d3 +size 3145856 diff --git a/train/train315/4/1_semantic_sensor_npy.npy b/train/train315/4/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..35bb9f0004170564aefbefecbfc4f95334c44100 --- /dev/null +++ b/train/train315/4/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:23c7f0618a5341b40ea88be86cc951901497c0ff08920a1dc182c9f463606552 +size 2359424 diff --git a/train/train315/4/depth_0.png b/train/train315/4/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..e5983df9de9fa6b18f80dee7b8406a450432655d Binary files /dev/null and b/train/train315/4/depth_0.png differ diff --git a/train/train315/4/depth_1.png b/train/train315/4/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..59f260fc9c6738e4c92a9eef848bd95af4ec063e Binary files /dev/null and b/train/train315/4/depth_1.png differ diff --git a/train/train315/4/mask_questions.jsonl b/train/train315/4/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/train/train315/4/rgb_0.png b/train/train315/4/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..2c8f56063b550ea48517061b94bb62b65ed1d352 --- /dev/null +++ b/train/train315/4/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6a9eba4272a7e1c3f882d348dc674a1cb03b5384530feb6af0276b2893ee8366 +size 242152 diff --git a/train/train315/4/rgb_1.png b/train/train315/4/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..ae04b82254315dc3f64e79b8016b51be9fa9b90e --- /dev/null +++ b/train/train315/4/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:61cfb78a58f137890a0cebb9d006fdc197bab8687037b4c095d112f19532b82f +size 198450 diff --git a/train/train315/4/semantic_0.png b/train/train315/4/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..7b6a72ec2da6325d7f5e8d0d1b5086fc82e5d968 Binary files /dev/null and b/train/train315/4/semantic_0.png differ diff --git a/train/train315/4/semantic_1.png b/train/train315/4/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..bcfc044b3ef9e9fa0edaf6fff21041e69adbaa61 Binary files /dev/null and b/train/train315/4/semantic_1.png differ diff --git a/train/train315/color_to_object_id.json b/train/train315/color_to_object_id.json new file mode 100644 index 0000000000000000000000000000000000000000..fb4aa92f95fc72fd2b552726a46806c04e25cd62 --- /dev/null +++ b/train/train315/color_to_object_id.json @@ -0,0 +1,1990 @@ +[ + { + "window|6|0": [ + 43, + 165, + 91 + ] + }, + { + "Window": [ + 200, + 150, + 134 + ] + }, + { + "window|5|1": [ + 130, + 218, + 61 + ] + }, + { + "window|5|0": [ + 136, + 191, + 22 + ] + }, + { + "door|1|4": [ + 87, + 14, + 187 + ] + }, + { + "Doorway": [ + 163, + 222, + 124 + ] + }, + { + "door|5|6": [ + 163, + 25, + 123 + ] + }, + { + "door|4|5": [ + 50, + 233, + 221 + ] + }, + { + "door|2|4": [ + 91, + 180, + 98 + ] + }, + { + "Doorframe": [ + 191, + 139, + 21 + ] + }, + { + "door|2|3": [ + 144, + 182, + 201 + ] + }, + { + "Painting|3|7": [ + 179, + 232, + 3 + ] + }, + { + "Painting": [ + 40, + 117, + 236 + ] + }, + { + "Painting|3|6": [ + 105, + 78, + 198 + ] + }, + { + "Painting|3|5": [ + 156, + 50, + 198 + ] + }, + { + "Painting|3|4": [ + 215, + 188, + 149 + ] + }, + { + "Painting|2|4": [ + 168, + 73, + 214 + ] + }, + { + "Painting|2|3": [ + 50, + 126, + 53 + ] + }, + { + "Painting|6|8": [ + 111, + 50, + 53 + ] + }, + { + "Painting|6|7": [ + 153, + 91, + 237 + ] + }, + { + "Painting|4|6": [ + 111, + 255, + 77 + ] + }, + { + "Painting|4|5": [ + 53, + 66, + 101 + ] + }, + { + "Painting|4|4": [ + 186, + 182, + 80 + ] + }, + { + "Painting|5|7": [ + 36, + 115, + 71 + ] + }, + { + "Painting|5|6": [ + 220, + 108, + 112 + ] + }, + { + "Painting|5|5": [ + 137, + 50, + 249 + ] + }, + { + "Television|6|6": [ + 102, + 53, + 26 + ] + }, + { + "Television": [ + 27, + 245, + 217 + ] + }, + { + "TissueBox|surface|6|54": [ + 199, + 91, + 170 + ] + }, + { + "TissueBox": [ + 98, + 43, + 249 + ] + }, + { + "TissueBox|surface|6|53": [ + 18, + 46, + 133 + ] + }, + { + "CellPhone|surface|6|51": [ + 62, + 155, + 115 + ] + }, + { + "CellPhone": [ + 227, + 98, + 136 + ] + }, + { + "CellPhone|surface|6|50": [ + 120, + 22, + 133 + ] + }, + { + "CreditCard|surface|6|42": [ + 65, + 44, + 75 + ] + }, + { + "CreditCard": [ + 56, + 235, + 12 + ] + }, + { + "Book|surface|6|41": [ + 24, + 39, + 127 + ] + }, + { + "Book": [ + 43, + 31, + 148 + ] + }, + { + "Desk|6|5": [ + 13, + 75, + 159 + ] + }, + { + "Desk": [ + 14, + 120, + 179 + ] + }, + { + "GarbageCan|6|4": [ + 117, + 43, + 87 + ] + }, + { + "GarbageCan": [ + 225, + 40, + 55 + ] + }, + { + "Chair|6|3|1": [ + 6, + 129, + 219 + ] + }, + { + "Chair": [ + 166, + 13, + 176 + ] + }, + { + "Laptop|surface|6|58": [ + 87, + 35, + 126 + ] + }, + { + "Laptop": [ + 20, + 107, + 222 + ] + }, + { + "BaseballBat|surface|6|55": [ + 207, + 105, + 146 + ] + }, + { + "BaseballBat": [ + 171, + 20, + 38 + ] + }, + { + "DeskLamp|surface|6|49": [ + 87, + 127, + 133 + ] + }, + { + "DeskLamp": [ + 99, + 164, + 25 + ] + }, + { + "Pencil|surface|6|43": [ + 151, + 33, + 115 + ] + }, + { + "Pencil": [ + 177, + 226, + 23 + ] + }, + { + "DiningTable|6|3|0": [ + 34, + 96, + 185 + ] + }, + { + "DiningTable": [ + 83, + 33, + 33 + ] + }, + { + "Box|6|2": [ + 241, + 14, + 186 + ] + }, + { + "Box": [ + 60, + 252, + 230 + ] + }, + { + "CellPhone|surface|6|57": [ + 171, + 21, + 4 + ] + }, + { + "CellPhone|surface|6|56": [ + 93, + 9, + 109 + ] + }, + { + "Vase|surface|6|52": [ + 234, + 96, + 199 + ] + }, + { + "Vase": [ + 83, + 152, + 69 + ] + }, + { + "Pencil|surface|6|48": [ + 152, + 13, + 237 + ] + }, + { + "Book|surface|6|46": [ + 119, + 227, + 245 + ] + }, + { + "Book|surface|6|45": [ + 123, + 129, + 191 + ] + }, + { + "AlarmClock|surface|6|39": [ + 103, + 142, + 66 + ] + }, + { + "AlarmClock": [ + 184, + 20, + 170 + ] + }, + { + "Dresser|6|1___3": [ + 125, + 169, + 154 + ] + }, + { + "Drawer": [ + 155, + 30, + 210 + ] + }, + { + "Dresser|6|1___2": [ + 219, + 86, + 133 + ] + }, + { + "Dresser|6|1___1": [ + 91, + 55, + 231 + ] + }, + { + "Dresser|6|1___0": [ + 86, + 178, + 164 + ] + }, + { + "Dresser|6|1": [ + 74, + 74, + 184 + ] + }, + { + "Dresser": [ + 51, + 128, + 146 + ] + }, + { + "TennisRacket|surface|6|47": [ + 9, + 170, + 110 + ] + }, + { + "TennisRacket": [ + 138, + 71, + 107 + ] + }, + { + "RemoteControl|surface|6|44": [ + 172, + 50, + 175 + ] + }, + { + "RemoteControl": [ + 187, + 19, + 208 + ] + }, + { + "Pillow|surface|6|40": [ + 18, + 8, + 167 + ] + }, + { + "Pillow": [ + 217, + 193, + 130 + ] + }, + { + "Bed|6|0": [ + 5, + 103, + 154 + ] + }, + { + "Bed": [ + 209, + 156, + 101 + ] + }, + { + "DogBed|5|4": [ + 191, + 61, + 36 + ] + }, + { + "DogBed": [ + 106, + 193, + 45 + ] + }, + { + "Safe|5|3": [ + 218, + 86, + 222 + ] + }, + { + "Safe": [ + 198, + 238, + 160 + ] + }, + { + "Chair|5|2|4": [ + 99, + 174, + 176 + ] + }, + { + "Chair|5|2|3": [ + 210, + 165, + 135 + ] + }, + { + "Chair|5|2|2": [ + 11, + 225, + 10 + ] + }, + { + "Chair|5|2|1": [ + 142, + 232, + 13 + ] + }, + { + "Box|surface|5|37": [ + 248, + 37, + 196 + ] + }, + { + "Book|surface|5|36": [ + 51, + 144, + 225 + ] + }, + { + "Bowl|surface|5|33": [ + 250, + 216, + 98 + ] + }, + { + "Bowl": [ + 209, + 182, + 193 + ] + }, + { + "HousePlant|surface|5|32": [ + 182, + 235, + 89 + ] + }, + { + "HousePlant": [ + 73, + 144, + 213 + ] + }, + { + "CreditCard|surface|5|31": [ + 94, + 66, + 93 + ] + }, + { + "RemoteControl|surface|5|27": [ + 228, + 21, + 152 + ] + }, + { + "DiningTable|5|2|0": [ + 25, + 135, + 226 + ] + }, + { + "Statue|surface|5|35": [ + 251, + 136, + 129 + ] + }, + { + "Statue": [ + 243, + 75, + 41 + ] + }, + { + "KeyChain|surface|5|34": [ + 39, + 237, + 149 + ] + }, + { + "KeyChain": [ + 27, + 54, + 18 + ] + }, + { + "Vase|surface|5|30": [ + 116, + 90, + 102 + ] + }, + { + "Dresser|5|1___3": [ + 186, + 175, + 115 + ] + }, + { + "Dresser|5|1___2": [ + 193, + 31, + 77 + ] + }, + { + "Dresser|5|1___1": [ + 36, + 223, + 213 + ] + }, + { + "Dresser|5|1___0": [ + 42, + 182, + 193 + ] + }, + { + "Dresser|5|1": [ + 169, + 211, + 43 + ] + }, + { + "Pillow|surface|5|38": [ + 228, + 139, + 78 + ] + }, + { + "TeddyBear|surface|5|29": [ + 54, + 196, + 238 + ] + }, + { + "TeddyBear": [ + 229, + 73, + 134 + ] + }, + { + "BaseballBat|surface|5|28": [ + 16, + 86, + 117 + ] + }, + { + "Bed|5|0": [ + 213, + 171, + 182 + ] + }, + { + "CellPhone|surface|4|17": [ + 37, + 199, + 23 + ] + }, + { + "Watch|surface|4|16": [ + 121, + 179, + 101 + ] + }, + { + "Watch": [ + 242, + 6, + 88 + ] + }, + { + "Dresser|4|3___2": [ + 142, + 213, + 34 + ] + }, + { + "Dresser|4|3___1": [ + 22, + 100, + 55 + ] + }, + { + "Dresser|4|3___0": [ + 89, + 128, + 115 + ] + }, + { + "Dresser|4|3": [ + 92, + 22, + 49 + ] + }, + { + "FloorLamp|4|2": [ + 147, + 82, + 148 + ] + }, + { + "FloorLamp": [ + 253, + 73, + 35 + ] + }, + { + "Chair|4|1|4": [ + 78, + 48, + 24 + ] + }, + { + "Chair|4|1|3": [ + 178, + 87, + 59 + ] + }, + { + "Chair|4|1|2": [ + 59, + 92, + 140 + ] + }, + { + "Chair|4|1|1": [ + 23, + 202, + 17 + ] + }, + { + "Book|surface|4|26": [ + 74, + 176, + 203 + ] + }, + { + "Laptop|surface|4|23": [ + 120, + 244, + 89 + ] + }, + { + "DiningTable|4|1|0": [ + 52, + 59, + 190 + ] + }, + { + "Pen|surface|4|25": [ + 235, + 7, + 211 + ] + }, + { + "Pen": [ + 239, + 130, + 152 + ] + }, + { + "Vase|surface|4|24": [ + 46, + 194, + 144 + ] + }, + { + "Book|surface|4|22": [ + 5, + 182, + 176 + ] + }, + { + "CreditCard|surface|4|21": [ + 110, + 134, + 231 + ] + }, + { + "Watch|surface|4|20": [ + 188, + 102, + 63 + ] + }, + { + "Plate|surface|4|19": [ + 220, + 118, + 245 + ] + }, + { + "Plate": [ + 188, + 154, + 128 + ] + }, + { + "KeyChain|surface|4|18": [ + 205, + 237, + 105 + ] + }, + { + "CellPhone|surface|4|15": [ + 51, + 24, + 157 + ] + }, + { + "Bowl|surface|4|14": [ + 4, + 235, + 91 + ] + }, + { + "Television|4|0|1": [ + 253, + 56, + 77 + ] + }, + { + "TVStand|4|0|0___1": [ + 112, + 40, + 63 + ] + }, + { + "TVStand|4|0|0___0": [ + 198, + 214, + 177 + ] + }, + { + "TVStand|4|0|0": [ + 51, + 56, + 38 + ] + }, + { + "TVStand": [ + 94, + 234, + 136 + ] + }, + { + "Plunger|3|3": [ + 116, + 44, + 97 + ] + }, + { + "Plunger": [ + 74, + 209, + 56 + ] + }, + { + "GarbageCan|3|2": [ + 69, + 131, + 32 + ] + }, + { + "Faucet|3|1|1": [ + 183, + 115, + 49 + ] + }, + { + "Faucet": [ + 21, + 38, + 98 + ] + }, + { + "Sink|3|1|0___0": [ + 145, + 221, + 236 + ] + }, + { + "SinkBasin": [ + 80, + 192, + 81 + ] + }, + { + "Sink|3|1|0": [ + 255, + 162, + 107 + ] + }, + { + "Sink": [ + 30, + 181, + 88 + ] + }, + { + "SprayBottle|surface|3|13": [ + 132, + 5, + 103 + ] + }, + { + "SprayBottle": [ + 89, + 126, + 121 + ] + }, + { + "ToiletPaper|surface|3|12": [ + 189, + 127, + 230 + ] + }, + { + "ToiletPaper": [ + 162, + 204, + 152 + ] + }, + { + "Cloth|surface|3|11": [ + 247, + 134, + 56 + ] + }, + { + "Cloth": [ + 110, + 184, + 56 + ] + }, + { + "SoapBar|surface|3|10": [ + 160, + 203, + 144 + ] + }, + { + "SoapBar": [ + 43, + 97, + 155 + ] + }, + { + "Toilet|3|0": [ + 244, + 232, + 60 + ] + }, + { + "Toilet": [ + 21, + 27, + 163 + ] + }, + { + "HousePlant|2|2|0": [ + 195, + 73, + 217 + ] + }, + { + "Potato|surface|2|7": [ + 254, + 188, + 49 + ] + }, + { + "Potato": [ + 187, + 142, + 9 + ] + }, + { + "Tomato|surface|2|5": [ + 113, + 164, + 212 + ] + }, + { + "Tomato": [ + 119, + 189, + 121 + ] + }, + { + "Fridge|2|1": [ + 206, + 5, + 34 + ] + }, + { + "Fridge": [ + 91, + 156, + 207 + ] + }, + { + "Kettle|surface|2|9": [ + 163, + 91, + 15 + ] + }, + { + "Kettle": [ + 7, + 83, + 48 + ] + }, + { + "Fork|surface|2|8": [ + 163, + 143, + 225 + ] + }, + { + "Fork": [ + 54, + 200, + 25 + ] + }, + { + "Lettuce|surface|2|6": [ + 24, + 82, + 141 + ] + }, + { + "Lettuce": [ + 203, + 156, + 88 + ] + }, + { + "CreditCard|surface|2|4": [ + 169, + 235, + 99 + ] + }, + { + "Bread|surface|2|3": [ + 138, + 234, + 188 + ] + }, + { + "Bread": [ + 18, + 150, + 252 + ] + }, + { + "SoapBottle|surface|2|2": [ + 193, + 220, + 166 + ] + }, + { + "SoapBottle": [ + 168, + 222, + 137 + ] + }, + { + "Spoon|surface|2|1": [ + 230, + 162, + 137 + ] + }, + { + "Spoon": [ + 235, + 57, + 90 + ] + }, + { + "Spoon|surface|2|0": [ + 246, + 90, + 73 + ] + }, + { + "CounterTop|2|0": [ + 213, + 254, + 98 + ] + }, + { + "CounterTop": [ + 103, + 209, + 30 + ] + }, + { + "Ceiling_room|6|0|3.741107|0": [ + 163, + 54, + 94 + ] + }, + { + "Ceiling": [ + 50, + 55, + 251 + ] + }, + { + "Ceiling_room|5|0|3.741107|0": [ + 166, + 161, + 114 + ] + }, + { + "Ceiling_room|4|0|3.741107|0": [ + 141, + 19, + 191 + ] + }, + { + "Ceiling_room|3|0|3.741107|0": [ + 235, + 57, + 190 + ] + }, + { + "Ceiling_room|2|0|3.741107|0": [ + 185, + 150, + 191 + ] + }, + { + "wall|exterior|11.45|0.00|11.45|6.54": [ + 105, + 148, + 102 + ] + }, + { + "Wall": [ + 148, + 232, + 164 + ] + }, + { + "wall|exterior|9.81|0.00|11.45|0.00": [ + 84, + 206, + 179 + ] + }, + { + "wall|exterior|6.54|0.00|9.81|0.00": [ + 35, + 75, + 103 + ] + }, + { + "wall|exterior|3.27|0.00|6.54|0.00": [ + 155, + 107, + 176 + ] + }, + { + "wall|exterior|11.45|6.54|11.45|9.81": [ + 128, + 47, + 83 + ] + }, + { + "wall|exterior|3.27|8.18|3.27|9.81": [ + 70, + 211, + 178 + ] + }, + { + "wall|exterior|3.27|9.81|11.45|9.81": [ + 82, + 164, + 57 + ] + }, + { + "wall|exterior|0.00|0.00|0.00|8.18": [ + 159, + 85, + 79 + ] + }, + { + "wall|exterior|0.00|8.18|3.27|8.18": [ + 147, + 254, + 245 + ] + }, + { + "wall|exterior|0.00|0.00|3.27|0.00": [ + 30, + 177, + 113 + ] + }, + { + "wall|6|3.27|6.54|6.54|6.54": [ + 243, + 41, + 235 + ] + }, + { + "wall|6|6.54|6.54|9.81|6.54": [ + 70, + 213, + 98 + ] + }, + { + "wall|6|9.81|6.54|11.45|6.54": [ + 241, + 121, + 234 + ] + }, + { + "wall|6|11.45|6.54|11.45|9.81": [ + 210, + 210, + 66 + ] + }, + { + "wall|6|3.27|9.81|11.45|9.81": [ + 3, + 255, + 68 + ] + }, + { + "wall|6|3.27|8.18|3.27|9.81": [ + 138, + 30, + 179 + ] + }, + { + "wall|6|3.27|6.54|3.27|8.18": [ + 26, + 227, + 98 + ] + }, + { + "wall|5|0.00|0.00|3.27|0.00": [ + 182, + 72, + 67 + ] + }, + { + "wall|5|3.27|0.00|3.27|6.54": [ + 210, + 68, + 18 + ] + }, + { + "wall|5|3.27|6.54|3.27|8.18": [ + 89, + 2, + 212 + ] + }, + { + "wall|5|0.00|8.18|3.27|8.18": [ + 196, + 4, + 46 + ] + }, + { + "wall|5|0.00|0.00|0.00|8.18": [ + 135, + 33, + 165 + ] + }, + { + "wall|4|3.27|0.00|6.54|0.00": [ + 47, + 211, + 89 + ] + }, + { + "wall|4|6.54|0.00|6.54|6.54": [ + 238, + 82, + 51 + ] + }, + { + "wall|4|3.27|6.54|6.54|6.54": [ + 1, + 45, + 36 + ] + }, + { + "wall|4|3.27|0.00|3.27|6.54": [ + 81, + 111, + 114 + ] + }, + { + "wall|3|9.81|0.00|11.45|0.00": [ + 88, + 132, + 56 + ] + }, + { + "wall|3|11.45|0.00|11.45|6.54": [ + 75, + 188, + 218 + ] + }, + { + "wall|3|9.81|6.54|11.45|6.54": [ + 46, + 214, + 38 + ] + }, + { + "wall|3|9.81|0.00|9.81|6.54": [ + 204, + 98, + 202 + ] + }, + { + "wall|2|6.54|0.00|9.81|0.00": [ + 220, + 158, + 111 + ] + }, + { + "wall|2|9.81|0.00|9.81|6.54": [ + 177, + 121, + 70 + ] + }, + { + "wall|2|6.54|6.54|9.81|6.54": [ + 253, + 102, + 240 + ] + }, + { + "wall|2|6.54|0.00|6.54|6.54": [ + 181, + 45, + 190 + ] + }, + { + "room|6": [ + 217, + 194, + 196 + ] + }, + { + "Floor": [ + 243, + 246, + 208 + ] + }, + { + "room|5": [ + 190, + 121, + 70 + ] + }, + { + "room|4": [ + 60, + 42, + 179 + ] + }, + { + "room|3": [ + 28, + 62, + 16 + ] + }, + { + "room|2": [ + 188, + 125, + 135 + ] + }, + { + "TheHand": [ + 255, + 136, + 237 + ] + }, + { + "agent_neck_1": [ + 30, + 64, + 67 + ] + }, + { + "agent_body_1 (shadows)": [ + 134, + 158, + 226 + ] + }, + { + "agent_collarbone_1 (shadows)": [ + 217, + 96, + 80 + ] + }, + { + "agent_head_1 (shadows)": [ + 140, + 210, + 177 + ] + }, + { + "stretch_robot_base_code": [ + 101, + 30, + 126 + ] + }, + { + "agent_head_1": [ + 1, + 149, + 209 + ] + }, + { + "stretch_robot_laser": [ + 140, + 24, + 249 + ] + }, + { + "stretch_robot_mast": [ + 136, + 63, + 93 + ] + }, + { + "stretch_robot_head_1": [ + 0, + 57, + 255 + ] + }, + { + "agent_neck_3": [ + 209, + 228, + 37 + ] + }, + { + "robot_tilt_link_n (shadows)": [ + 202, + 16, + 52 + ] + }, + { + "agent_head_2 (shadows)": [ + 156, + 59, + 238 + ] + }, + { + "stretch_robot_head_3 (shadows)": [ + 83, + 209, + 138 + ] + }, + { + "agent_collarbone_2": [ + 152, + 152, + 185 + ] + }, + { + "agent_neck_2 (shadows)": [ + 244, + 240, + 196 + ] + }, + { + "agent_head_2": [ + 14, + 66, + 230 + ] + }, + { + "stretch_robot_head_2": [ + 73, + 58, + 96 + ] + }, + { + "agent_neck_3 (shadows)": [ + 239, + 35, + 232 + ] + }, + { + "stretch_robot_omniwheel": [ + 227, + 166, + 104 + ] + }, + { + "robot_elbow_link": [ + 231, + 128, + 58 + ] + }, + { + "robot_camera_link_n": [ + 140, + 65, + 197 + ] + }, + { + "robot_finger_r": [ + 122, + 202, + 170 + ] + }, + { + "robot_finger_l": [ + 178, + 169, + 157 + ] + }, + { + "robot_ar_tag": [ + 46, + 234, + 150 + ] + }, + { + "robot_cam_mount_n": [ + 54, + 221, + 114 + ] + }, + { + "robot_battery_n": [ + 165, + 68, + 55 + ] + }, + { + "robot_plate": [ + 211, + 118, + 132 + ] + }, + { + "robot_main_wheel_r_n": [ + 36, + 84, + 49 + ] + }, + { + "robot_shoulder_link": [ + 92, + 95, + 127 + ] + }, + { + "robot_roll_link_n": [ + 135, + 154, + 116 + ] + }, + { + "robot_gripper_link": [ + 241, + 136, + 173 + ] + }, + { + "robot_forearm_link": [ + 149, + 185, + 52 + ] + }, + { + "robot_main_wheel_l_n": [ + 139, + 151, + 200 + ] + }, + { + "robot_main_body": [ + 27, + 62, + 251 + ] + }, + { + "robot_wrist_link": [ + 3, + 195, + 0 + ] + }, + { + "robot_tilt_link_n": [ + 251, + 182, + 71 + ] + }, + { + "agent_collarbone_2 (shadows)": [ + 27, + 29, + 156 + ] + }, + { + "stretch_robot_head_2 (shadows)": [ + 167, + 106, + 44 + ] + }, + { + "stretch_robot_wheel_r": [ + 43, + 10, + 241 + ] + }, + { + "agent_collarbone_3": [ + 33, + 153, + 80 + ] + }, + { + "stretch_robot_wheel_l": [ + 209, + 121, + 111 + ] + }, + { + "agent_collarbone_3 (shadows)": [ + 12, + 185, + 24 + ] + }, + { + "agent_neck_1 (shadows)": [ + 5, + 106, + 127 + ] + }, + { + "agent_body_1": [ + 19, + 85, + 240 + ] + }, + { + "stretch_robot_base": [ + 18, + 223, + 56 + ] + }, + { + "robot_roll_link_n (shadows)": [ + 104, + 6, + 177 + ] + }, + { + "agent_neck_2": [ + 134, + 34, + 121 + ] + }, + { + "agent_collarbone_1": [ + 180, + 251, + 165 + ] + }, + { + "stretch_robot_head_3": [ + 175, + 244, + 187 + ] + }, + { + "robot_camera_link_n (shadows)": [ + 49, + 9, + 106 + ] + } +] \ No newline at end of file diff --git a/train/train315/top_down_image.png b/train/train315/top_down_image.png new file mode 100644 index 0000000000000000000000000000000000000000..479ad40692009ea68efbc19480517dfa06a9d591 --- /dev/null +++ b/train/train315/top_down_image.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4b0d39ca2feff500c96f2181d17da348df61f16f2f5c884f28d963eb457d6808 +size 261671 diff --git a/train/train436/0/0.json b/train/train436/0/0.json new file mode 100644 index 0000000000000000000000000000000000000000..f3a3b2222a0444faa410f2adddf72840e1cbf80f --- /dev/null +++ b/train/train436/0/0.json @@ -0,0 +1,4262 @@ +{ + "object": [ + { + "objectId": "Bowl|surface|4|14", + "object_info": { + "name": "Bowl|surface|4|14", + "position": { + "x": 4.138007164001465, + "y": 0.08874782919883728, + "z": 6.3692626953125 + }, + "rotation": { + "x": -0.0008045348222367465, + "y": 90.00009155273438, + "z": 0.00039010721957311034 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4699999988079071, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 5.21930456161499, + "objectType": "Bowl", + "objectId": "Bowl|surface|4|14", + "assetId": "Bowl_6", + "parentReceptacles": [ + "TVStand|4|0|0___0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.230236053466797, + 0.17130538821220398, + 6.461493492126465 + ], + [ + 4.230236053466797, + 0.17130538821220398, + 6.277033805847168 + ], + [ + 4.230236053466797, + 0.08824843168258667, + 6.461493492126465 + ], + [ + 4.230236053466797, + 0.08824843168258667, + 6.277033805847168 + ], + [ + 4.0457763671875, + 0.17130538821220398, + 6.461493492126465 + ], + [ + 4.0457763671875, + 0.17130538821220398, + 6.277033805847168 + ], + [ + 4.0457763671875, + 0.08824843168258667, + 6.461493492126465 + ], + [ + 4.0457763671875, + 0.08824843168258667, + 6.277033805847168 + ] + ], + "center": { + "x": 4.138006210327148, + "y": 0.12977690994739532, + "z": 6.369263648986816 + }, + "size": { + "x": 0.18445968627929688, + "y": 0.08305695652961731, + "z": 0.18445968627929688 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.2302374839782715, + 0.08825086057186127, + 6.277031898498535 + ], + [ + 4.23023796081543, + 0.08824960887432098, + 6.461493015289307 + ], + [ + 4.045776844024658, + 0.08824701607227325, + 6.461493492126465 + ], + [ + 4.0457763671875, + 0.08824826776981354, + 6.277032375335693 + ], + [ + 4.230236530303955, + 0.17130599915981293, + 6.277032375335693 + ], + [ + 4.230236530303955, + 0.17130474746227264, + 6.461493492126465 + ], + [ + 4.045775413513184, + 0.17130215466022491, + 6.461493968963623 + ], + [ + 4.045775413513184, + 0.1713034063577652, + 6.277032852172852 + ] + ] + } + } + }, + { + "objectId": "Book|surface|4|22", + "object_info": { + "name": "Book|surface|4|22", + "position": { + "x": 4.434379577636719, + "y": 0.27263882756233215, + "z": 6.329527378082275 + }, + "rotation": { + "x": 0.002365913474932313, + "y": 90.0003890991211, + "z": 0.25729310512542725 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 5.127967834472656, + "objectType": "Book", + "objectId": "Book|surface|4|22", + "assetId": "Book_20", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.586941719055176, + 0.30716240406036377, + 6.458010673522949 + ], + [ + 4.586941719055176, + 0.30716240406036377, + 6.2023820877075195 + ], + [ + 4.586941719055176, + 0.2722126245498657, + 6.458010673522949 + ], + [ + 4.586941719055176, + 0.2722126245498657, + 6.2023820877075195 + ], + [ + 4.2818193435668945, + 0.30716240406036377, + 6.458010673522949 + ], + [ + 4.2818193435668945, + 0.30716240406036377, + 6.2023820877075195 + ], + [ + 4.2818193435668945, + 0.2722126245498657, + 6.458010673522949 + ], + [ + 4.2818193435668945, + 0.2722126245498657, + 6.2023820877075195 + ] + ], + "center": { + "x": 4.434380531311035, + "y": 0.28968751430511475, + "z": 6.330196380615234 + }, + "size": { + "x": 0.30512237548828125, + "y": 0.03494977951049805, + "z": 0.2556285858154297 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.586939334869385, + 0.2724279761314392, + 6.202378273010254 + ], + [ + 4.586941242218018, + 0.2712807059288025, + 6.45785665512085 + ], + [ + 4.2818193435668945, + 0.2712933123111725, + 6.457858562469482 + ], + [ + 4.281817436218262, + 0.2724405825138092, + 6.202380657196045 + ], + [ + 4.586940765380859, + 0.3073573708534241, + 6.202535152435303 + ], + [ + 4.586942672729492, + 0.30621010065078735, + 6.458013534545898 + ], + [ + 4.281820774078369, + 0.30622270703315735, + 6.458015441894531 + ], + [ + 4.281818866729736, + 0.30736997723579407, + 6.202537536621094 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___1", + "object_info": { + "name": "Drawer (1)", + "position": { + "x": 3.606998920440674, + "y": 0.39762961864471436, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.130039691925049, + "objectType": "Drawer", + "objectId": "Dresser|4|3___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.4907017946243286, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.4907017946243286, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.30300021171569824, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.30300021171569824, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.4907017946243286, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.4907017946243286, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.30300021171569824, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.30300021171569824, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.3968510031700134, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Chair|4|1|1", + "object_info": { + "name": "Chair|4|1|1", + "position": { + "x": 5.354161262512207, + "y": 0.0031416714191436768, + "z": 2.6687018871307373 + }, + "rotation": { + "x": -0.0, + "y": 16.29289436340332, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 1.7843416929244995, + "objectType": "Chair", + "objectId": "Chair|4|1|1", + "assetId": "Chair_224_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.636518478393555, + 0.8033758401870728, + 3.015368938446045 + ], + [ + 5.636518478393555, + 0.8033758401870728, + 2.3285040855407715 + ], + [ + 5.636518478393555, + -1.004338264465332e-05, + 3.015368938446045 + ], + [ + 5.636518478393555, + -1.004338264465332e-05, + 2.3285040855407715 + ], + [ + 5.066144943237305, + 0.8033758401870728, + 3.015368938446045 + ], + [ + 5.066144943237305, + 0.8033758401870728, + 2.3285040855407715 + ], + [ + 5.066144943237305, + -1.004338264465332e-05, + 3.015368938446045 + ], + [ + 5.066144943237305, + -1.004338264465332e-05, + 2.3285040855407715 + ] + ], + "center": { + "x": 5.35133171081543, + "y": 0.40168288350105286, + "z": 2.671936511993408 + }, + "size": { + "x": 0.57037353515625, + "y": 0.803385853767395, + "z": 0.6868648529052734 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.6637420654296875, + -9.98377799987793e-06, + 2.8985416889190674 + ], + [ + 5.219473361968994, + -9.98377799987793e-06, + 3.028395175933838 + ], + [ + 5.048254489898682, + -9.98377799987793e-06, + 2.44260311126709 + ], + [ + 5.492523193359375, + -9.98377799987793e-06, + 2.3127496242523193 + ], + [ + 5.6637420654296875, + 0.8033754825592041, + 2.8985416889190674 + ], + [ + 5.219473361968994, + 0.8033754825592041, + 3.028395175933838 + ], + [ + 5.048254489898682, + 0.8033754825592041, + 2.44260311126709 + ], + [ + 5.492523193359375, + 0.8033754825592041, + 2.3127496242523193 + ] + ] + } + } + }, + { + "objectId": "CellPhone|surface|4|17", + "object_info": { + "name": "CellPhone|surface|4|17", + "position": { + "x": 3.606998920440674, + "y": 0.6999126672744751, + "z": 6.400298118591309 + }, + "rotation": { + "x": 4.23526716986089e-06, + "y": 180.00010681152344, + "z": -0.0013795691775158048 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1599999964237213, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 5.279437065124512, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|4|17", + "assetId": "Cellphone_8", + "parentReceptacles": [ + "Dresser|4|3", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.645237445831299, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.645237445831299, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.645237445831299, + 0.6992031335830688, + 6.473209381103516 + ], + [ + 3.645237445831299, + 0.6992031335830688, + 6.327386856079102 + ], + [ + 3.568760395050049, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.568760395050049, + 0.6992031335830688, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.6992031335830688, + 6.327386856079102 + ] + ], + "center": { + "x": 3.606998920440674, + "y": 0.7046447992324829, + "z": 6.400298118591309 + }, + "size": { + "x": 0.07647705078125, + "y": 0.010883331298828125, + "z": 0.14582252502441406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.568760395050049, + 0.6992031335830688, + 6.327386856079102 + ], + [ + 3.6452372074127197, + 0.6992049813270569, + 6.327386856079102 + ], + [ + 3.645237445831299, + 0.6992050409317017, + 6.473209381103516 + ], + [ + 3.568760633468628, + 0.6992031931877136, + 6.473209381103516 + ], + [ + 3.5687601566314697, + 0.7100846171379089, + 6.327386856079102 + ], + [ + 3.6452369689941406, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.6452372074127197, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.7100846171379089, + 6.473209381103516 + ] + ] + } + } + }, + { + "objectId": "Vase|surface|4|24", + "object_info": { + "name": "Vase|surface|4|24", + "position": { + "x": 4.730817794799805, + "y": 0.27228501439094543, + "z": 6.289771556854248 + }, + "rotation": { + "x": -1.976354042199091e-06, + "y": 90.0000228881836, + "z": 9.469399060435535e-07 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 5.0788726806640625, + "objectType": "Vase", + "objectId": "Vase|surface|4|24", + "assetId": "Vase_Flat_5", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.8065643310546875, + 0.34241700172424316, + 6.365267753601074 + ], + [ + 4.8065643310546875, + 0.34241700172424316, + 6.2142744064331055 + ], + [ + 4.8065643310546875, + 0.27224910259246826, + 6.365267753601074 + ], + [ + 4.8065643310546875, + 0.27224910259246826, + 6.2142744064331055 + ], + [ + 4.655572891235352, + 0.34241700172424316, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.34241700172424316, + 6.2142744064331055 + ], + [ + 4.655572891235352, + 0.27224910259246826, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.27224910259246826, + 6.2142744064331055 + ] + ], + "center": { + "x": 4.7310686111450195, + "y": 0.3073330521583557, + "z": 6.28977108001709 + }, + "size": { + "x": 0.15099143981933594, + "y": 0.0701678991317749, + "z": 0.15099334716796875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.806564807891846, + 0.2722490131855011, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.2722490131855011, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.2722490131855011, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.2722490131855011, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.3424171209335327, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.3424171209335327, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.3424171209335327, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.3424171209335327, + 6.2142744064331055 + ] + ] + } + } + }, + { + "objectId": "door|4|5", + "object_info": { + "name": "door|4|5", + "position": { + "x": 3.2712955474853516, + "y": -0.0022848844528198242, + "z": 1.335561990737915 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.7348806858062744, + "objectType": "Doorway", + "objectId": "door|4|5", + "assetId": "Doorway_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.322866916656494, + 2.0939149856567383, + 2.3705310821533203 + ], + [ + 3.322866916656494, + 2.0939149856567383, + 1.316781759262085 + ], + [ + 3.322866916656494, + -0.002017974853515625, + 2.3705310821533203 + ], + [ + 3.322866916656494, + -0.002017974853515625, + 1.316781759262085 + ], + [ + 2.355100154876709, + 2.0939149856567383, + 2.3705310821533203 + ], + [ + 2.355100154876709, + 2.0939149856567383, + 1.316781759262085 + ], + [ + 2.355100154876709, + -0.002017974853515625, + 2.3705310821533203 + ], + [ + 2.355100154876709, + -0.002017974853515625, + 1.316781759262085 + ] + ], + "center": { + "x": 2.8389835357666016, + "y": 1.0459485054016113, + "z": 1.8436564207077026 + }, + "size": { + "x": 0.9677667617797852, + "y": 2.095932960510254, + "z": 1.0537493228912354 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CellPhone|surface|4|15", + "object_info": { + "name": "CellPhone|surface|4|15", + "position": { + "x": 4.434444904327393, + "y": 0.08847507834434509, + "z": 6.409006118774414 + }, + "rotation": { + "x": 0.00010714182280935347, + "y": 90.00020599365234, + "z": -0.001583149773068726 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1599999964237213, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 5.232123374938965, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|4|15", + "assetId": "Cellphone_5", + "parentReceptacles": [ + "TVStand|4|0|0___0", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.504461288452148, + 0.09662994742393494, + 6.445829391479492 + ], + [ + 4.504461288452148, + 0.09662994742393494, + 6.372182846069336 + ], + [ + 4.504461288452148, + 0.0882478654384613, + 6.445829391479492 + ], + [ + 4.504461288452148, + 0.0882478654384613, + 6.372182846069336 + ], + [ + 4.363598823547363, + 0.09662994742393494, + 6.445829391479492 + ], + [ + 4.363598823547363, + 0.09662994742393494, + 6.372182846069336 + ], + [ + 4.363598823547363, + 0.0882478654384613, + 6.445829391479492 + ], + [ + 4.363598823547363, + 0.0882478654384613, + 6.372182846069336 + ] + ], + "center": { + "x": 4.434030055999756, + "y": 0.09243890643119812, + "z": 6.409006118774414 + }, + "size": { + "x": 0.14086246490478516, + "y": 0.008382081985473633, + "z": 0.07364654541015625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.504461288452148, + 0.0882478728890419, + 6.372182846069336 + ], + [ + 4.504461288452148, + 0.08824990689754486, + 6.445828914642334 + ], + [ + 4.3635993003845215, + 0.08825016766786575, + 6.445829391479492 + ], + [ + 4.363598823547363, + 0.08824813365936279, + 6.372183322906494 + ], + [ + 4.504461288452148, + 0.09662765264511108, + 6.372182369232178 + ], + [ + 4.504461288452148, + 0.09662968665361404, + 6.445828914642334 + ], + [ + 4.3635993003845215, + 0.09662995487451553, + 6.445829391479492 + ], + [ + 4.363598823547363, + 0.09662792086601257, + 6.372183322906494 + ] + ] + } + } + }, + { + "objectId": "TVStand|4|0|0", + "object_info": { + "name": "TVStand|4|0|0", + "position": { + "x": 4.588324069976807, + "y": 0.0009346157312393188, + "z": 6.329517364501953 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": [ + "Television|4|0|1" + ], + "distance": 5.161177635192871, + "objectType": "TVStand", + "objectId": "TVStand|4|0|0", + "assetId": "TV_Stand_220_1", + "parentReceptacles": [ + "Floor", + "Plate|surface|4|19" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.207240104675293, + 0.4502491354942322, + 6.515999794006348 + ], + [ + 5.207240104675293, + 0.4502491354942322, + 6.146122932434082 + ], + [ + 5.207240104675293, + 2.8312206268310547e-07, + 6.515999794006348 + ], + [ + 5.207240104675293, + 2.8312206268310547e-07, + 6.146122932434082 + ], + [ + 3.969435691833496, + 0.4502491354942322, + 6.515999794006348 + ], + [ + 3.969435691833496, + 0.4502491354942322, + 6.146122932434082 + ], + [ + 3.969435691833496, + 2.8312206268310547e-07, + 6.515999794006348 + ], + [ + 3.969435691833496, + 2.8312206268310547e-07, + 6.146122932434082 + ] + ], + "center": { + "x": 4.5883378982543945, + "y": 0.22512470185756683, + "z": 6.331061363220215 + }, + "size": { + "x": 1.2378044128417969, + "y": 0.4502488374710083, + "z": 0.3698768615722656 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.969435930252075, + 2.682209014892578e-07, + 6.14612340927124 + ], + [ + 5.207239627838135, + 2.682209014892578e-07, + 6.14612340927124 + ], + [ + 5.207239627838135, + 2.682209014892578e-07, + 6.515999794006348 + ], + [ + 3.969435930252075, + 2.682209014892578e-07, + 6.515999794006348 + ], + [ + 3.969435930252075, + 0.4502490758895874, + 6.14612340927124 + ], + [ + 5.207239627838135, + 0.4502490758895874, + 6.14612340927124 + ], + [ + 5.207239627838135, + 0.4502490758895874, + 6.515999794006348 + ], + [ + 3.969435930252075, + 0.4502490758895874, + 6.515999794006348 + ] + ] + } + } + }, + { + "objectId": "DiningTable|4|1|0", + "object_info": { + "name": "DiningTable|4|1|0", + "position": { + "x": 5.355981826782227, + "y": -0.0031822919845581055, + "z": 3.724600076675415 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Laptop|surface|4|23", + "Book|surface|4|26" + ], + "distance": 2.7034060955047607, + "objectType": "DiningTable", + "objectId": "DiningTable|4|1|0", + "assetId": "Dining_Table_218_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.855982780456543, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 5.855982780456543, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 2.8305177688598633 + ] + ], + "center": { + "x": 5.355981826782227, + "y": 0.3905254304409027, + "z": 3.724600076675415 + }, + "size": { + "x": 1.0000019073486328, + "y": 0.7810438275337219, + "z": 1.7881646156311035 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.855982303619385, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 3.5762786865234375e-06, + 4.618681907653809 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 4.618682384490967 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 4.618681907653809 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 4.618682384490967 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 2.8305180072784424 + ] + ] + } + } + }, + { + "objectId": "Chair|4|1|2", + "object_info": { + "name": "Chair|4|1|2", + "position": { + "x": 5.356987476348877, + "y": 0.0031416714191436768, + "z": 4.78104829788208 + }, + "rotation": { + "x": -0.0, + "y": 174.24070739746094, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 3.6936275959014893, + "objectType": "Chair", + "objectId": "Chair|4|1|2", + "assetId": "Chair_224_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.615507125854492, + 0.8033755421638489, + 5.103589057922363 + ], + [ + 5.615507125854492, + 0.8033755421638489, + 4.454636573791504 + ], + [ + 5.615507125854492, + -1.0073184967041016e-05, + 5.103589057922363 + ], + [ + 5.615507125854492, + -1.0073184967041016e-05, + 4.454636573791504 + ], + [ + 5.106142044067383, + 0.8033755421638489, + 5.103589057922363 + ], + [ + 5.106142044067383, + 0.8033755421638489, + 4.454636573791504 + ], + [ + 5.106142044067383, + -1.0073184967041016e-05, + 5.103589057922363 + ], + [ + 5.106142044067383, + -1.0073184967041016e-05, + 4.454636573791504 + ] + ], + "center": { + "x": 5.3608245849609375, + "y": 0.4016827344894409, + "z": 4.779112815856934 + }, + "size": { + "x": 0.5093650817871094, + "y": 0.8033856153488159, + "z": 0.6489524841308594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.15634822845459, + -9.98377799987793e-06, + 4.451790809631348 + ], + [ + 5.61686897277832, + -9.98377799987793e-06, + 4.4982380867004395 + ], + [ + 5.5556254386901855, + -9.98377799987793e-06, + 5.105459213256836 + ], + [ + 5.095105171203613, + -9.98377799987793e-06, + 5.059011936187744 + ], + [ + 5.15634822845459, + 0.8033754825592041, + 4.451790809631348 + ], + [ + 5.61686897277832, + 0.8033754825592041, + 4.4982380867004395 + ], + [ + 5.5556254386901855, + 0.8033754825592041, + 5.105459213256836 + ], + [ + 5.095105171203613, + 0.8033754825592041, + 5.059011936187744 + ] + ] + } + } + }, + { + "objectId": "Book|surface|4|26", + "object_info": { + "name": "Book|surface|4|26", + "position": { + "x": 5.355928897857666, + "y": 0.7821989059448242, + "z": 3.5031158924102783 + }, + "rotation": { + "x": 0.02382192388176918, + "y": 0.004052666947245598, + "z": 0.9088017344474792 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 2.3361923694610596, + "objectType": "Book", + "objectId": "Book|surface|4|26", + "assetId": "Book_15", + "parentReceptacles": [ + "DiningTable|4|1|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.444652557373047, + 0.7986949682235718, + 3.622157096862793 + ], + [ + 5.444652557373047, + 0.7986949682235718, + 3.384079933166504 + ], + [ + 5.444652557373047, + 0.7808306217193604, + 3.622157096862793 + ], + [ + 5.444652557373047, + 0.7808306217193604, + 3.384079933166504 + ], + [ + 5.26725959777832, + 0.7986949682235718, + 3.622157096862793 + ], + [ + 5.26725959777832, + 0.7986949682235718, + 3.384079933166504 + ], + [ + 5.26725959777832, + 0.7808306217193604, + 3.622157096862793 + ], + [ + 5.26725959777832, + 0.7808306217193604, + 3.384079933166504 + ] + ], + "center": { + "x": 5.355956077575684, + "y": 0.7897627949714661, + "z": 3.5031185150146484 + }, + "size": { + "x": 0.17739295959472656, + "y": 0.017864346504211426, + "z": 0.23807716369628906 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.444687366485596, + 0.7814724445343018, + 3.6221396923065186 + ], + [ + 5.267521858215332, + 0.7786621451377869, + 3.6221511363983154 + ], + [ + 5.267505168914795, + 0.778761088848114, + 3.3840901851654053 + ], + [ + 5.4446702003479, + 0.7815714478492737, + 3.3840787410736084 + ], + [ + 5.4444074630737305, + 0.7991089820861816, + 3.6221470832824707 + ], + [ + 5.267242431640625, + 0.796298623085022, + 3.6221582889556885 + ], + [ + 5.26722526550293, + 0.7963976263999939, + 3.3840975761413574 + ], + [ + 5.444390773773193, + 0.7992079854011536, + 3.3840861320495605 + ] + ] + } + } + }, + { + "objectId": "Chair|4|1|4", + "object_info": { + "name": "Chair|4|1|4", + "position": { + "x": 4.753887176513672, + "y": 0.0031416714191436768, + "z": 3.267345666885376 + }, + "rotation": { + "x": -0.0, + "y": 96.67647552490234, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 2.208132266998291, + "objectType": "Chair", + "objectId": "Chair|4|1|4", + "assetId": "Chair_224_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.072547912597656, + 0.8033758401870728, + 3.5126709938049316 + ], + [ + 5.072547912597656, + 0.8033758401870728, + 3.025862216949463 + ], + [ + 5.072547912597656, + -1.0132789611816406e-05, + 3.5126709938049316 + ], + [ + 5.072547912597656, + -1.0132789611816406e-05, + 3.025862216949463 + ], + [ + 4.440659523010254, + 0.8033758401870728, + 3.5126709938049316 + ], + [ + 4.440659523010254, + 0.8033758401870728, + 3.025862216949463 + ], + [ + 4.440659523010254, + -1.0132789611816406e-05, + 3.5126709938049316 + ], + [ + 4.440659523010254, + -1.0132789611816406e-05, + 3.025862216949463 + ] + ], + "center": { + "x": 4.756603717803955, + "y": 0.40168285369873047, + "z": 3.2692666053771973 + }, + "size": { + "x": 0.6318883895874023, + "y": 0.8033859729766846, + "z": 0.48680877685546875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.03221321105957, + -9.98377799987793e-06, + 3.0005099773406982 + ], + [ + 5.086026191711426, + -9.98377799987793e-06, + 3.460228204727173 + ], + [ + 4.479863166809082, + -9.98377799987793e-06, + 3.5311837196350098 + ], + [ + 4.426050186157227, + -9.98377799987793e-06, + 3.071465492248535 + ], + [ + 5.03221321105957, + 0.8033754825592041, + 3.0005099773406982 + ], + [ + 5.086026191711426, + 0.8033754825592041, + 3.460228204727173 + ], + [ + 4.479863166809082, + 0.8033754825592041, + 3.5311837196350098 + ], + [ + 4.426050186157227, + 0.8033754825592041, + 3.071465492248535 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___0", + "object_info": { + "name": "Drawer", + "position": { + "x": 3.606998920440674, + "y": 0.5816994309425354, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.115259647369385, + "objectType": "Drawer", + "objectId": "Dresser|4|3___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.6747716069221497, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.6747716069221497, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.4870700240135193, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.4870700240135193, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.6747716069221497, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.6747716069221497, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.4870700240135193, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.4870700240135193, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.5809208154678345, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|4", + "object_info": { + "name": "door|2|4", + "position": { + "x": 6.539700508117676, + "y": -0.0005981922149658203, + "z": 2.0724358558654785 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1661734580993652, + "objectType": "Doorframe", + "objectId": "door|2|4", + "assetId": "Doorframe_Double_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.590658664703369, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.590658664703369, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.590658664703369, + 0.0, + 4.011923313140869 + ], + [ + 6.590658664703369, + 0.0, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 0.0, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 0.0, + 2.069113254547119 + ] + ], + "center": { + "x": 6.540999889373779, + "y": 1.0435373783111572, + "z": 3.040518283843994 + }, + "size": { + "x": 0.09931755065917969, + "y": 2.0870747566223145, + "z": 1.94281005859375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|4|3", + "object_info": { + "name": "Dresser|4|3", + "position": { + "x": 3.606998920440674, + "y": -4.786252975463867e-05, + "z": 6.362965106964111 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Watch|surface|4|16", + "CellPhone|surface|4|17" + ], + "distance": 5.316083908081055, + "objectType": "Dresser", + "objectId": "Dresser|4|3", + "assetId": "RoboTHOR_dresser_rast_v", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.917998790740967, + 0.6992043256759644, + 6.518101692199707 + ], + [ + 3.917998790740967, + 0.6992043256759644, + 6.203625679016113 + ], + [ + 3.917998790740967, + 3.838539123535156e-05, + 6.518101692199707 + ], + [ + 3.917998790740967, + 3.838539123535156e-05, + 6.203625679016113 + ], + [ + 3.295999050140381, + 0.6992043256759644, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992043256759644, + 6.203625679016113 + ], + [ + 3.295999050140381, + 3.838539123535156e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 3.838539123535156e-05, + 6.203625679016113 + ] + ], + "center": { + "x": 3.606998920440674, + "y": 0.34962135553359985, + "z": 6.36086368560791 + }, + "size": { + "x": 0.6219997406005859, + "y": 0.699165940284729, + "z": 0.31447601318359375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.295999050140381, + 3.8564205169677734e-05, + 6.20362663269043 + ], + [ + 3.917998790740967, + 3.8564205169677734e-05, + 6.20362663269043 + ], + [ + 3.917998790740967, + 3.8564205169677734e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 3.8564205169677734e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992037892341614, + 6.20362663269043 + ], + [ + 3.917998790740967, + 0.6992037892341614, + 6.20362663269043 + ], + [ + 3.917998790740967, + 0.6992037892341614, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992037892341614, + 6.518101692199707 + ] + ] + } + } + }, + { + "objectId": "CreditCard|surface|4|21", + "object_info": { + "name": "CreditCard|surface|4|21", + "position": { + "x": 4.137941837310791, + "y": 0.27259376645088196, + "z": 6.3295159339904785 + }, + "rotation": { + "x": 0.00015720646479167044, + "y": 90.0001449584961, + "z": -0.00030558553407900035 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.15470552444458, + "objectType": "CreditCard", + "objectId": "CreditCard|surface|4|21", + "assetId": "CreditCard_3", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.164941310882568, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.164941310882568, + 0.27673888206481934, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.27224868535995483, + 6.372598171234131 + ], + [ + 4.164941310882568, + 0.27224868535995483, + 6.286433696746826 + ], + [ + 4.110942363739014, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27673888206481934, + 6.286433696746826 + ], + [ + 4.110942363739014, + 0.27224868535995483, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27224868535995483, + 6.286433696746826 + ] + ], + "center": { + "x": 4.137941837310791, + "y": 0.2744937837123871, + "z": 6.3295159339904785 + }, + "size": { + "x": 0.05399894714355469, + "y": 0.004490196704864502, + "z": 0.08616447448730469 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.16494083404541, + 0.27224868535995483, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.27224916219711304, + 6.372598171234131 + ], + [ + 4.110942840576172, + 0.2722492814064026, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.2722488343715668, + 6.286433696746826 + ], + [ + 4.16494083404541, + 0.2767382860183716, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.2767387330532074, + 6.372598171234131 + ], + [ + 4.110942840576172, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27673840522766113, + 6.286433696746826 + ] + ] + } + } + }, + { + "objectId": "Painting|4|6", + "object_info": { + "name": "Painting|4|6", + "position": { + "x": 6.538111209869385, + "y": 1.4183659553527832, + "z": 4.80001974105835 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.008447170257568, + "objectType": "Painting", + "objectId": "Painting|4|6", + "assetId": "Wall_Decor_Painting_8", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.5360002517700195, + 1.681741714477539, + 5.152198791503906 + ], + [ + 6.5360002517700195, + 1.681741714477539, + 4.4491167068481445 + ], + [ + 6.5360002517700195, + 1.1549901962280273, + 5.152198791503906 + ], + [ + 6.5360002517700195, + 1.1549901962280273, + 4.4491167068481445 + ], + [ + 6.518789291381836, + 1.681741714477539, + 5.152198791503906 + ], + [ + 6.518789291381836, + 1.681741714477539, + 4.4491167068481445 + ], + [ + 6.518789291381836, + 1.1549901962280273, + 5.152198791503906 + ], + [ + 6.518789291381836, + 1.1549901962280273, + 4.4491167068481445 + ] + ], + "center": { + "x": 6.527394771575928, + "y": 1.4183659553527832, + "z": 4.800657749176025 + }, + "size": { + "x": 0.017210960388183594, + "y": 0.5267515182495117, + "z": 0.7030820846557617 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TVStand|4|0|0___1", + "object_info": { + "name": "Shelf", + "position": { + "x": 4.588322162628174, + "y": 0.2684445381164551, + "z": 6.3295159339904785 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Watch|surface|4|20", + "Book|surface|4|22", + "KeyChain|surface|4|18", + "Vase|surface|4|24", + "CreditCard|surface|4|21" + ], + "distance": 5.121303558349609, + "objectType": "DiningTable", + "objectId": "TVStand|4|0|0___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.18937349319458, + 0.3674442172050476, + 6.494719982147217 + ], + [ + 5.18937349319458, + 0.3674442172050476, + 6.16431188583374 + ], + [ + 5.18937349319458, + 0.26823681592941284, + 6.494719982147217 + ], + [ + 5.18937349319458, + 0.26823681592941284, + 6.16431188583374 + ], + [ + 3.9872708320617676, + 0.3674442172050476, + 6.494719982147217 + ], + [ + 3.9872708320617676, + 0.3674442172050476, + 6.16431188583374 + ], + [ + 3.9872708320617676, + 0.26823681592941284, + 6.494719982147217 + ], + [ + 3.9872708320617676, + 0.26823681592941284, + 6.16431188583374 + ] + ], + "center": { + "x": 4.588322162628174, + "y": 0.3178405165672302, + "z": 6.3295159339904785 + }, + "size": { + "x": 1.2021026611328125, + "y": 0.09920740127563477, + "z": 0.33040809631347656 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Laptop|surface|4|23", + "object_info": { + "name": "Laptop|surface|4|23", + "position": { + "x": 5.23272705078125, + "y": 0.7810472846031189, + "z": 3.946084976196289 + }, + "rotation": { + "x": 1.3113454770063981e-05, + "y": 4.1948929720092565e-05, + "z": -6.975405267439783e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 2.299999952316284, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 2.7415850162506104, + "objectType": "Laptop", + "objectId": "Laptop|surface|4|23", + "assetId": "Laptop_19", + "parentReceptacles": [ + "DiningTable|4|1|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.459753036499023, + 0.829770028591156, + 4.116103172302246 + ], + [ + 5.459753036499023, + 0.829770028591156, + 3.780513286590576 + ], + [ + 5.459753036499023, + 0.7810469269752502, + 4.116103172302246 + ], + [ + 5.459753036499023, + 0.7810469269752502, + 3.780513286590576 + ], + [ + 5.005701065063477, + 0.829770028591156, + 4.116103172302246 + ], + [ + 5.005701065063477, + 0.829770028591156, + 3.780513286590576 + ], + [ + 5.005701065063477, + 0.7810469269752502, + 4.116103172302246 + ], + [ + 5.005701065063477, + 0.7810469269752502, + 3.780513286590576 + ] + ], + "center": { + "x": 5.23272705078125, + "y": 0.8054084777832031, + "z": 3.948308229446411 + }, + "size": { + "x": 0.4540519714355469, + "y": 0.04872310161590576, + "z": 0.3355898857116699 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.459753036499023, + 0.781046986579895, + 4.116102695465088 + ], + [ + 5.005701065063477, + 0.781047523021698, + 4.116103172302246 + ], + [ + 5.005701065063477, + 0.7810475826263428, + 3.7805135250091553 + ], + [ + 5.459753036499023, + 0.7810470461845398, + 3.780513048171997 + ], + [ + 5.459753036499023, + 0.8297694325447083, + 4.116102695465088 + ], + [ + 5.005701065063477, + 0.8297699689865112, + 4.116103172302246 + ], + [ + 5.005701065063477, + 0.8297700881958008, + 3.7805135250091553 + ], + [ + 5.459753036499023, + 0.829769492149353, + 3.780513048171997 + ] + ] + } + } + }, + { + "objectId": "Watch|surface|4|16", + "object_info": { + "name": "Watch|surface|4|16", + "position": { + "x": 3.6847031116485596, + "y": 0.7003282308578491, + "z": 6.288086414337158 + }, + "rotation": { + "x": 1.9947741031646729, + "y": 180.00387573242188, + "z": 1.19093656539917 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07000000029802322, + "salientMaterials": [ + "Metal", + "Glass", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.153391361236572, + "objectType": "Watch", + "objectId": "Watch|surface|4|16", + "assetId": "Watch_2", + "parentReceptacles": [ + "Dresser|4|3", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.7239737510681152, + 0.7344659566879272, + 6.313935279846191 + ], + [ + 3.7239737510681152, + 0.7344659566879272, + 6.265624046325684 + ], + [ + 3.7239737510681152, + 0.6990219354629517, + 6.313935279846191 + ], + [ + 3.7239737510681152, + 0.6990219354629517, + 6.265624046325684 + ], + [ + 3.6450982093811035, + 0.7344659566879272, + 6.313935279846191 + ], + [ + 3.6450982093811035, + 0.7344659566879272, + 6.265624046325684 + ], + [ + 3.6450982093811035, + 0.6990219354629517, + 6.313935279846191 + ], + [ + 3.6450982093811035, + 0.6990219354629517, + 6.265624046325684 + ] + ], + "center": { + "x": 3.6845359802246094, + "y": 0.7167439460754395, + "z": 6.2897796630859375 + }, + "size": { + "x": 0.07887554168701172, + "y": 0.035444021224975586, + "z": 0.04831123352050781 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.644953966140747, + 0.6981589794158936, + 6.265713691711426 + ], + [ + 3.723494052886963, + 0.6965271830558777, + 6.265765190124512 + ], + [ + 3.723497152328491, + 0.6982251405715942, + 6.314515590667725 + ], + [ + 3.6449573040008545, + 0.6998568773269653, + 6.314464092254639 + ], + [ + 3.645716905593872, + 0.7348403334617615, + 6.2644362449646 + ], + [ + 3.724256992340088, + 0.7332085967063904, + 6.2644877433776855 + ], + [ + 3.724260091781616, + 0.7349065542221069, + 6.31323766708374 + ], + [ + 3.6457202434539795, + 0.736538290977478, + 6.313186168670654 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___2", + "object_info": { + "name": "Drawer (2)", + "position": { + "x": 3.606998920440674, + "y": 0.20109392702579498, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.1530375480651855, + "objectType": "Drawer", + "objectId": "Dresser|4|3___2", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.29416608810424805, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.29416608810424805, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.10646450519561768, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.10646450519561768, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.29416608810424805, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.29416608810424805, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.10646450519561768, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.10646450519561768, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.20031529664993286, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|3", + "object_info": { + "name": "door|2|3", + "position": { + "x": 9.811773300170898, + "y": -0.00026702880859375, + "z": 6.5231428146362305 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 7.364771842956543, + "objectType": "Doorway", + "objectId": "door|2|3", + "assetId": "Doorway_Double_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.727968215942383, + 2.095932960510254, + 6.545433044433594 + ], + [ + 10.727968215942383, + 2.095932960510254, + 4.553407669067383 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 4.553407669067383 + ], + [ + 9.760202407836914, + 2.095932960510254, + 6.545433044433594 + ], + [ + 9.760202407836914, + 2.095932960510254, + 4.553407669067383 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 4.553407669067383 + ] + ], + "center": { + "x": 10.244085311889648, + "y": 1.0479663610458374, + "z": 5.549420356750488 + }, + "size": { + "x": 0.9677658081054688, + "y": 2.095933198928833, + "z": 1.992025375366211 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Chair|4|1|3", + "object_info": { + "name": "Chair|4|1|3", + "position": { + "x": 4.753437519073486, + "y": 0.0031416714191436768, + "z": 4.125640392303467 + }, + "rotation": { + "x": -0.0, + "y": 69.56246948242188, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 3.012551784515381, + "objectType": "Chair", + "objectId": "Chair|4|1|3", + "assetId": "Chair_224_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.112885475158691, + 0.8033758401870728, + 4.443963050842285 + ], + [ + 5.112885475158691, + 0.8033758401870728, + 3.8157224655151367 + ], + [ + 5.112885475158691, + -1.0013580322265625e-05, + 4.443963050842285 + ], + [ + 5.112885475158691, + -1.0013580322265625e-05, + 3.8157224655151367 + ], + [ + 4.39578914642334, + 0.8033758401870728, + 4.443963050842285 + ], + [ + 4.39578914642334, + 0.8033758401870728, + 3.8157224655151367 + ], + [ + 4.39578914642334, + -1.0013580322265625e-05, + 4.443963050842285 + ], + [ + 4.39578914642334, + -1.0013580322265625e-05, + 3.8157224655151367 + ] + ], + "center": { + "x": 4.754337310791016, + "y": 0.40168291330337524, + "z": 4.129842758178711 + }, + "size": { + "x": 0.7170963287353516, + "y": 0.803385853767395, + "z": 0.6282405853271484 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.12278938293457, + -9.98377799987793e-06, + 4.014980316162109 + ], + [ + 4.9611663818359375, + -9.98377799987793e-06, + 4.448701858520508 + ], + [ + 4.389281272888184, + -9.98377799987793e-06, + 4.235593318939209 + ], + [ + 4.550904273986816, + -9.98377799987793e-06, + 3.8018712997436523 + ], + [ + 5.12278938293457, + 0.8033754825592041, + 4.014980316162109 + ], + [ + 4.9611663818359375, + 0.8033754825592041, + 4.448701858520508 + ], + [ + 4.389281272888184, + 0.8033754825592041, + 4.235593318939209 + ], + [ + 4.550904273986816, + 0.8033754825592041, + 3.8018712997436523 + ] + ] + } + } + }, + { + "objectId": "Painting|4|4", + "object_info": { + "name": "Painting|4|4", + "position": { + "x": 3.608247995376587, + "y": 1.9246368408203125, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.503932476043701, + "objectType": "Painting", + "objectId": "Painting|4|4", + "assetId": "Wall_Decor_Photo_1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.9420716762542725, + 2.1772351264953613, + 6.5360002517700195 + ], + [ + 3.9420716762542725, + 2.1772351264953613, + 6.50425910949707 + ], + [ + 3.9420716762542725, + 1.6720385551452637, + 6.5360002517700195 + ], + [ + 3.9420716762542725, + 1.6720385551452637, + 6.50425910949707 + ], + [ + 3.2744243144989014, + 2.1772351264953613, + 6.5360002517700195 + ], + [ + 3.2744243144989014, + 2.1772351264953613, + 6.50425910949707 + ], + [ + 3.2744243144989014, + 1.6720385551452637, + 6.5360002517700195 + ], + [ + 3.2744243144989014, + 1.6720385551452637, + 6.50425910949707 + ] + ], + "center": { + "x": 3.608247995376587, + "y": 1.9246368408203125, + "z": 6.520129680633545 + }, + "size": { + "x": 0.6676473617553711, + "y": 0.5051965713500977, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TVStand|4|0|0___0", + "object_info": { + "name": "Shelf", + "position": { + "x": 4.5883870124816895, + "y": 0.08263473212718964, + "z": 6.329518795013428 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Bowl|surface|4|14", + "Plate|surface|4|19", + "Pen|surface|4|25", + "CellPhone|surface|4|15" + ], + "distance": 5.147557735443115, + "objectType": "DiningTable", + "objectId": "TVStand|4|0|0___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.1894378662109375, + 0.18163445591926575, + 6.494722843170166 + ], + [ + 5.1894378662109375, + 0.18163445591926575, + 6.1643147468566895 + ], + [ + 5.1894378662109375, + 0.08242693543434143, + 6.494722843170166 + ], + [ + 5.1894378662109375, + 0.08242693543434143, + 6.1643147468566895 + ], + [ + 3.9873361587524414, + 0.18163445591926575, + 6.494722843170166 + ], + [ + 3.9873361587524414, + 0.18163445591926575, + 6.1643147468566895 + ], + [ + 3.9873361587524414, + 0.08242693543434143, + 6.494722843170166 + ], + [ + 3.9873361587524414, + 0.08242693543434143, + 6.1643147468566895 + ] + ], + "center": { + "x": 4.5883870124816895, + "y": 0.1320306956768036, + "z": 6.329518795013428 + }, + "size": { + "x": 1.202101707458496, + "y": 0.09920752048492432, + "z": 0.33040809631347656 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Fridge|2|1", + "object_info": { + "name": "Fridge|2|1", + "position": { + "x": 8.027824401855469, + "y": 0.007394969463348389, + "z": 6.196259021759033 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Tomato|surface|2|5", + "Potato|surface|2|7" + ], + "distance": 6.000678539276123, + "objectType": "Fridge", + "objectId": "Fridge|2|1", + "assetId": "Fridge_15", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.576839447021484, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 8.576839447021484, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 8.576839447021484, + 0.0, + 6.515999794006348 + ], + [ + 8.576839447021484, + 0.0, + 5.736844062805176 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 7.494537353515625, + 0.0, + 6.515999794006348 + ], + [ + 7.494537353515625, + 0.0, + 5.736844062805176 + ] + ], + "center": { + "x": 8.035688400268555, + "y": 0.9413036108016968, + "z": 6.126421928405762 + }, + "size": { + "x": 1.0823020935058594, + "y": 1.8826072216033936, + "z": 0.7791557312011719 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Plate|surface|4|19", + "object_info": { + "name": "Plate|surface|4|19", + "position": { + "x": 4.8791022300720215, + "y": 0.08857652544975281, + "z": 6.369263172149658 + }, + "rotation": { + "x": 7.83866344136186e-05, + "y": 89.99977111816406, + "z": 0.0004667239263653755 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [ + "TVStand|4|0|0" + ], + "distance": 5.184935092926025, + "objectType": "Plate", + "objectId": "Plate|surface|4|19", + "assetId": "Plate_14", + "parentReceptacles": [ + "TVStand|4|0|0___0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.997548580169678, + 0.115453340113163, + 6.4866623878479 + ], + [ + 4.997548580169678, + 0.115453340113163, + 6.249765872955322 + ], + [ + 4.997548580169678, + 0.0882486030459404, + 6.4866623878479 + ], + [ + 4.997548580169678, + 0.0882486030459404, + 6.249765872955322 + ], + [ + 4.760651111602783, + 0.115453340113163, + 6.4866623878479 + ], + [ + 4.760651111602783, + 0.115453340113163, + 6.249765872955322 + ], + [ + 4.760651111602783, + 0.0882486030459404, + 6.4866623878479 + ], + [ + 4.760651111602783, + 0.0882486030459404, + 6.249765872955322 + ] + ], + "center": { + "x": 4.8790998458862305, + "y": 0.1018509715795517, + "z": 6.368214130401611 + }, + "size": { + "x": 0.23689746856689453, + "y": 0.027204737067222595, + "z": 0.23689651489257812 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.997549533843994, + 0.08825035393238068, + 6.249766826629639 + ], + [ + 4.997548580169678, + 0.08824842423200607, + 6.486663341522217 + ], + [ + 4.760651111602783, + 0.08824875205755234, + 6.4866623878479 + ], + [ + 4.7606520652771, + 0.08825068175792694, + 6.249765872955322 + ], + [ + 4.997549533843994, + 0.11545311659574509, + 6.249766826629639 + ], + [ + 4.997548580169678, + 0.11545118689537048, + 6.486663341522217 + ], + [ + 4.760651111602783, + 0.11545151472091675, + 6.4866623878479 + ], + [ + 4.7606520652771, + 0.11545343697071075, + 6.249765872955322 + ] + ] + } + } + }, + { + "objectId": "Pen|surface|4|25", + "object_info": { + "name": "Pen|surface|4|25", + "position": { + "x": 4.730879783630371, + "y": 0.09389401972293854, + "z": 6.3692626953125 + }, + "rotation": { + "x": 4.163075573160313e-05, + "y": 179.99993896484375, + "z": 359.9720153808594 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Plastic", + "Metal" + ], + "receptacleObjectIds": null, + "distance": 5.182531833648682, + "objectType": "Pen", + "objectId": "Pen|surface|4|25", + "assetId": "Pen_1", + "parentReceptacles": [ + "TVStand|4|0|0___0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.736525058746338, + 0.09953894466161728, + 6.462701320648193 + ], + [ + 4.736525058746338, + 0.09953894466161728, + 6.262863636016846 + ], + [ + 4.736525058746338, + 0.0882490798830986, + 6.462701320648193 + ], + [ + 4.736525058746338, + 0.0882490798830986, + 6.262863636016846 + ], + [ + 4.725234508514404, + 0.09953894466161728, + 6.462701320648193 + ], + [ + 4.725234508514404, + 0.09953894466161728, + 6.262863636016846 + ], + [ + 4.725234508514404, + 0.0882490798830986, + 6.462701320648193 + ], + [ + 4.725234508514404, + 0.0882490798830986, + 6.262863636016846 + ] + ], + "center": { + "x": 4.730879783630371, + "y": 0.09389401227235794, + "z": 6.3627824783325195 + }, + "size": { + "x": 0.011290550231933594, + "y": 0.011289864778518677, + "z": 0.19983768463134766 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.7252373695373535, + 0.08824633061885834, + 6.262863636016846 + ], + [ + 4.736527919769287, + 0.08825184404850006, + 6.262863636016846 + ], + [ + 4.736527442932129, + 0.0882519856095314, + 6.462701797485352 + ], + [ + 4.7252373695373535, + 0.08824647217988968, + 6.462701797485352 + ], + [ + 4.725232124328613, + 0.09953603893518448, + 6.262863636016846 + ], + [ + 4.736522197723389, + 0.0995415523648262, + 6.262863636016846 + ], + [ + 4.736522197723389, + 0.09954169392585754, + 6.462701797485352 + ], + [ + 4.725231647491455, + 0.09953618794679642, + 6.462701797485352 + ] + ] + } + } + }, + { + "objectId": "Television|4|0|1", + "object_info": { + "name": "Television|4|0|1", + "position": { + "x": 4.5883378982543945, + "y": 0.9386330842971802, + "z": 6.25775671005249 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.010506629943848, + "objectType": "Television", + "objectId": "Television|4|0|1", + "assetId": "Television_23", + "parentReceptacles": [ + "Floor", + "TVStand|4|0|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.0883378982543945, + 1.2561266422271729, + 6.508190631866455 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.153933048248291 + ], + [ + 5.0883378982543945, + 0.4502493143081665, + 6.508190631866455 + ], + [ + 5.0883378982543945, + 0.4502493143081665, + 6.153933048248291 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.508190631866455 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.153933048248291 + ], + [ + 4.0883378982543945, + 0.4502493143081665, + 6.508190631866455 + ], + [ + 4.0883378982543945, + 0.4502493143081665, + 6.153933048248291 + ] + ], + "center": { + "x": 4.5883378982543945, + "y": 0.8531879782676697, + "z": 6.331061840057373 + }, + "size": { + "x": 1.0, + "y": 0.8058773279190063, + "z": 0.35425758361816406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.0883378982543945, + 0.4502493441104889, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 0.4502493441104889, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 0.4502493441104889, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 0.4502493441104889, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.508191108703613 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 4.900000095367432, + "y": 0.9009997844696045, + "z": 1.5 + }, + "agent_rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "agent_cameraHorizon": 30.000003814697266, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 4.900000095367432, + "y": 1.5759997367858887, + "z": 1.5 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Fridge|2|1", + "Chair|4|1|1", + "DiningTable|4|1|0", + "door|2|3", + "door|2|4" + ], + "different_object": [ + "Plate|surface|4|19", + "Book|surface|4|22", + "Television|4|0|1", + "Bowl|surface|4|14", + "Watch|surface|4|16", + "Chair|4|1|2", + "CellPhone|surface|4|15", + "Dresser|4|3", + "Pen|surface|4|25", + "TVStand|4|0|0___1", + "TVStand|4|0|0___0", + "Chair|4|1|3", + "Painting|4|6", + "Dresser|4|3___1", + "Laptop|surface|4|23", + "Dresser|4|3___0", + "CreditCard|surface|4|21", + "door|4|5", + "Book|surface|4|26", + "CellPhone|surface|4|17", + "Chair|4|1|4", + "Dresser|4|3___2", + "Vase|surface|4|24", + "Painting|4|4", + "TVStand|4|0|0" + ] +} \ No newline at end of file diff --git a/train/train436/0/0_depth_npy.npy b/train/train436/0/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..e995a1e41a2228c8a4f0e86f5fd5e9e096e483ca --- /dev/null +++ b/train/train436/0/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9d9f19d6b3f5a68a9a3ab7a5bb4ce6505d620647527f8342ac1abd87efee9678 +size 3145856 diff --git a/train/train436/0/0_semantic_sensor_npy.npy b/train/train436/0/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..36c9324bd9e48a55ea8d24ffb1dd75dec2baf010 --- /dev/null +++ b/train/train436/0/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4d824343a386824bb45f4a57d6210cbe55599c5d7914496db7a5bc8f7cd24311 +size 2359424 diff --git a/train/train436/0/1.json b/train/train436/0/1.json new file mode 100644 index 0000000000000000000000000000000000000000..90ef6f533b0c7215686ddfd8ee2d5adb680f1afc --- /dev/null +++ b/train/train436/0/1.json @@ -0,0 +1,1063 @@ +{ + "object": [ + { + "objectId": "Chair|4|1|1", + "object_info": { + "name": "Chair|4|1|1", + "position": { + "x": 5.354161262512207, + "y": 0.0031416714191436768, + "z": 2.6687018871307373 + }, + "rotation": { + "x": -0.0, + "y": 16.29289436340332, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 1.7843416929244995, + "objectType": "Chair", + "objectId": "Chair|4|1|1", + "assetId": "Chair_224_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.636518478393555, + 0.8033758401870728, + 3.015368938446045 + ], + [ + 5.636518478393555, + 0.8033758401870728, + 2.3285040855407715 + ], + [ + 5.636518478393555, + -1.004338264465332e-05, + 3.015368938446045 + ], + [ + 5.636518478393555, + -1.004338264465332e-05, + 2.3285040855407715 + ], + [ + 5.066144943237305, + 0.8033758401870728, + 3.015368938446045 + ], + [ + 5.066144943237305, + 0.8033758401870728, + 2.3285040855407715 + ], + [ + 5.066144943237305, + -1.004338264465332e-05, + 3.015368938446045 + ], + [ + 5.066144943237305, + -1.004338264465332e-05, + 2.3285040855407715 + ] + ], + "center": { + "x": 5.35133171081543, + "y": 0.40168288350105286, + "z": 2.671936511993408 + }, + "size": { + "x": 0.57037353515625, + "y": 0.803385853767395, + "z": 0.6868648529052734 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.6637420654296875, + -9.98377799987793e-06, + 2.8985416889190674 + ], + [ + 5.219473361968994, + -9.98377799987793e-06, + 3.028395175933838 + ], + [ + 5.048254489898682, + -9.98377799987793e-06, + 2.44260311126709 + ], + [ + 5.492523193359375, + -9.98377799987793e-06, + 2.3127496242523193 + ], + [ + 5.6637420654296875, + 0.8033754825592041, + 2.8985416889190674 + ], + [ + 5.219473361968994, + 0.8033754825592041, + 3.028395175933838 + ], + [ + 5.048254489898682, + 0.8033754825592041, + 2.44260311126709 + ], + [ + 5.492523193359375, + 0.8033754825592041, + 2.3127496242523193 + ] + ] + } + } + }, + { + "objectId": "DiningTable|4|1|0", + "object_info": { + "name": "DiningTable|4|1|0", + "position": { + "x": 5.355981826782227, + "y": -0.0031822919845581055, + "z": 3.724600076675415 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Laptop|surface|4|23", + "Book|surface|4|26" + ], + "distance": 2.7034060955047607, + "objectType": "DiningTable", + "objectId": "DiningTable|4|1|0", + "assetId": "Dining_Table_218_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.855982780456543, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 5.855982780456543, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 2.8305177688598633 + ] + ], + "center": { + "x": 5.355981826782227, + "y": 0.3905254304409027, + "z": 3.724600076675415 + }, + "size": { + "x": 1.0000019073486328, + "y": 0.7810438275337219, + "z": 1.7881646156311035 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.855982303619385, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 3.5762786865234375e-06, + 4.618681907653809 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 4.618682384490967 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 4.618681907653809 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 4.618682384490967 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 2.8305180072784424 + ] + ] + } + } + }, + { + "objectId": "door|2|4", + "object_info": { + "name": "door|2|4", + "position": { + "x": 6.539700508117676, + "y": -0.0005981922149658203, + "z": 2.0724358558654785 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1661734580993652, + "objectType": "Doorframe", + "objectId": "door|2|4", + "assetId": "Doorframe_Double_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.590658664703369, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.590658664703369, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.590658664703369, + 0.0, + 4.011923313140869 + ], + [ + 6.590658664703369, + 0.0, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 0.0, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 0.0, + 2.069113254547119 + ] + ], + "center": { + "x": 6.540999889373779, + "y": 1.0435373783111572, + "z": 3.040518283843994 + }, + "size": { + "x": 0.09931755065917969, + "y": 2.0870747566223145, + "z": 1.94281005859375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|3", + "object_info": { + "name": "door|2|3", + "position": { + "x": 9.811773300170898, + "y": -0.00026702880859375, + "z": 6.5231428146362305 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 7.364771842956543, + "objectType": "Doorway", + "objectId": "door|2|3", + "assetId": "Doorway_Double_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.727968215942383, + 2.095932960510254, + 6.545433044433594 + ], + [ + 10.727968215942383, + 2.095932960510254, + 4.553407669067383 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 4.553407669067383 + ], + [ + 9.760202407836914, + 2.095932960510254, + 6.545433044433594 + ], + [ + 9.760202407836914, + 2.095932960510254, + 4.553407669067383 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 4.553407669067383 + ] + ], + "center": { + "x": 10.244085311889648, + "y": 1.0479663610458374, + "z": 5.549420356750488 + }, + "size": { + "x": 0.9677658081054688, + "y": 2.095933198928833, + "z": 1.992025375366211 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "FloorLamp|4|2", + "object_info": { + "name": "FloorLamp|4|2", + "position": { + "x": 6.263036727905273, + "y": -0.0018747448921203613, + "z": 0.9616859555244446 + }, + "rotation": { + "x": 359.9669189453125, + "y": 269.9986572265625, + "z": 359.9627380371094 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 1.7853816747665405, + "objectType": "FloorLamp", + "objectId": "FloorLamp|4|2", + "assetId": "Floor_Lamp_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.517219543457031, + 2.0757031440734863, + 1.2152924537658691 + ], + [ + 6.517219543457031, + 2.0757031440734863, + 0.7076406478881836 + ], + [ + 6.517219543457031, + -0.0020160675048828125, + 1.2152924537658691 + ], + [ + 6.517219543457031, + -0.0020160675048828125, + 0.7076406478881836 + ], + [ + 6.009941101074219, + 2.0757031440734863, + 1.2152924537658691 + ], + [ + 6.009941101074219, + 2.0757031440734863, + 0.7076406478881836 + ], + [ + 6.009941101074219, + -0.0020160675048828125, + 1.2152924537658691 + ], + [ + 6.009941101074219, + -0.0020160675048828125, + 0.7076406478881836 + ] + ], + "center": { + "x": 6.263580322265625, + "y": 1.0368435382843018, + "z": 0.9614665508270264 + }, + "size": { + "x": 0.5072784423828125, + "y": 2.077719211578369, + "z": 0.5076518058776855 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.00874137878418, + -0.001891990890726447, + 1.213939905166626 + ], + [ + 6.008753776550293, + -0.0015617554308846593, + 0.7062857151031494 + ], + [ + 6.5160441398620605, + -0.0018547163344919682, + 0.706297755241394 + ], + [ + 6.516031742095947, + -0.002184951677918434, + 1.213951826095581 + ], + [ + 6.009941101074219, + 2.0755419731140137, + 1.2152912616729736 + ], + [ + 6.009953498840332, + 2.0758721828460693, + 0.7076371908187866 + ], + [ + 6.5172438621521, + 2.0755791664123535, + 0.7076491713523865 + ], + [ + 6.517231464385986, + 2.075248956680298, + 1.2153033018112183 + ] + ] + } + } + }, + { + "objectId": "Painting|3|7", + "object_info": { + "name": "Painting|3|7", + "position": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.831557273864746, + "objectType": "Painting", + "objectId": "Painting|3|7", + "assetId": "Wall_Decor_Photo_10", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.833455085754395, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.50425910949707 + ] + ], + "center": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.520129680633545 + }, + "size": { + "x": 0.7115726470947266, + "y": 0.4246177673339844, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Fridge|2|1", + "object_info": { + "name": "Fridge|2|1", + "position": { + "x": 8.027824401855469, + "y": 0.007394969463348389, + "z": 6.196259021759033 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Tomato|surface|2|5", + "Potato|surface|2|7" + ], + "distance": 6.000678539276123, + "objectType": "Fridge", + "objectId": "Fridge|2|1", + "assetId": "Fridge_15", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.576839447021484, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 8.576839447021484, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 8.576839447021484, + 0.0, + 6.515999794006348 + ], + [ + 8.576839447021484, + 0.0, + 5.736844062805176 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 7.494537353515625, + 0.0, + 6.515999794006348 + ], + [ + 7.494537353515625, + 0.0, + 5.736844062805176 + ] + ], + "center": { + "x": 8.035688400268555, + "y": 0.9413036108016968, + "z": 6.126421928405762 + }, + "size": { + "x": 1.0823020935058594, + "y": 1.8826072216033936, + "z": 0.7791557312011719 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|3|4", + "object_info": { + "name": "Painting|3|4", + "position": { + "x": 11.443442344665527, + "y": 1.4678616523742676, + "z": 5.477546215057373 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.9369797706604, + "objectType": "Painting", + "objectId": "Painting|3|4", + "assetId": "Wall_Decor_Painting_3", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.442000389099121, + 1.773220181465149, + 5.879675388336182 + ], + [ + 11.442000389099121, + 1.773220181465149, + 5.07399320602417 + ], + [ + 11.442000389099121, + 1.16008460521698, + 5.879675388336182 + ], + [ + 11.442000389099121, + 1.16008460521698, + 5.07399320602417 + ], + [ + 11.422650337219238, + 1.773220181465149, + 5.879675388336182 + ], + [ + 11.422650337219238, + 1.773220181465149, + 5.07399320602417 + ], + [ + 11.422650337219238, + 1.16008460521698, + 5.879675388336182 + ], + [ + 11.422650337219238, + 1.16008460521698, + 5.07399320602417 + ] + ], + "center": { + "x": 11.43232536315918, + "y": 1.4666523933410645, + "z": 5.476834297180176 + }, + "size": { + "x": 0.019350051879882812, + "y": 0.613135576248169, + "z": 0.8056821823120117 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 4.900000095367432, + "y": 0.9009997844696045, + "z": 1.2999999523162842 + }, + "agent_rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "agent_cameraHorizon": 30.000003814697266, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 4.900000095367432, + "y": 1.5759997367858887, + "z": 1.2999999523162842 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Fridge|2|1", + "Chair|4|1|1", + "DiningTable|4|1|0", + "door|2|3", + "door|2|4" + ], + "different_object": [ + "Painting|3|4", + "FloorLamp|4|2", + "Painting|3|7" + ] +} \ No newline at end of file diff --git a/train/train436/0/1_depth_npy.npy b/train/train436/0/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..e7f1794f70220f3cad8428d5be33ad248e579110 --- /dev/null +++ b/train/train436/0/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:93c8387e8577ec6d8be9de0597b514a2b2c23c0333233d2ba611d42f64f0727f +size 3145856 diff --git a/train/train436/0/1_semantic_sensor_npy.npy b/train/train436/0/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..fbad58eff9868154e7e09716108fdef790571339 --- /dev/null +++ b/train/train436/0/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:50a0baab6ebcbfee9972f72ed3156da8dc0169d74b2bfe8f4aa424682e4b0320 +size 2359424 diff --git a/train/train436/0/depth_0.png b/train/train436/0/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..78a873c2b6fd9bf79231ded1645a0b7b15d70084 Binary files /dev/null and b/train/train436/0/depth_0.png differ diff --git a/train/train436/0/depth_1.png b/train/train436/0/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..25b303e3dce5764e78b72291420dafb720eaaaa6 Binary files /dev/null and b/train/train436/0/depth_1.png differ diff --git a/train/train436/0/mask_questions.jsonl b/train/train436/0/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4301734c589dd6baf51df65e6faf1561d056589b --- /dev/null +++ b/train/train436/0/mask_questions.jsonl @@ -0,0 +1,5 @@ +{"id": 2665, "folder_dir": "train436/0", "pair_name": "0-1:Fridge|2|1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Chair\nB. Fridge\nC. CreditCard\nD. CellPhone", "answer": "B", "object_name": "Fridge", "image_1": "train436/0/rgb_0.png", "image_2": "train436/0/rgb_1.png", "mask_image": "train436/0/rgb_1_mask_Fridge|2|1.png", "options": ["Chair", "Fridge", "CreditCard", "CellPhone"]} +{"id": 2666, "folder_dir": "train436/0", "pair_name": "0-1:Chair|4|1|1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Chair\nB. Bowl\nC. Television\nD. Fridge", "answer": "A", "object_name": "Chair", "image_1": "train436/0/rgb_0.png", "image_2": "train436/0/rgb_1.png", "mask_image": "train436/0/rgb_1_mask_Chair|4|1|1.png", "options": ["Chair", "Bowl", "Television", "Fridge"]} +{"id": 2667, "folder_dir": "train436/0", "pair_name": "0-1:DiningTable|4|1|0", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Fridge\nB. DiningTable\nC. CreditCard\nD. Vase", "answer": "B", "object_name": "DiningTable", "image_1": "train436/0/rgb_0.png", "image_2": "train436/0/rgb_1.png", "mask_image": "train436/0/rgb_1_mask_DiningTable|4|1|0.png", "options": ["Fridge", "DiningTable", "CreditCard", "Vase"]} +{"id": 2668, "folder_dir": "train436/0", "pair_name": "1-0:Fridge|2|1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Chair\nB. Painting\nC. Fridge\nD. Painting", "answer": "C", "object_name": "Fridge", "image_1": "train436/0/rgb_1.png", "image_2": "train436/0/rgb_0.png", "mask_image": "train436/0/rgb_0_mask_Fridge|2|1.png", "options": ["Chair", "Painting", "Fridge", "Painting"]} +{"id": 2669, "folder_dir": "train436/0", "pair_name": "1-0:Chair|4|1|1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Chair\nB. Fridge\nC. Painting\nD. FloorLamp", "answer": "A", "object_name": "Chair", "image_1": "train436/0/rgb_1.png", "image_2": "train436/0/rgb_0.png", "mask_image": "train436/0/rgb_0_mask_Chair|4|1|1.png", "options": ["Chair", "Fridge", "Painting", "FloorLamp"]} diff --git a/train/train436/0/questions_distance.jsonl b/train/train436/0/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..61b80139771a9fd849689bc4810a2e60e73f451b --- /dev/null +++ b/train/train436/0/questions_distance.jsonl @@ -0,0 +1,2 @@ +{"id": 1075, "folder_dir": "train436/0", "query": "Which of the following objects is closest to Fridge in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Pen\nB. Plate\nC. Vase\nD. Other\n", "answer": "B", "src_object": "Fridge", "target_object": "Plate", "question": "Which of the following objects is closest to Fridge in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Pen", "semantic_id": "Pen|surface|4|25", "distance": 3.4199019474024865, "com": {"x": 4.730879783630371, "y": 0.09389401227235794, "z": 6.3627824783325195}}, {"text": "Plate", "semantic_id": "Plate|surface|4|19", "distance": 3.2752397628418777, "com": {"x": 4.8790998458862305, "y": 0.1018509715795517, "z": 6.368214130401611}}, {"text": "Vase", "semantic_id": "Vase|surface|4|24", "distance": 3.3688445445323785, "com": {"x": 4.7310686111450195, "y": 0.3073330521583557, "z": 6.28977108001709}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train436/0/rgb_0.png", "image_2": "train436/0/rgb_1.png"} +{"id": 1076, "folder_dir": "train436/0", "query": "Which of the following objects is closest to DiningTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Plate\nB. Laptop\nC. Vase\nD. Other\n", "answer": "B", "src_object": "DiningTable", "target_object": "Laptop", "question": "Which of the following objects is closest to DiningTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Plate", "semantic_id": "Plate|surface|4|19", "distance": 2.7017484397998337, "com": {"x": 4.8790998458862305, "y": 0.1018509715795517, "z": 6.368214130401611}}, {"text": "Laptop", "semantic_id": "Laptop|surface|4|23", "distance": 0.4872012114058171, "com": {"x": 5.23272705078125, "y": 0.8054084777832031, "z": 3.948308229446411}}, {"text": "Vase", "semantic_id": "Vase|surface|4|24", "distance": 2.6415033172924987, "com": {"x": 4.7310686111450195, "y": 0.3073330521583557, "z": 6.28977108001709}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train436/0/rgb_0.png", "image_2": "train436/0/rgb_1.png"} diff --git a/train/train436/0/rgb_0.png b/train/train436/0/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..7671b250872c1165737b1c90845dc6a5035fdc58 --- /dev/null +++ b/train/train436/0/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:962325b116a3b56753436314cf3f93c9b3c2c41b7c7857c969ef7180309c1b8e +size 429937 diff --git a/train/train436/0/rgb_0_mask_Chair|4|1|1.png b/train/train436/0/rgb_0_mask_Chair|4|1|1.png new file mode 100644 index 0000000000000000000000000000000000000000..9649d4db81ac39326feead1cca536837b3eed56f --- /dev/null +++ b/train/train436/0/rgb_0_mask_Chair|4|1|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d990b590b0c181c606dc762ff55c7040807d33c20a337f66fb08c302f24e67d4 +size 361348 diff --git a/train/train436/0/rgb_0_mask_Fridge|2|1.png b/train/train436/0/rgb_0_mask_Fridge|2|1.png new file mode 100644 index 0000000000000000000000000000000000000000..c4c94c781cfe4439f79c5fdbd7da7e36854b5773 --- /dev/null +++ b/train/train436/0/rgb_0_mask_Fridge|2|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e1c86b2fc885e8c0709bdbd4ab030f326c21d2e3f2b82abe394083291188da58 +size 369458 diff --git a/train/train436/0/rgb_1.png b/train/train436/0/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..94e7888727b0cc742e58e6e984be8f403b19afa4 --- /dev/null +++ b/train/train436/0/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f640f9517614d99234f26795e1a7345bece4af52c80c11bdc1288fdb7712a07d +size 449078 diff --git a/train/train436/0/rgb_1_mask_Chair|4|1|1.png b/train/train436/0/rgb_1_mask_Chair|4|1|1.png new file mode 100644 index 0000000000000000000000000000000000000000..2919dd31702377738b82774e62ce9aa001e07850 --- /dev/null +++ b/train/train436/0/rgb_1_mask_Chair|4|1|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7f54caef7a5ceeea03699a62689daeca88a39aa0621b08f8519b539ac378001f +size 361948 diff --git a/train/train436/0/rgb_1_mask_DiningTable|4|1|0.png b/train/train436/0/rgb_1_mask_DiningTable|4|1|0.png new file mode 100644 index 0000000000000000000000000000000000000000..8cd9a49f1457f02d767c5b65aab4b045cf09c04e --- /dev/null +++ b/train/train436/0/rgb_1_mask_DiningTable|4|1|0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5cdd283c844fcf42577cea166e3d6c421c97679c23464b029684b0e0523bbb24 +size 382322 diff --git a/train/train436/0/rgb_1_mask_Fridge|2|1.png b/train/train436/0/rgb_1_mask_Fridge|2|1.png new file mode 100644 index 0000000000000000000000000000000000000000..530bdd9fc7988a59b28442d8390daaf3128a5302 --- /dev/null +++ b/train/train436/0/rgb_1_mask_Fridge|2|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4f2a1b80d8f9d95f80cca6938494c4130e1fb89a1ffa0301695ba41f99c223c2 +size 397852 diff --git a/train/train436/0/semantic_0.png b/train/train436/0/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..6d22527bfad6713383c87e218b7049f3101991a5 Binary files /dev/null and b/train/train436/0/semantic_0.png differ diff --git a/train/train436/0/semantic_1.png b/train/train436/0/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..e99d41d06754c296c35b90dcc4d537218c79d18b Binary files /dev/null and b/train/train436/0/semantic_1.png differ diff --git a/train/train436/3/0.json b/train/train436/3/0.json new file mode 100644 index 0000000000000000000000000000000000000000..f7a8b0017121eee908e6ccb105a8446474c24ddf --- /dev/null +++ b/train/train436/3/0.json @@ -0,0 +1,634 @@ +{ + "object": [ + { + "objectId": "door|2|4", + "object_info": { + "name": "door|2|4", + "position": { + "x": 6.539700508117676, + "y": -0.0005981922149658203, + "z": 2.0724358558654785 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1661734580993652, + "objectType": "Doorframe", + "objectId": "door|2|4", + "assetId": "Doorframe_Double_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.590658664703369, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.590658664703369, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.590658664703369, + 0.0, + 4.011923313140869 + ], + [ + 6.590658664703369, + 0.0, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 0.0, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 0.0, + 2.069113254547119 + ] + ], + "center": { + "x": 6.540999889373779, + "y": 1.0435373783111572, + "z": 3.040518283843994 + }, + "size": { + "x": 0.09931755065917969, + "y": 2.0870747566223145, + "z": 1.94281005859375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|3", + "object_info": { + "name": "door|2|3", + "position": { + "x": 9.811773300170898, + "y": -0.00026702880859375, + "z": 6.5231428146362305 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 7.364771842956543, + "objectType": "Doorway", + "objectId": "door|2|3", + "assetId": "Doorway_Double_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.727968215942383, + 2.095932960510254, + 6.545433044433594 + ], + [ + 10.727968215942383, + 2.095932960510254, + 4.553407669067383 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 4.553407669067383 + ], + [ + 9.760202407836914, + 2.095932960510254, + 6.545433044433594 + ], + [ + 9.760202407836914, + 2.095932960510254, + 4.553407669067383 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 4.553407669067383 + ] + ], + "center": { + "x": 10.244085311889648, + "y": 1.0479663610458374, + "z": 5.549420356750488 + }, + "size": { + "x": 0.9677658081054688, + "y": 2.095933198928833, + "z": 1.992025375366211 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "FloorLamp|4|2", + "object_info": { + "name": "FloorLamp|4|2", + "position": { + "x": 6.263036727905273, + "y": -0.0018747448921203613, + "z": 0.9616859555244446 + }, + "rotation": { + "x": 359.9669189453125, + "y": 269.9986572265625, + "z": 359.9627380371094 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 1.7853816747665405, + "objectType": "FloorLamp", + "objectId": "FloorLamp|4|2", + "assetId": "Floor_Lamp_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.517219543457031, + 2.0757031440734863, + 1.2152924537658691 + ], + [ + 6.517219543457031, + 2.0757031440734863, + 0.7076406478881836 + ], + [ + 6.517219543457031, + -0.0020160675048828125, + 1.2152924537658691 + ], + [ + 6.517219543457031, + -0.0020160675048828125, + 0.7076406478881836 + ], + [ + 6.009941101074219, + 2.0757031440734863, + 1.2152924537658691 + ], + [ + 6.009941101074219, + 2.0757031440734863, + 0.7076406478881836 + ], + [ + 6.009941101074219, + -0.0020160675048828125, + 1.2152924537658691 + ], + [ + 6.009941101074219, + -0.0020160675048828125, + 0.7076406478881836 + ] + ], + "center": { + "x": 6.263580322265625, + "y": 1.0368435382843018, + "z": 0.9614665508270264 + }, + "size": { + "x": 0.5072784423828125, + "y": 2.077719211578369, + "z": 0.5076518058776855 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.00874137878418, + -0.001891990890726447, + 1.213939905166626 + ], + [ + 6.008753776550293, + -0.0015617554308846593, + 0.7062857151031494 + ], + [ + 6.5160441398620605, + -0.0018547163344919682, + 0.706297755241394 + ], + [ + 6.516031742095947, + -0.002184951677918434, + 1.213951826095581 + ], + [ + 6.009941101074219, + 2.0755419731140137, + 1.2152912616729736 + ], + [ + 6.009953498840332, + 2.0758721828460693, + 0.7076371908187866 + ], + [ + 6.5172438621521, + 2.0755791664123535, + 0.7076491713523865 + ], + [ + 6.517231464385986, + 2.075248956680298, + 1.2153033018112183 + ] + ] + } + } + }, + { + "objectId": "Painting|3|7", + "object_info": { + "name": "Painting|3|7", + "position": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.831557273864746, + "objectType": "Painting", + "objectId": "Painting|3|7", + "assetId": "Wall_Decor_Photo_10", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.833455085754395, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.50425910949707 + ] + ], + "center": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.520129680633545 + }, + "size": { + "x": 0.7115726470947266, + "y": 0.4246177673339844, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|3|4", + "object_info": { + "name": "Painting|3|4", + "position": { + "x": 11.443442344665527, + "y": 1.4678616523742676, + "z": 5.477546215057373 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.9369797706604, + "objectType": "Painting", + "objectId": "Painting|3|4", + "assetId": "Wall_Decor_Painting_3", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.442000389099121, + 1.773220181465149, + 5.879675388336182 + ], + [ + 11.442000389099121, + 1.773220181465149, + 5.07399320602417 + ], + [ + 11.442000389099121, + 1.16008460521698, + 5.879675388336182 + ], + [ + 11.442000389099121, + 1.16008460521698, + 5.07399320602417 + ], + [ + 11.422650337219238, + 1.773220181465149, + 5.879675388336182 + ], + [ + 11.422650337219238, + 1.773220181465149, + 5.07399320602417 + ], + [ + 11.422650337219238, + 1.16008460521698, + 5.879675388336182 + ], + [ + 11.422650337219238, + 1.16008460521698, + 5.07399320602417 + ] + ], + "center": { + "x": 11.43232536315918, + "y": 1.4666523933410645, + "z": 5.476834297180176 + }, + "size": { + "x": 0.019350051879882812, + "y": 0.613135576248169, + "z": 0.8056821823120117 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 5.199999809265137, + "y": 0.9009997844696045, + "z": 1.2999999523162842 + }, + "agent_rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "agent_cameraHorizon": -30.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 5.199999809265137, + "y": 1.5759997367858887, + "z": 1.2999999523162842 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "door|2|4", + "door|2|3", + "Painting|3|7" + ], + "different_object": [ + "Painting|3|4", + "FloorLamp|4|2" + ] +} \ No newline at end of file diff --git a/train/train436/3/0_depth_npy.npy b/train/train436/3/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..61ed6212f16af9cd25273c1a80e5059f87151f46 --- /dev/null +++ b/train/train436/3/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7f59aea51b16c39033839b911e43b41a5c13a617b384ef8d43521284eaa84fa9 +size 3145856 diff --git a/train/train436/3/0_semantic_sensor_npy.npy b/train/train436/3/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..d10acd8cc71b9742302d84b9118ce995011a3366 --- /dev/null +++ b/train/train436/3/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:43030abbe24ca2737b838fdaf4b9b4a5d8c441fec5386c69d7bab55125b20b30 +size 2359424 diff --git a/train/train436/3/1.json b/train/train436/3/1.json new file mode 100644 index 0000000000000000000000000000000000000000..d4ee3ae4ad4bd4efee3979856b1c983f15e31516 --- /dev/null +++ b/train/train436/3/1.json @@ -0,0 +1,2733 @@ +{ + "object": [ + { + "objectId": "Book|surface|4|22", + "object_info": { + "name": "Book|surface|4|22", + "position": { + "x": 4.434379577636719, + "y": 0.27263882756233215, + "z": 6.329527378082275 + }, + "rotation": { + "x": 0.002365913474932313, + "y": 90.0003890991211, + "z": 0.25729310512542725 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 5.127967834472656, + "objectType": "Book", + "objectId": "Book|surface|4|22", + "assetId": "Book_20", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.586941719055176, + 0.30716240406036377, + 6.458010673522949 + ], + [ + 4.586941719055176, + 0.30716240406036377, + 6.2023820877075195 + ], + [ + 4.586941719055176, + 0.2722126245498657, + 6.458010673522949 + ], + [ + 4.586941719055176, + 0.2722126245498657, + 6.2023820877075195 + ], + [ + 4.2818193435668945, + 0.30716240406036377, + 6.458010673522949 + ], + [ + 4.2818193435668945, + 0.30716240406036377, + 6.2023820877075195 + ], + [ + 4.2818193435668945, + 0.2722126245498657, + 6.458010673522949 + ], + [ + 4.2818193435668945, + 0.2722126245498657, + 6.2023820877075195 + ] + ], + "center": { + "x": 4.434380531311035, + "y": 0.28968751430511475, + "z": 6.330196380615234 + }, + "size": { + "x": 0.30512237548828125, + "y": 0.03494977951049805, + "z": 0.2556285858154297 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.586939334869385, + 0.2724279761314392, + 6.202378273010254 + ], + [ + 4.586941242218018, + 0.2712807059288025, + 6.45785665512085 + ], + [ + 4.2818193435668945, + 0.2712933123111725, + 6.457858562469482 + ], + [ + 4.281817436218262, + 0.2724405825138092, + 6.202380657196045 + ], + [ + 4.586940765380859, + 0.3073573708534241, + 6.202535152435303 + ], + [ + 4.586942672729492, + 0.30621010065078735, + 6.458013534545898 + ], + [ + 4.281820774078369, + 0.30622270703315735, + 6.458015441894531 + ], + [ + 4.281818866729736, + 0.30736997723579407, + 6.202537536621094 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___1", + "object_info": { + "name": "Drawer (1)", + "position": { + "x": 3.606998920440674, + "y": 0.39762961864471436, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.130039691925049, + "objectType": "Drawer", + "objectId": "Dresser|4|3___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.4907017946243286, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.4907017946243286, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.30300021171569824, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.30300021171569824, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.4907017946243286, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.4907017946243286, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.30300021171569824, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.30300021171569824, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.3968510031700134, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CellPhone|surface|4|17", + "object_info": { + "name": "CellPhone|surface|4|17", + "position": { + "x": 3.606998920440674, + "y": 0.6999126672744751, + "z": 6.400298118591309 + }, + "rotation": { + "x": 4.23526716986089e-06, + "y": 180.00010681152344, + "z": -0.0013795691775158048 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1599999964237213, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 5.279437065124512, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|4|17", + "assetId": "Cellphone_8", + "parentReceptacles": [ + "Dresser|4|3", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.645237445831299, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.645237445831299, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.645237445831299, + 0.6992031335830688, + 6.473209381103516 + ], + [ + 3.645237445831299, + 0.6992031335830688, + 6.327386856079102 + ], + [ + 3.568760395050049, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.568760395050049, + 0.6992031335830688, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.6992031335830688, + 6.327386856079102 + ] + ], + "center": { + "x": 3.606998920440674, + "y": 0.7046447992324829, + "z": 6.400298118591309 + }, + "size": { + "x": 0.07647705078125, + "y": 0.010883331298828125, + "z": 0.14582252502441406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.568760395050049, + 0.6992031335830688, + 6.327386856079102 + ], + [ + 3.6452372074127197, + 0.6992049813270569, + 6.327386856079102 + ], + [ + 3.645237445831299, + 0.6992050409317017, + 6.473209381103516 + ], + [ + 3.568760633468628, + 0.6992031931877136, + 6.473209381103516 + ], + [ + 3.5687601566314697, + 0.7100846171379089, + 6.327386856079102 + ], + [ + 3.6452369689941406, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.6452372074127197, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.7100846171379089, + 6.473209381103516 + ] + ] + } + } + }, + { + "objectId": "Vase|surface|4|24", + "object_info": { + "name": "Vase|surface|4|24", + "position": { + "x": 4.730817794799805, + "y": 0.27228501439094543, + "z": 6.289771556854248 + }, + "rotation": { + "x": -1.976354042199091e-06, + "y": 90.0000228881836, + "z": 9.469399060435535e-07 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 5.0788726806640625, + "objectType": "Vase", + "objectId": "Vase|surface|4|24", + "assetId": "Vase_Flat_5", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.8065643310546875, + 0.34241700172424316, + 6.365267753601074 + ], + [ + 4.8065643310546875, + 0.34241700172424316, + 6.2142744064331055 + ], + [ + 4.8065643310546875, + 0.27224910259246826, + 6.365267753601074 + ], + [ + 4.8065643310546875, + 0.27224910259246826, + 6.2142744064331055 + ], + [ + 4.655572891235352, + 0.34241700172424316, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.34241700172424316, + 6.2142744064331055 + ], + [ + 4.655572891235352, + 0.27224910259246826, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.27224910259246826, + 6.2142744064331055 + ] + ], + "center": { + "x": 4.7310686111450195, + "y": 0.3073330521583557, + "z": 6.28977108001709 + }, + "size": { + "x": 0.15099143981933594, + "y": 0.0701678991317749, + "z": 0.15099334716796875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.806564807891846, + 0.2722490131855011, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.2722490131855011, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.2722490131855011, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.2722490131855011, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.3424171209335327, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.3424171209335327, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.3424171209335327, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.3424171209335327, + 6.2142744064331055 + ] + ] + } + } + }, + { + "objectId": "TVStand|4|0|0", + "object_info": { + "name": "TVStand|4|0|0", + "position": { + "x": 4.588324069976807, + "y": 0.0009346157312393188, + "z": 6.329517364501953 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": [ + "Television|4|0|1" + ], + "distance": 5.161177635192871, + "objectType": "TVStand", + "objectId": "TVStand|4|0|0", + "assetId": "TV_Stand_220_1", + "parentReceptacles": [ + "Floor", + "Plate|surface|4|19" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.207240104675293, + 0.4502491354942322, + 6.515999794006348 + ], + [ + 5.207240104675293, + 0.4502491354942322, + 6.146122932434082 + ], + [ + 5.207240104675293, + 2.8312206268310547e-07, + 6.515999794006348 + ], + [ + 5.207240104675293, + 2.8312206268310547e-07, + 6.146122932434082 + ], + [ + 3.969435691833496, + 0.4502491354942322, + 6.515999794006348 + ], + [ + 3.969435691833496, + 0.4502491354942322, + 6.146122932434082 + ], + [ + 3.969435691833496, + 2.8312206268310547e-07, + 6.515999794006348 + ], + [ + 3.969435691833496, + 2.8312206268310547e-07, + 6.146122932434082 + ] + ], + "center": { + "x": 4.5883378982543945, + "y": 0.22512470185756683, + "z": 6.331061363220215 + }, + "size": { + "x": 1.2378044128417969, + "y": 0.4502488374710083, + "z": 0.3698768615722656 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.969435930252075, + 2.682209014892578e-07, + 6.14612340927124 + ], + [ + 5.207239627838135, + 2.682209014892578e-07, + 6.14612340927124 + ], + [ + 5.207239627838135, + 2.682209014892578e-07, + 6.515999794006348 + ], + [ + 3.969435930252075, + 2.682209014892578e-07, + 6.515999794006348 + ], + [ + 3.969435930252075, + 0.4502490758895874, + 6.14612340927124 + ], + [ + 5.207239627838135, + 0.4502490758895874, + 6.14612340927124 + ], + [ + 5.207239627838135, + 0.4502490758895874, + 6.515999794006348 + ], + [ + 3.969435930252075, + 0.4502490758895874, + 6.515999794006348 + ] + ] + } + } + }, + { + "objectId": "DiningTable|4|1|0", + "object_info": { + "name": "DiningTable|4|1|0", + "position": { + "x": 5.355981826782227, + "y": -0.0031822919845581055, + "z": 3.724600076675415 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Laptop|surface|4|23", + "Book|surface|4|26" + ], + "distance": 2.7034060955047607, + "objectType": "DiningTable", + "objectId": "DiningTable|4|1|0", + "assetId": "Dining_Table_218_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.855982780456543, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 5.855982780456543, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 2.8305177688598633 + ] + ], + "center": { + "x": 5.355981826782227, + "y": 0.3905254304409027, + "z": 3.724600076675415 + }, + "size": { + "x": 1.0000019073486328, + "y": 0.7810438275337219, + "z": 1.7881646156311035 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.855982303619385, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 3.5762786865234375e-06, + 4.618681907653809 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 4.618682384490967 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 4.618681907653809 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 4.618682384490967 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 2.8305180072784424 + ] + ] + } + } + }, + { + "objectId": "Chair|4|1|2", + "object_info": { + "name": "Chair|4|1|2", + "position": { + "x": 5.356987476348877, + "y": 0.0031416714191436768, + "z": 4.78104829788208 + }, + "rotation": { + "x": -0.0, + "y": 174.24070739746094, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 3.6936275959014893, + "objectType": "Chair", + "objectId": "Chair|4|1|2", + "assetId": "Chair_224_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.615507125854492, + 0.8033755421638489, + 5.103589057922363 + ], + [ + 5.615507125854492, + 0.8033755421638489, + 4.454636573791504 + ], + [ + 5.615507125854492, + -1.0073184967041016e-05, + 5.103589057922363 + ], + [ + 5.615507125854492, + -1.0073184967041016e-05, + 4.454636573791504 + ], + [ + 5.106142044067383, + 0.8033755421638489, + 5.103589057922363 + ], + [ + 5.106142044067383, + 0.8033755421638489, + 4.454636573791504 + ], + [ + 5.106142044067383, + -1.0073184967041016e-05, + 5.103589057922363 + ], + [ + 5.106142044067383, + -1.0073184967041016e-05, + 4.454636573791504 + ] + ], + "center": { + "x": 5.3608245849609375, + "y": 0.4016827344894409, + "z": 4.779112815856934 + }, + "size": { + "x": 0.5093650817871094, + "y": 0.8033856153488159, + "z": 0.6489524841308594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.15634822845459, + -9.98377799987793e-06, + 4.451790809631348 + ], + [ + 5.61686897277832, + -9.98377799987793e-06, + 4.4982380867004395 + ], + [ + 5.5556254386901855, + -9.98377799987793e-06, + 5.105459213256836 + ], + [ + 5.095105171203613, + -9.98377799987793e-06, + 5.059011936187744 + ], + [ + 5.15634822845459, + 0.8033754825592041, + 4.451790809631348 + ], + [ + 5.61686897277832, + 0.8033754825592041, + 4.4982380867004395 + ], + [ + 5.5556254386901855, + 0.8033754825592041, + 5.105459213256836 + ], + [ + 5.095105171203613, + 0.8033754825592041, + 5.059011936187744 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___0", + "object_info": { + "name": "Drawer", + "position": { + "x": 3.606998920440674, + "y": 0.5816994309425354, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.115259647369385, + "objectType": "Drawer", + "objectId": "Dresser|4|3___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.6747716069221497, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.6747716069221497, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.4870700240135193, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.4870700240135193, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.6747716069221497, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.6747716069221497, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.4870700240135193, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.4870700240135193, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.5809208154678345, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|4", + "object_info": { + "name": "door|2|4", + "position": { + "x": 6.539700508117676, + "y": -0.0005981922149658203, + "z": 2.0724358558654785 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1661734580993652, + "objectType": "Doorframe", + "objectId": "door|2|4", + "assetId": "Doorframe_Double_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.590658664703369, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.590658664703369, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.590658664703369, + 0.0, + 4.011923313140869 + ], + [ + 6.590658664703369, + 0.0, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 0.0, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 0.0, + 2.069113254547119 + ] + ], + "center": { + "x": 6.540999889373779, + "y": 1.0435373783111572, + "z": 3.040518283843994 + }, + "size": { + "x": 0.09931755065917969, + "y": 2.0870747566223145, + "z": 1.94281005859375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|4|3", + "object_info": { + "name": "Dresser|4|3", + "position": { + "x": 3.606998920440674, + "y": -4.786252975463867e-05, + "z": 6.362965106964111 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Watch|surface|4|16", + "CellPhone|surface|4|17" + ], + "distance": 5.316083908081055, + "objectType": "Dresser", + "objectId": "Dresser|4|3", + "assetId": "RoboTHOR_dresser_rast_v", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.917998790740967, + 0.6992043256759644, + 6.518101692199707 + ], + [ + 3.917998790740967, + 0.6992043256759644, + 6.203625679016113 + ], + [ + 3.917998790740967, + 3.838539123535156e-05, + 6.518101692199707 + ], + [ + 3.917998790740967, + 3.838539123535156e-05, + 6.203625679016113 + ], + [ + 3.295999050140381, + 0.6992043256759644, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992043256759644, + 6.203625679016113 + ], + [ + 3.295999050140381, + 3.838539123535156e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 3.838539123535156e-05, + 6.203625679016113 + ] + ], + "center": { + "x": 3.606998920440674, + "y": 0.34962135553359985, + "z": 6.36086368560791 + }, + "size": { + "x": 0.6219997406005859, + "y": 0.699165940284729, + "z": 0.31447601318359375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.295999050140381, + 3.8564205169677734e-05, + 6.20362663269043 + ], + [ + 3.917998790740967, + 3.8564205169677734e-05, + 6.20362663269043 + ], + [ + 3.917998790740967, + 3.8564205169677734e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 3.8564205169677734e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992037892341614, + 6.20362663269043 + ], + [ + 3.917998790740967, + 0.6992037892341614, + 6.20362663269043 + ], + [ + 3.917998790740967, + 0.6992037892341614, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992037892341614, + 6.518101692199707 + ] + ] + } + } + }, + { + "objectId": "CreditCard|surface|4|21", + "object_info": { + "name": "CreditCard|surface|4|21", + "position": { + "x": 4.137941837310791, + "y": 0.27259376645088196, + "z": 6.3295159339904785 + }, + "rotation": { + "x": 0.00015720646479167044, + "y": 90.0001449584961, + "z": -0.00030558553407900035 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.15470552444458, + "objectType": "CreditCard", + "objectId": "CreditCard|surface|4|21", + "assetId": "CreditCard_3", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.164941310882568, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.164941310882568, + 0.27673888206481934, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.27224868535995483, + 6.372598171234131 + ], + [ + 4.164941310882568, + 0.27224868535995483, + 6.286433696746826 + ], + [ + 4.110942363739014, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27673888206481934, + 6.286433696746826 + ], + [ + 4.110942363739014, + 0.27224868535995483, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27224868535995483, + 6.286433696746826 + ] + ], + "center": { + "x": 4.137941837310791, + "y": 0.2744937837123871, + "z": 6.3295159339904785 + }, + "size": { + "x": 0.05399894714355469, + "y": 0.004490196704864502, + "z": 0.08616447448730469 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.16494083404541, + 0.27224868535995483, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.27224916219711304, + 6.372598171234131 + ], + [ + 4.110942840576172, + 0.2722492814064026, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.2722488343715668, + 6.286433696746826 + ], + [ + 4.16494083404541, + 0.2767382860183716, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.2767387330532074, + 6.372598171234131 + ], + [ + 4.110942840576172, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27673840522766113, + 6.286433696746826 + ] + ] + } + } + }, + { + "objectId": "Painting|4|6", + "object_info": { + "name": "Painting|4|6", + "position": { + "x": 6.538111209869385, + "y": 1.4183659553527832, + "z": 4.80001974105835 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.008447170257568, + "objectType": "Painting", + "objectId": "Painting|4|6", + "assetId": "Wall_Decor_Painting_8", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.5360002517700195, + 1.681741714477539, + 5.152198791503906 + ], + [ + 6.5360002517700195, + 1.681741714477539, + 4.4491167068481445 + ], + [ + 6.5360002517700195, + 1.1549901962280273, + 5.152198791503906 + ], + [ + 6.5360002517700195, + 1.1549901962280273, + 4.4491167068481445 + ], + [ + 6.518789291381836, + 1.681741714477539, + 5.152198791503906 + ], + [ + 6.518789291381836, + 1.681741714477539, + 4.4491167068481445 + ], + [ + 6.518789291381836, + 1.1549901962280273, + 5.152198791503906 + ], + [ + 6.518789291381836, + 1.1549901962280273, + 4.4491167068481445 + ] + ], + "center": { + "x": 6.527394771575928, + "y": 1.4183659553527832, + "z": 4.800657749176025 + }, + "size": { + "x": 0.017210960388183594, + "y": 0.5267515182495117, + "z": 0.7030820846557617 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TVStand|4|0|0___1", + "object_info": { + "name": "Shelf", + "position": { + "x": 4.588322162628174, + "y": 0.2684445381164551, + "z": 6.3295159339904785 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Watch|surface|4|20", + "Book|surface|4|22", + "KeyChain|surface|4|18", + "Vase|surface|4|24", + "CreditCard|surface|4|21" + ], + "distance": 5.121303558349609, + "objectType": "DiningTable", + "objectId": "TVStand|4|0|0___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.18937349319458, + 0.3674442172050476, + 6.494719982147217 + ], + [ + 5.18937349319458, + 0.3674442172050476, + 6.16431188583374 + ], + [ + 5.18937349319458, + 0.26823681592941284, + 6.494719982147217 + ], + [ + 5.18937349319458, + 0.26823681592941284, + 6.16431188583374 + ], + [ + 3.9872708320617676, + 0.3674442172050476, + 6.494719982147217 + ], + [ + 3.9872708320617676, + 0.3674442172050476, + 6.16431188583374 + ], + [ + 3.9872708320617676, + 0.26823681592941284, + 6.494719982147217 + ], + [ + 3.9872708320617676, + 0.26823681592941284, + 6.16431188583374 + ] + ], + "center": { + "x": 4.588322162628174, + "y": 0.3178405165672302, + "z": 6.3295159339904785 + }, + "size": { + "x": 1.2021026611328125, + "y": 0.09920740127563477, + "z": 0.33040809631347656 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Watch|surface|4|16", + "object_info": { + "name": "Watch|surface|4|16", + "position": { + "x": 3.6847031116485596, + "y": 0.7003282308578491, + "z": 6.288086414337158 + }, + "rotation": { + "x": 1.9947741031646729, + "y": 180.00387573242188, + "z": 1.19093656539917 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07000000029802322, + "salientMaterials": [ + "Metal", + "Glass", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.153391361236572, + "objectType": "Watch", + "objectId": "Watch|surface|4|16", + "assetId": "Watch_2", + "parentReceptacles": [ + "Dresser|4|3", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.7239737510681152, + 0.7344659566879272, + 6.313935279846191 + ], + [ + 3.7239737510681152, + 0.7344659566879272, + 6.265624046325684 + ], + [ + 3.7239737510681152, + 0.6990219354629517, + 6.313935279846191 + ], + [ + 3.7239737510681152, + 0.6990219354629517, + 6.265624046325684 + ], + [ + 3.6450982093811035, + 0.7344659566879272, + 6.313935279846191 + ], + [ + 3.6450982093811035, + 0.7344659566879272, + 6.265624046325684 + ], + [ + 3.6450982093811035, + 0.6990219354629517, + 6.313935279846191 + ], + [ + 3.6450982093811035, + 0.6990219354629517, + 6.265624046325684 + ] + ], + "center": { + "x": 3.6845359802246094, + "y": 0.7167439460754395, + "z": 6.2897796630859375 + }, + "size": { + "x": 0.07887554168701172, + "y": 0.035444021224975586, + "z": 0.04831123352050781 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.644953966140747, + 0.6981589794158936, + 6.265713691711426 + ], + [ + 3.723494052886963, + 0.6965271830558777, + 6.265765190124512 + ], + [ + 3.723497152328491, + 0.6982251405715942, + 6.314515590667725 + ], + [ + 3.6449573040008545, + 0.6998568773269653, + 6.314464092254639 + ], + [ + 3.645716905593872, + 0.7348403334617615, + 6.2644362449646 + ], + [ + 3.724256992340088, + 0.7332085967063904, + 6.2644877433776855 + ], + [ + 3.724260091781616, + 0.7349065542221069, + 6.31323766708374 + ], + [ + 3.6457202434539795, + 0.736538290977478, + 6.313186168670654 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___2", + "object_info": { + "name": "Drawer (2)", + "position": { + "x": 3.606998920440674, + "y": 0.20109392702579498, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.1530375480651855, + "objectType": "Drawer", + "objectId": "Dresser|4|3___2", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.29416608810424805, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.29416608810424805, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.10646450519561768, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.10646450519561768, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.29416608810424805, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.29416608810424805, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.10646450519561768, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.10646450519561768, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.20031529664993286, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|3", + "object_info": { + "name": "door|2|3", + "position": { + "x": 9.811773300170898, + "y": -0.00026702880859375, + "z": 6.5231428146362305 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 7.364771842956543, + "objectType": "Doorway", + "objectId": "door|2|3", + "assetId": "Doorway_Double_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.727968215942383, + 2.095932960510254, + 6.545433044433594 + ], + [ + 10.727968215942383, + 2.095932960510254, + 4.553407669067383 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 4.553407669067383 + ], + [ + 9.760202407836914, + 2.095932960510254, + 6.545433044433594 + ], + [ + 9.760202407836914, + 2.095932960510254, + 4.553407669067383 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 4.553407669067383 + ] + ], + "center": { + "x": 10.244085311889648, + "y": 1.0479663610458374, + "z": 5.549420356750488 + }, + "size": { + "x": 0.9677658081054688, + "y": 2.095933198928833, + "z": 1.992025375366211 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|3|7", + "object_info": { + "name": "Painting|3|7", + "position": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.831557273864746, + "objectType": "Painting", + "objectId": "Painting|3|7", + "assetId": "Wall_Decor_Photo_10", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.833455085754395, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.50425910949707 + ] + ], + "center": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.520129680633545 + }, + "size": { + "x": 0.7115726470947266, + "y": 0.4246177673339844, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|4|4", + "object_info": { + "name": "Painting|4|4", + "position": { + "x": 3.608247995376587, + "y": 1.9246368408203125, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.503932476043701, + "objectType": "Painting", + "objectId": "Painting|4|4", + "assetId": "Wall_Decor_Photo_1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.9420716762542725, + 2.1772351264953613, + 6.5360002517700195 + ], + [ + 3.9420716762542725, + 2.1772351264953613, + 6.50425910949707 + ], + [ + 3.9420716762542725, + 1.6720385551452637, + 6.5360002517700195 + ], + [ + 3.9420716762542725, + 1.6720385551452637, + 6.50425910949707 + ], + [ + 3.2744243144989014, + 2.1772351264953613, + 6.5360002517700195 + ], + [ + 3.2744243144989014, + 2.1772351264953613, + 6.50425910949707 + ], + [ + 3.2744243144989014, + 1.6720385551452637, + 6.5360002517700195 + ], + [ + 3.2744243144989014, + 1.6720385551452637, + 6.50425910949707 + ] + ], + "center": { + "x": 3.608247995376587, + "y": 1.9246368408203125, + "z": 6.520129680633545 + }, + "size": { + "x": 0.6676473617553711, + "y": 0.5051965713500977, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Fridge|2|1", + "object_info": { + "name": "Fridge|2|1", + "position": { + "x": 8.027824401855469, + "y": 0.007394969463348389, + "z": 6.196259021759033 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Tomato|surface|2|5", + "Potato|surface|2|7" + ], + "distance": 6.000678539276123, + "objectType": "Fridge", + "objectId": "Fridge|2|1", + "assetId": "Fridge_15", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.576839447021484, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 8.576839447021484, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 8.576839447021484, + 0.0, + 6.515999794006348 + ], + [ + 8.576839447021484, + 0.0, + 5.736844062805176 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 7.494537353515625, + 0.0, + 6.515999794006348 + ], + [ + 7.494537353515625, + 0.0, + 5.736844062805176 + ] + ], + "center": { + "x": 8.035688400268555, + "y": 0.9413036108016968, + "z": 6.126421928405762 + }, + "size": { + "x": 1.0823020935058594, + "y": 1.8826072216033936, + "z": 0.7791557312011719 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Television|4|0|1", + "object_info": { + "name": "Television|4|0|1", + "position": { + "x": 4.5883378982543945, + "y": 0.9386330842971802, + "z": 6.25775671005249 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.010506629943848, + "objectType": "Television", + "objectId": "Television|4|0|1", + "assetId": "Television_23", + "parentReceptacles": [ + "Floor", + "TVStand|4|0|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.0883378982543945, + 1.2561266422271729, + 6.508190631866455 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.153933048248291 + ], + [ + 5.0883378982543945, + 0.4502493143081665, + 6.508190631866455 + ], + [ + 5.0883378982543945, + 0.4502493143081665, + 6.153933048248291 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.508190631866455 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.153933048248291 + ], + [ + 4.0883378982543945, + 0.4502493143081665, + 6.508190631866455 + ], + [ + 4.0883378982543945, + 0.4502493143081665, + 6.153933048248291 + ] + ], + "center": { + "x": 4.5883378982543945, + "y": 0.8531879782676697, + "z": 6.331061840057373 + }, + "size": { + "x": 1.0, + "y": 0.8058773279190063, + "z": 0.35425758361816406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.0883378982543945, + 0.4502493441104889, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 0.4502493441104889, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 0.4502493441104889, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 0.4502493441104889, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.508191108703613 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 5.199999809265137, + "y": 0.9009997844696045, + "z": 1.2999999523162842 + }, + "agent_rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "agent_cameraHorizon": -30.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 5.199999809265137, + "y": 1.5759997367858887, + "z": 1.2999999523162842 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "door|2|4", + "door|2|3", + "Painting|3|7" + ], + "different_object": [ + "Fridge|2|1", + "CellPhone|surface|4|17", + "Dresser|4|3", + "Book|surface|4|22", + "DiningTable|4|1|0", + "Dresser|4|3___0", + "TVStand|4|0|0___1", + "Watch|surface|4|16", + "Dresser|4|3___2", + "CreditCard|surface|4|21", + "Vase|surface|4|24", + "Painting|4|6", + "Dresser|4|3___1", + "Television|4|0|1", + "Painting|4|4", + "Chair|4|1|2", + "TVStand|4|0|0" + ] +} \ No newline at end of file diff --git a/train/train436/3/1_depth_npy.npy b/train/train436/3/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..c7f0ed435248ac29e19a6d08903a38a92e85e10e --- /dev/null +++ b/train/train436/3/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:41653694ff43bda7aeb1b5e782d44c264a56f65cb46fc196d04dcdb0fcb94b3a +size 3145856 diff --git a/train/train436/3/1_semantic_sensor_npy.npy b/train/train436/3/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..9eca891343d758ecd9650a2df7fd41d85315f931 --- /dev/null +++ b/train/train436/3/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0903989acf87dc1ea27c974a6395a9d85ca7a3a021e0b86bfd904ea090818066 +size 2359424 diff --git a/train/train436/3/depth_0.png b/train/train436/3/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..6434bd9b15dfa0475b46915937bc0eb5cf54b9f4 Binary files /dev/null and b/train/train436/3/depth_0.png differ diff --git a/train/train436/3/depth_1.png b/train/train436/3/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..4ddc76db69fc926a2d9f54f85772c2ec83a995d8 Binary files /dev/null and b/train/train436/3/depth_1.png differ diff --git a/train/train436/3/mask_questions.jsonl b/train/train436/3/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/train/train436/3/questions_direction.jsonl b/train/train436/3/questions_direction.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7d68a02e0983f8c4f46f14b9233de06c2b208e8a --- /dev/null +++ b/train/train436/3/questions_direction.jsonl @@ -0,0 +1,6 @@ +{"id": 4455, "folder_dir": "train436/3", "pair_name": "FloorLamp-Book", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of FloorLamp. Where is the centroid position of Book in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "FloorLamp", "tgt_object": "Book", "src_com": {"x": 6.263580322265625, "y": 1.0368435382843018, "z": 0.9614665508270264}, "tgt_com": {"x": 4.434380531311035, "y": 0.28968751430511475, "z": 6.330196380615234}, "agent_pos": {"x": 5.199999809265137, "y": 1.5759997367858887, "z": 1.2999999523162842}, "image_1": "train436/3/rgb_0.png", "image_2": "train436/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4456, "folder_dir": "train436/3", "pair_name": "FloorLamp-Chair", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of FloorLamp. Where is the centroid position of Chair in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "FloorLamp", "tgt_object": "Chair", "src_com": {"x": 6.263580322265625, "y": 1.0368435382843018, "z": 0.9614665508270264}, "tgt_com": {"x": 5.3608245849609375, "y": 0.4016827344894409, "z": 4.779112815856934}, "agent_pos": {"x": 5.199999809265137, "y": 1.5759997367858887, "z": 1.2999999523162842}, "image_1": "train436/3/rgb_0.png", "image_2": "train436/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4457, "folder_dir": "train436/3", "pair_name": "FloorLamp-Television", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of FloorLamp. Where is the centroid position of Television in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "FloorLamp", "tgt_object": "Television", "src_com": {"x": 6.263580322265625, "y": 1.0368435382843018, "z": 0.9614665508270264}, "tgt_com": {"x": 4.5883378982543945, "y": 0.8531879782676697, "z": 6.331061840057373}, "agent_pos": {"x": 5.199999809265137, "y": 1.5759997367858887, "z": 1.2999999523162842}, "image_1": "train436/3/rgb_0.png", "image_2": "train436/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4458, "folder_dir": "train436/3", "pair_name": "Book-FloorLamp", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Book. Where is the centroid position of FloorLamp in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Book", "tgt_object": "FloorLamp", "src_com": {"x": 4.434380531311035, "y": 0.28968751430511475, "z": 6.330196380615234}, "tgt_com": {"x": 6.263580322265625, "y": 1.0368435382843018, "z": 0.9614665508270264}, "agent_pos": {"x": 5.199999809265137, "y": 1.5759997367858887, "z": 1.2999999523162842}, "image_1": "train436/3/rgb_1.png", "image_2": "train436/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4459, "folder_dir": "train436/3", "pair_name": "Chair-FloorLamp", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Chair. Where is the centroid position of FloorLamp in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Chair", "tgt_object": "FloorLamp", "src_com": {"x": 5.3608245849609375, "y": 0.4016827344894409, "z": 4.779112815856934}, "tgt_com": {"x": 6.263580322265625, "y": 1.0368435382843018, "z": 0.9614665508270264}, "agent_pos": {"x": 5.199999809265137, "y": 1.5759997367858887, "z": 1.2999999523162842}, "image_1": "train436/3/rgb_1.png", "image_2": "train436/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4460, "folder_dir": "train436/3", "pair_name": "Television-FloorLamp", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Television. Where is the centroid position of FloorLamp in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Television", "tgt_object": "FloorLamp", "src_com": {"x": 4.5883378982543945, "y": 0.8531879782676697, "z": 6.331061840057373}, "tgt_com": {"x": 6.263580322265625, "y": 1.0368435382843018, "z": 0.9614665508270264}, "agent_pos": {"x": 5.199999809265137, "y": 1.5759997367858887, "z": 1.2999999523162842}, "image_1": "train436/3/rgb_1.png", "image_2": "train436/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} diff --git a/train/train436/3/rgb_0.png b/train/train436/3/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..ea9677b74860e484d76f2813dd031bc5a9e4815d --- /dev/null +++ b/train/train436/3/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:44c9d41e2cccf58dfbe1a8be90841c85898e68b42097f10b567dc271dee9fbe4 +size 193684 diff --git a/train/train436/3/rgb_1.png b/train/train436/3/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..f896701dce716931756fdf8743ca9a730ad3dbc5 --- /dev/null +++ b/train/train436/3/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:36aa91e9cd661acddb80176a0e48f4d977f56f437705ccc0eb36d47b50094057 +size 244087 diff --git a/train/train436/3/semantic_0.png b/train/train436/3/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..b1408724fe5271baa427d242fca9638154ae2e38 Binary files /dev/null and b/train/train436/3/semantic_0.png differ diff --git a/train/train436/3/semantic_1.png b/train/train436/3/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..955221a1931a65d9f4f15b6f02b69aa9d401dd18 Binary files /dev/null and b/train/train436/3/semantic_1.png differ diff --git a/train/train436/4/0.json b/train/train436/4/0.json new file mode 100644 index 0000000000000000000000000000000000000000..9079afcc75414ddc2de84ae8a393c76c597abb12 --- /dev/null +++ b/train/train436/4/0.json @@ -0,0 +1,2622 @@ +{ + "object": [ + { + "objectId": "Book|surface|4|22", + "object_info": { + "name": "Book|surface|4|22", + "position": { + "x": 4.434379577636719, + "y": 0.27263882756233215, + "z": 6.329527378082275 + }, + "rotation": { + "x": 0.002365913474932313, + "y": 90.0003890991211, + "z": 0.25729310512542725 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 5.127967834472656, + "objectType": "Book", + "objectId": "Book|surface|4|22", + "assetId": "Book_20", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.586941719055176, + 0.30716240406036377, + 6.458010673522949 + ], + [ + 4.586941719055176, + 0.30716240406036377, + 6.2023820877075195 + ], + [ + 4.586941719055176, + 0.2722126245498657, + 6.458010673522949 + ], + [ + 4.586941719055176, + 0.2722126245498657, + 6.2023820877075195 + ], + [ + 4.2818193435668945, + 0.30716240406036377, + 6.458010673522949 + ], + [ + 4.2818193435668945, + 0.30716240406036377, + 6.2023820877075195 + ], + [ + 4.2818193435668945, + 0.2722126245498657, + 6.458010673522949 + ], + [ + 4.2818193435668945, + 0.2722126245498657, + 6.2023820877075195 + ] + ], + "center": { + "x": 4.434380531311035, + "y": 0.28968751430511475, + "z": 6.330196380615234 + }, + "size": { + "x": 0.30512237548828125, + "y": 0.03494977951049805, + "z": 0.2556285858154297 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.586939334869385, + 0.2724279761314392, + 6.202378273010254 + ], + [ + 4.586941242218018, + 0.2712807059288025, + 6.45785665512085 + ], + [ + 4.2818193435668945, + 0.2712933123111725, + 6.457858562469482 + ], + [ + 4.281817436218262, + 0.2724405825138092, + 6.202380657196045 + ], + [ + 4.586940765380859, + 0.3073573708534241, + 6.202535152435303 + ], + [ + 4.586942672729492, + 0.30621010065078735, + 6.458013534545898 + ], + [ + 4.281820774078369, + 0.30622270703315735, + 6.458015441894531 + ], + [ + 4.281818866729736, + 0.30736997723579407, + 6.202537536621094 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___1", + "object_info": { + "name": "Drawer (1)", + "position": { + "x": 3.606998920440674, + "y": 0.39762961864471436, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.130039691925049, + "objectType": "Drawer", + "objectId": "Dresser|4|3___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.4907017946243286, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.4907017946243286, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.30300021171569824, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.30300021171569824, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.4907017946243286, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.4907017946243286, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.30300021171569824, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.30300021171569824, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.3968510031700134, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CellPhone|surface|4|17", + "object_info": { + "name": "CellPhone|surface|4|17", + "position": { + "x": 3.606998920440674, + "y": 0.6999126672744751, + "z": 6.400298118591309 + }, + "rotation": { + "x": 4.23526716986089e-06, + "y": 180.00010681152344, + "z": -0.0013795691775158048 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1599999964237213, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 5.279437065124512, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|4|17", + "assetId": "Cellphone_8", + "parentReceptacles": [ + "Dresser|4|3", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.645237445831299, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.645237445831299, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.645237445831299, + 0.6992031335830688, + 6.473209381103516 + ], + [ + 3.645237445831299, + 0.6992031335830688, + 6.327386856079102 + ], + [ + 3.568760395050049, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.568760395050049, + 0.6992031335830688, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.6992031335830688, + 6.327386856079102 + ] + ], + "center": { + "x": 3.606998920440674, + "y": 0.7046447992324829, + "z": 6.400298118591309 + }, + "size": { + "x": 0.07647705078125, + "y": 0.010883331298828125, + "z": 0.14582252502441406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.568760395050049, + 0.6992031335830688, + 6.327386856079102 + ], + [ + 3.6452372074127197, + 0.6992049813270569, + 6.327386856079102 + ], + [ + 3.645237445831299, + 0.6992050409317017, + 6.473209381103516 + ], + [ + 3.568760633468628, + 0.6992031931877136, + 6.473209381103516 + ], + [ + 3.5687601566314697, + 0.7100846171379089, + 6.327386856079102 + ], + [ + 3.6452369689941406, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.6452372074127197, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.7100846171379089, + 6.473209381103516 + ] + ] + } + } + }, + { + "objectId": "Vase|surface|4|24", + "object_info": { + "name": "Vase|surface|4|24", + "position": { + "x": 4.730817794799805, + "y": 0.27228501439094543, + "z": 6.289771556854248 + }, + "rotation": { + "x": -1.976354042199091e-06, + "y": 90.0000228881836, + "z": 9.469399060435535e-07 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 5.0788726806640625, + "objectType": "Vase", + "objectId": "Vase|surface|4|24", + "assetId": "Vase_Flat_5", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.8065643310546875, + 0.34241700172424316, + 6.365267753601074 + ], + [ + 4.8065643310546875, + 0.34241700172424316, + 6.2142744064331055 + ], + [ + 4.8065643310546875, + 0.27224910259246826, + 6.365267753601074 + ], + [ + 4.8065643310546875, + 0.27224910259246826, + 6.2142744064331055 + ], + [ + 4.655572891235352, + 0.34241700172424316, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.34241700172424316, + 6.2142744064331055 + ], + [ + 4.655572891235352, + 0.27224910259246826, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.27224910259246826, + 6.2142744064331055 + ] + ], + "center": { + "x": 4.7310686111450195, + "y": 0.3073330521583557, + "z": 6.28977108001709 + }, + "size": { + "x": 0.15099143981933594, + "y": 0.0701678991317749, + "z": 0.15099334716796875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.806564807891846, + 0.2722490131855011, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.2722490131855011, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.2722490131855011, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.2722490131855011, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.3424171209335327, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.3424171209335327, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.3424171209335327, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.3424171209335327, + 6.2142744064331055 + ] + ] + } + } + }, + { + "objectId": "TVStand|4|0|0", + "object_info": { + "name": "TVStand|4|0|0", + "position": { + "x": 4.588324069976807, + "y": 0.0009346157312393188, + "z": 6.329517364501953 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": [ + "Television|4|0|1" + ], + "distance": 5.161177635192871, + "objectType": "TVStand", + "objectId": "TVStand|4|0|0", + "assetId": "TV_Stand_220_1", + "parentReceptacles": [ + "Floor", + "Plate|surface|4|19" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.207240104675293, + 0.4502491354942322, + 6.515999794006348 + ], + [ + 5.207240104675293, + 0.4502491354942322, + 6.146122932434082 + ], + [ + 5.207240104675293, + 2.8312206268310547e-07, + 6.515999794006348 + ], + [ + 5.207240104675293, + 2.8312206268310547e-07, + 6.146122932434082 + ], + [ + 3.969435691833496, + 0.4502491354942322, + 6.515999794006348 + ], + [ + 3.969435691833496, + 0.4502491354942322, + 6.146122932434082 + ], + [ + 3.969435691833496, + 2.8312206268310547e-07, + 6.515999794006348 + ], + [ + 3.969435691833496, + 2.8312206268310547e-07, + 6.146122932434082 + ] + ], + "center": { + "x": 4.5883378982543945, + "y": 0.22512470185756683, + "z": 6.331061363220215 + }, + "size": { + "x": 1.2378044128417969, + "y": 0.4502488374710083, + "z": 0.3698768615722656 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.969435930252075, + 2.682209014892578e-07, + 6.14612340927124 + ], + [ + 5.207239627838135, + 2.682209014892578e-07, + 6.14612340927124 + ], + [ + 5.207239627838135, + 2.682209014892578e-07, + 6.515999794006348 + ], + [ + 3.969435930252075, + 2.682209014892578e-07, + 6.515999794006348 + ], + [ + 3.969435930252075, + 0.4502490758895874, + 6.14612340927124 + ], + [ + 5.207239627838135, + 0.4502490758895874, + 6.14612340927124 + ], + [ + 5.207239627838135, + 0.4502490758895874, + 6.515999794006348 + ], + [ + 3.969435930252075, + 0.4502490758895874, + 6.515999794006348 + ] + ] + } + } + }, + { + "objectId": "DiningTable|4|1|0", + "object_info": { + "name": "DiningTable|4|1|0", + "position": { + "x": 5.355981826782227, + "y": -0.0031822919845581055, + "z": 3.724600076675415 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Laptop|surface|4|23", + "Book|surface|4|26" + ], + "distance": 2.7034060955047607, + "objectType": "DiningTable", + "objectId": "DiningTable|4|1|0", + "assetId": "Dining_Table_218_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.855982780456543, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 5.855982780456543, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 2.8305177688598633 + ] + ], + "center": { + "x": 5.355981826782227, + "y": 0.3905254304409027, + "z": 3.724600076675415 + }, + "size": { + "x": 1.0000019073486328, + "y": 0.7810438275337219, + "z": 1.7881646156311035 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.855982303619385, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 3.5762786865234375e-06, + 4.618681907653809 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 4.618682384490967 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 4.618681907653809 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 4.618682384490967 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 2.8305180072784424 + ] + ] + } + } + }, + { + "objectId": "Chair|4|1|2", + "object_info": { + "name": "Chair|4|1|2", + "position": { + "x": 5.356987476348877, + "y": 0.0031416714191436768, + "z": 4.78104829788208 + }, + "rotation": { + "x": -0.0, + "y": 174.24070739746094, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 3.6936275959014893, + "objectType": "Chair", + "objectId": "Chair|4|1|2", + "assetId": "Chair_224_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.615507125854492, + 0.8033755421638489, + 5.103589057922363 + ], + [ + 5.615507125854492, + 0.8033755421638489, + 4.454636573791504 + ], + [ + 5.615507125854492, + -1.0073184967041016e-05, + 5.103589057922363 + ], + [ + 5.615507125854492, + -1.0073184967041016e-05, + 4.454636573791504 + ], + [ + 5.106142044067383, + 0.8033755421638489, + 5.103589057922363 + ], + [ + 5.106142044067383, + 0.8033755421638489, + 4.454636573791504 + ], + [ + 5.106142044067383, + -1.0073184967041016e-05, + 5.103589057922363 + ], + [ + 5.106142044067383, + -1.0073184967041016e-05, + 4.454636573791504 + ] + ], + "center": { + "x": 5.3608245849609375, + "y": 0.4016827344894409, + "z": 4.779112815856934 + }, + "size": { + "x": 0.5093650817871094, + "y": 0.8033856153488159, + "z": 0.6489524841308594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.15634822845459, + -9.98377799987793e-06, + 4.451790809631348 + ], + [ + 5.61686897277832, + -9.98377799987793e-06, + 4.4982380867004395 + ], + [ + 5.5556254386901855, + -9.98377799987793e-06, + 5.105459213256836 + ], + [ + 5.095105171203613, + -9.98377799987793e-06, + 5.059011936187744 + ], + [ + 5.15634822845459, + 0.8033754825592041, + 4.451790809631348 + ], + [ + 5.61686897277832, + 0.8033754825592041, + 4.4982380867004395 + ], + [ + 5.5556254386901855, + 0.8033754825592041, + 5.105459213256836 + ], + [ + 5.095105171203613, + 0.8033754825592041, + 5.059011936187744 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___0", + "object_info": { + "name": "Drawer", + "position": { + "x": 3.606998920440674, + "y": 0.5816994309425354, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.115259647369385, + "objectType": "Drawer", + "objectId": "Dresser|4|3___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.6747716069221497, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.6747716069221497, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.4870700240135193, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.4870700240135193, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.6747716069221497, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.6747716069221497, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.4870700240135193, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.4870700240135193, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.5809208154678345, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|4", + "object_info": { + "name": "door|2|4", + "position": { + "x": 6.539700508117676, + "y": -0.0005981922149658203, + "z": 2.0724358558654785 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1661734580993652, + "objectType": "Doorframe", + "objectId": "door|2|4", + "assetId": "Doorframe_Double_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.590658664703369, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.590658664703369, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.590658664703369, + 0.0, + 4.011923313140869 + ], + [ + 6.590658664703369, + 0.0, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 0.0, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 0.0, + 2.069113254547119 + ] + ], + "center": { + "x": 6.540999889373779, + "y": 1.0435373783111572, + "z": 3.040518283843994 + }, + "size": { + "x": 0.09931755065917969, + "y": 2.0870747566223145, + "z": 1.94281005859375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|4|3", + "object_info": { + "name": "Dresser|4|3", + "position": { + "x": 3.606998920440674, + "y": -4.786252975463867e-05, + "z": 6.362965106964111 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Watch|surface|4|16", + "CellPhone|surface|4|17" + ], + "distance": 5.316083908081055, + "objectType": "Dresser", + "objectId": "Dresser|4|3", + "assetId": "RoboTHOR_dresser_rast_v", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.917998790740967, + 0.6992043256759644, + 6.518101692199707 + ], + [ + 3.917998790740967, + 0.6992043256759644, + 6.203625679016113 + ], + [ + 3.917998790740967, + 3.838539123535156e-05, + 6.518101692199707 + ], + [ + 3.917998790740967, + 3.838539123535156e-05, + 6.203625679016113 + ], + [ + 3.295999050140381, + 0.6992043256759644, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992043256759644, + 6.203625679016113 + ], + [ + 3.295999050140381, + 3.838539123535156e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 3.838539123535156e-05, + 6.203625679016113 + ] + ], + "center": { + "x": 3.606998920440674, + "y": 0.34962135553359985, + "z": 6.36086368560791 + }, + "size": { + "x": 0.6219997406005859, + "y": 0.699165940284729, + "z": 0.31447601318359375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.295999050140381, + 3.8564205169677734e-05, + 6.20362663269043 + ], + [ + 3.917998790740967, + 3.8564205169677734e-05, + 6.20362663269043 + ], + [ + 3.917998790740967, + 3.8564205169677734e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 3.8564205169677734e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992037892341614, + 6.20362663269043 + ], + [ + 3.917998790740967, + 0.6992037892341614, + 6.20362663269043 + ], + [ + 3.917998790740967, + 0.6992037892341614, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992037892341614, + 6.518101692199707 + ] + ] + } + } + }, + { + "objectId": "CreditCard|surface|4|21", + "object_info": { + "name": "CreditCard|surface|4|21", + "position": { + "x": 4.137941837310791, + "y": 0.27259376645088196, + "z": 6.3295159339904785 + }, + "rotation": { + "x": 0.00015720646479167044, + "y": 90.0001449584961, + "z": -0.00030558553407900035 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.15470552444458, + "objectType": "CreditCard", + "objectId": "CreditCard|surface|4|21", + "assetId": "CreditCard_3", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.164941310882568, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.164941310882568, + 0.27673888206481934, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.27224868535995483, + 6.372598171234131 + ], + [ + 4.164941310882568, + 0.27224868535995483, + 6.286433696746826 + ], + [ + 4.110942363739014, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27673888206481934, + 6.286433696746826 + ], + [ + 4.110942363739014, + 0.27224868535995483, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27224868535995483, + 6.286433696746826 + ] + ], + "center": { + "x": 4.137941837310791, + "y": 0.2744937837123871, + "z": 6.3295159339904785 + }, + "size": { + "x": 0.05399894714355469, + "y": 0.004490196704864502, + "z": 0.08616447448730469 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.16494083404541, + 0.27224868535995483, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.27224916219711304, + 6.372598171234131 + ], + [ + 4.110942840576172, + 0.2722492814064026, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.2722488343715668, + 6.286433696746826 + ], + [ + 4.16494083404541, + 0.2767382860183716, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.2767387330532074, + 6.372598171234131 + ], + [ + 4.110942840576172, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27673840522766113, + 6.286433696746826 + ] + ] + } + } + }, + { + "objectId": "Painting|4|6", + "object_info": { + "name": "Painting|4|6", + "position": { + "x": 6.538111209869385, + "y": 1.4183659553527832, + "z": 4.80001974105835 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.008447170257568, + "objectType": "Painting", + "objectId": "Painting|4|6", + "assetId": "Wall_Decor_Painting_8", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.5360002517700195, + 1.681741714477539, + 5.152198791503906 + ], + [ + 6.5360002517700195, + 1.681741714477539, + 4.4491167068481445 + ], + [ + 6.5360002517700195, + 1.1549901962280273, + 5.152198791503906 + ], + [ + 6.5360002517700195, + 1.1549901962280273, + 4.4491167068481445 + ], + [ + 6.518789291381836, + 1.681741714477539, + 5.152198791503906 + ], + [ + 6.518789291381836, + 1.681741714477539, + 4.4491167068481445 + ], + [ + 6.518789291381836, + 1.1549901962280273, + 5.152198791503906 + ], + [ + 6.518789291381836, + 1.1549901962280273, + 4.4491167068481445 + ] + ], + "center": { + "x": 6.527394771575928, + "y": 1.4183659553527832, + "z": 4.800657749176025 + }, + "size": { + "x": 0.017210960388183594, + "y": 0.5267515182495117, + "z": 0.7030820846557617 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TVStand|4|0|0___1", + "object_info": { + "name": "Shelf", + "position": { + "x": 4.588322162628174, + "y": 0.2684445381164551, + "z": 6.3295159339904785 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Watch|surface|4|20", + "Book|surface|4|22", + "KeyChain|surface|4|18", + "Vase|surface|4|24", + "CreditCard|surface|4|21" + ], + "distance": 5.121303558349609, + "objectType": "DiningTable", + "objectId": "TVStand|4|0|0___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.18937349319458, + 0.3674442172050476, + 6.494719982147217 + ], + [ + 5.18937349319458, + 0.3674442172050476, + 6.16431188583374 + ], + [ + 5.18937349319458, + 0.26823681592941284, + 6.494719982147217 + ], + [ + 5.18937349319458, + 0.26823681592941284, + 6.16431188583374 + ], + [ + 3.9872708320617676, + 0.3674442172050476, + 6.494719982147217 + ], + [ + 3.9872708320617676, + 0.3674442172050476, + 6.16431188583374 + ], + [ + 3.9872708320617676, + 0.26823681592941284, + 6.494719982147217 + ], + [ + 3.9872708320617676, + 0.26823681592941284, + 6.16431188583374 + ] + ], + "center": { + "x": 4.588322162628174, + "y": 0.3178405165672302, + "z": 6.3295159339904785 + }, + "size": { + "x": 1.2021026611328125, + "y": 0.09920740127563477, + "z": 0.33040809631347656 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Watch|surface|4|16", + "object_info": { + "name": "Watch|surface|4|16", + "position": { + "x": 3.6847031116485596, + "y": 0.7003282308578491, + "z": 6.288086414337158 + }, + "rotation": { + "x": 1.9947741031646729, + "y": 180.00387573242188, + "z": 1.19093656539917 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07000000029802322, + "salientMaterials": [ + "Metal", + "Glass", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.153391361236572, + "objectType": "Watch", + "objectId": "Watch|surface|4|16", + "assetId": "Watch_2", + "parentReceptacles": [ + "Dresser|4|3", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.7239737510681152, + 0.7344659566879272, + 6.313935279846191 + ], + [ + 3.7239737510681152, + 0.7344659566879272, + 6.265624046325684 + ], + [ + 3.7239737510681152, + 0.6990219354629517, + 6.313935279846191 + ], + [ + 3.7239737510681152, + 0.6990219354629517, + 6.265624046325684 + ], + [ + 3.6450982093811035, + 0.7344659566879272, + 6.313935279846191 + ], + [ + 3.6450982093811035, + 0.7344659566879272, + 6.265624046325684 + ], + [ + 3.6450982093811035, + 0.6990219354629517, + 6.313935279846191 + ], + [ + 3.6450982093811035, + 0.6990219354629517, + 6.265624046325684 + ] + ], + "center": { + "x": 3.6845359802246094, + "y": 0.7167439460754395, + "z": 6.2897796630859375 + }, + "size": { + "x": 0.07887554168701172, + "y": 0.035444021224975586, + "z": 0.04831123352050781 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.644953966140747, + 0.6981589794158936, + 6.265713691711426 + ], + [ + 3.723494052886963, + 0.6965271830558777, + 6.265765190124512 + ], + [ + 3.723497152328491, + 0.6982251405715942, + 6.314515590667725 + ], + [ + 3.6449573040008545, + 0.6998568773269653, + 6.314464092254639 + ], + [ + 3.645716905593872, + 0.7348403334617615, + 6.2644362449646 + ], + [ + 3.724256992340088, + 0.7332085967063904, + 6.2644877433776855 + ], + [ + 3.724260091781616, + 0.7349065542221069, + 6.31323766708374 + ], + [ + 3.6457202434539795, + 0.736538290977478, + 6.313186168670654 + ] + ] + } + } + }, + { + "objectId": "door|2|3", + "object_info": { + "name": "door|2|3", + "position": { + "x": 9.811773300170898, + "y": -0.00026702880859375, + "z": 6.5231428146362305 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 7.364771842956543, + "objectType": "Doorway", + "objectId": "door|2|3", + "assetId": "Doorway_Double_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.727968215942383, + 2.095932960510254, + 6.545433044433594 + ], + [ + 10.727968215942383, + 2.095932960510254, + 4.553407669067383 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 4.553407669067383 + ], + [ + 9.760202407836914, + 2.095932960510254, + 6.545433044433594 + ], + [ + 9.760202407836914, + 2.095932960510254, + 4.553407669067383 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 4.553407669067383 + ] + ], + "center": { + "x": 10.244085311889648, + "y": 1.0479663610458374, + "z": 5.549420356750488 + }, + "size": { + "x": 0.9677658081054688, + "y": 2.095933198928833, + "z": 1.992025375366211 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|3|7", + "object_info": { + "name": "Painting|3|7", + "position": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.831557273864746, + "objectType": "Painting", + "objectId": "Painting|3|7", + "assetId": "Wall_Decor_Photo_10", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.833455085754395, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.50425910949707 + ] + ], + "center": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.520129680633545 + }, + "size": { + "x": 0.7115726470947266, + "y": 0.4246177673339844, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|4|4", + "object_info": { + "name": "Painting|4|4", + "position": { + "x": 3.608247995376587, + "y": 1.9246368408203125, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.503932476043701, + "objectType": "Painting", + "objectId": "Painting|4|4", + "assetId": "Wall_Decor_Photo_1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.9420716762542725, + 2.1772351264953613, + 6.5360002517700195 + ], + [ + 3.9420716762542725, + 2.1772351264953613, + 6.50425910949707 + ], + [ + 3.9420716762542725, + 1.6720385551452637, + 6.5360002517700195 + ], + [ + 3.9420716762542725, + 1.6720385551452637, + 6.50425910949707 + ], + [ + 3.2744243144989014, + 2.1772351264953613, + 6.5360002517700195 + ], + [ + 3.2744243144989014, + 2.1772351264953613, + 6.50425910949707 + ], + [ + 3.2744243144989014, + 1.6720385551452637, + 6.5360002517700195 + ], + [ + 3.2744243144989014, + 1.6720385551452637, + 6.50425910949707 + ] + ], + "center": { + "x": 3.608247995376587, + "y": 1.9246368408203125, + "z": 6.520129680633545 + }, + "size": { + "x": 0.6676473617553711, + "y": 0.5051965713500977, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Fridge|2|1", + "object_info": { + "name": "Fridge|2|1", + "position": { + "x": 8.027824401855469, + "y": 0.007394969463348389, + "z": 6.196259021759033 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Tomato|surface|2|5", + "Potato|surface|2|7" + ], + "distance": 6.000678539276123, + "objectType": "Fridge", + "objectId": "Fridge|2|1", + "assetId": "Fridge_15", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.576839447021484, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 8.576839447021484, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 8.576839447021484, + 0.0, + 6.515999794006348 + ], + [ + 8.576839447021484, + 0.0, + 5.736844062805176 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 7.494537353515625, + 0.0, + 6.515999794006348 + ], + [ + 7.494537353515625, + 0.0, + 5.736844062805176 + ] + ], + "center": { + "x": 8.035688400268555, + "y": 0.9413036108016968, + "z": 6.126421928405762 + }, + "size": { + "x": 1.0823020935058594, + "y": 1.8826072216033936, + "z": 0.7791557312011719 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Television|4|0|1", + "object_info": { + "name": "Television|4|0|1", + "position": { + "x": 4.5883378982543945, + "y": 0.9386330842971802, + "z": 6.25775671005249 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.010506629943848, + "objectType": "Television", + "objectId": "Television|4|0|1", + "assetId": "Television_23", + "parentReceptacles": [ + "Floor", + "TVStand|4|0|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.0883378982543945, + 1.2561266422271729, + 6.508190631866455 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.153933048248291 + ], + [ + 5.0883378982543945, + 0.4502493143081665, + 6.508190631866455 + ], + [ + 5.0883378982543945, + 0.4502493143081665, + 6.153933048248291 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.508190631866455 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.153933048248291 + ], + [ + 4.0883378982543945, + 0.4502493143081665, + 6.508190631866455 + ], + [ + 4.0883378982543945, + 0.4502493143081665, + 6.153933048248291 + ] + ], + "center": { + "x": 4.5883378982543945, + "y": 0.8531879782676697, + "z": 6.331061840057373 + }, + "size": { + "x": 1.0, + "y": 0.8058773279190063, + "z": 0.35425758361816406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.0883378982543945, + 0.4502493441104889, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 0.4502493441104889, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 0.4502493441104889, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 0.4502493441104889, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.508191108703613 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 5.199999809265137, + "y": 0.9009997844696045, + "z": 1.5 + }, + "agent_rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "agent_cameraHorizon": -30.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 5.199999809265137, + "y": 1.5759997367858887, + "z": 1.5 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "door|2|4", + "door|2|3", + "Painting|3|7" + ], + "different_object": [ + "Fridge|2|1", + "CellPhone|surface|4|17", + "Dresser|4|3", + "Book|surface|4|22", + "DiningTable|4|1|0", + "Dresser|4|3___0", + "TVStand|4|0|0___1", + "Watch|surface|4|16", + "Vase|surface|4|24", + "CreditCard|surface|4|21", + "Painting|4|6", + "Dresser|4|3___1", + "Television|4|0|1", + "Painting|4|4", + "Chair|4|1|2", + "TVStand|4|0|0" + ] +} \ No newline at end of file diff --git a/train/train436/4/0_depth_npy.npy b/train/train436/4/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..b2bd662e4a39b2b9d28fe9c788397f4f490df6c1 --- /dev/null +++ b/train/train436/4/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:94836a38665c791898b291c07cb87aa0a2b0f066ed79b58924d136804ecd770c +size 3145856 diff --git a/train/train436/4/0_semantic_sensor_npy.npy b/train/train436/4/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..c6180a9b6948ac81efe8b3b5c9e4787bf2adee0e --- /dev/null +++ b/train/train436/4/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2d6d9d2695377cb03de339fe41f75902753293db02dc668ceaafc63fda2b204f +size 2359424 diff --git a/train/train436/4/1.json b/train/train436/4/1.json new file mode 100644 index 0000000000000000000000000000000000000000..17e6e37a058eb81a77905bc5fdbde7538e939425 --- /dev/null +++ b/train/train436/4/1.json @@ -0,0 +1,634 @@ +{ + "object": [ + { + "objectId": "door|2|4", + "object_info": { + "name": "door|2|4", + "position": { + "x": 6.539700508117676, + "y": -0.0005981922149658203, + "z": 2.0724358558654785 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1661734580993652, + "objectType": "Doorframe", + "objectId": "door|2|4", + "assetId": "Doorframe_Double_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.590658664703369, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.590658664703369, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.590658664703369, + 0.0, + 4.011923313140869 + ], + [ + 6.590658664703369, + 0.0, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 0.0, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 0.0, + 2.069113254547119 + ] + ], + "center": { + "x": 6.540999889373779, + "y": 1.0435373783111572, + "z": 3.040518283843994 + }, + "size": { + "x": 0.09931755065917969, + "y": 2.0870747566223145, + "z": 1.94281005859375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|3", + "object_info": { + "name": "door|2|3", + "position": { + "x": 9.811773300170898, + "y": -0.00026702880859375, + "z": 6.5231428146362305 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 7.364771842956543, + "objectType": "Doorway", + "objectId": "door|2|3", + "assetId": "Doorway_Double_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.727968215942383, + 2.095932960510254, + 6.545433044433594 + ], + [ + 10.727968215942383, + 2.095932960510254, + 4.553407669067383 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 4.553407669067383 + ], + [ + 9.760202407836914, + 2.095932960510254, + 6.545433044433594 + ], + [ + 9.760202407836914, + 2.095932960510254, + 4.553407669067383 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 4.553407669067383 + ] + ], + "center": { + "x": 10.244085311889648, + "y": 1.0479663610458374, + "z": 5.549420356750488 + }, + "size": { + "x": 0.9677658081054688, + "y": 2.095933198928833, + "z": 1.992025375366211 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "FloorLamp|4|2", + "object_info": { + "name": "FloorLamp|4|2", + "position": { + "x": 6.263036727905273, + "y": -0.0018747448921203613, + "z": 0.9616859555244446 + }, + "rotation": { + "x": 359.9669189453125, + "y": 269.9986572265625, + "z": 359.9627380371094 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 1.7853816747665405, + "objectType": "FloorLamp", + "objectId": "FloorLamp|4|2", + "assetId": "Floor_Lamp_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.517219543457031, + 2.0757031440734863, + 1.2152924537658691 + ], + [ + 6.517219543457031, + 2.0757031440734863, + 0.7076406478881836 + ], + [ + 6.517219543457031, + -0.0020160675048828125, + 1.2152924537658691 + ], + [ + 6.517219543457031, + -0.0020160675048828125, + 0.7076406478881836 + ], + [ + 6.009941101074219, + 2.0757031440734863, + 1.2152924537658691 + ], + [ + 6.009941101074219, + 2.0757031440734863, + 0.7076406478881836 + ], + [ + 6.009941101074219, + -0.0020160675048828125, + 1.2152924537658691 + ], + [ + 6.009941101074219, + -0.0020160675048828125, + 0.7076406478881836 + ] + ], + "center": { + "x": 6.263580322265625, + "y": 1.0368435382843018, + "z": 0.9614665508270264 + }, + "size": { + "x": 0.5072784423828125, + "y": 2.077719211578369, + "z": 0.5076518058776855 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.00874137878418, + -0.001891990890726447, + 1.213939905166626 + ], + [ + 6.008753776550293, + -0.0015617554308846593, + 0.7062857151031494 + ], + [ + 6.5160441398620605, + -0.0018547163344919682, + 0.706297755241394 + ], + [ + 6.516031742095947, + -0.002184951677918434, + 1.213951826095581 + ], + [ + 6.009941101074219, + 2.0755419731140137, + 1.2152912616729736 + ], + [ + 6.009953498840332, + 2.0758721828460693, + 0.7076371908187866 + ], + [ + 6.5172438621521, + 2.0755791664123535, + 0.7076491713523865 + ], + [ + 6.517231464385986, + 2.075248956680298, + 1.2153033018112183 + ] + ] + } + } + }, + { + "objectId": "Painting|3|7", + "object_info": { + "name": "Painting|3|7", + "position": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.831557273864746, + "objectType": "Painting", + "objectId": "Painting|3|7", + "assetId": "Wall_Decor_Photo_10", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.833455085754395, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.50425910949707 + ] + ], + "center": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.520129680633545 + }, + "size": { + "x": 0.7115726470947266, + "y": 0.4246177673339844, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|3|4", + "object_info": { + "name": "Painting|3|4", + "position": { + "x": 11.443442344665527, + "y": 1.4678616523742676, + "z": 5.477546215057373 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.9369797706604, + "objectType": "Painting", + "objectId": "Painting|3|4", + "assetId": "Wall_Decor_Painting_3", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.442000389099121, + 1.773220181465149, + 5.879675388336182 + ], + [ + 11.442000389099121, + 1.773220181465149, + 5.07399320602417 + ], + [ + 11.442000389099121, + 1.16008460521698, + 5.879675388336182 + ], + [ + 11.442000389099121, + 1.16008460521698, + 5.07399320602417 + ], + [ + 11.422650337219238, + 1.773220181465149, + 5.879675388336182 + ], + [ + 11.422650337219238, + 1.773220181465149, + 5.07399320602417 + ], + [ + 11.422650337219238, + 1.16008460521698, + 5.879675388336182 + ], + [ + 11.422650337219238, + 1.16008460521698, + 5.07399320602417 + ] + ], + "center": { + "x": 11.43232536315918, + "y": 1.4666523933410645, + "z": 5.476834297180176 + }, + "size": { + "x": 0.019350051879882812, + "y": 0.613135576248169, + "z": 0.8056821823120117 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 5.199999809265137, + "y": 0.9009997844696045, + "z": 1.5 + }, + "agent_rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "agent_cameraHorizon": -30.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 5.199999809265137, + "y": 1.5759997367858887, + "z": 1.5 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "door|2|4", + "door|2|3", + "Painting|3|7" + ], + "different_object": [ + "Painting|3|4", + "FloorLamp|4|2" + ] +} \ No newline at end of file diff --git a/train/train436/4/1_depth_npy.npy b/train/train436/4/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..410ce7708dd26e214a7feb3389b9c4ce80a9b101 --- /dev/null +++ b/train/train436/4/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:58bb85a2bcc591f0ab4df3916f5f8a4e0d8821500f2ca129c37eb35f25d362d3 +size 3145856 diff --git a/train/train436/4/1_semantic_sensor_npy.npy b/train/train436/4/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..35bb9f0004170564aefbefecbfc4f95334c44100 --- /dev/null +++ b/train/train436/4/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:23c7f0618a5341b40ea88be86cc951901497c0ff08920a1dc182c9f463606552 +size 2359424 diff --git a/train/train436/4/depth_0.png b/train/train436/4/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..e5983df9de9fa6b18f80dee7b8406a450432655d Binary files /dev/null and b/train/train436/4/depth_0.png differ diff --git a/train/train436/4/depth_1.png b/train/train436/4/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..59f260fc9c6738e4c92a9eef848bd95af4ec063e Binary files /dev/null and b/train/train436/4/depth_1.png differ diff --git a/train/train436/4/mask_questions.jsonl b/train/train436/4/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/train/train436/4/rgb_0.png b/train/train436/4/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..d2c9d843c36ce10db70e9c8801114fdffb164a24 --- /dev/null +++ b/train/train436/4/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bc9aa23d983015fb31a3201ea583bdff8daef895cef5a90eea6035f27cc459aa +size 242137 diff --git a/train/train436/4/rgb_1.png b/train/train436/4/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..64be7e8d40d2984fee1f62839276493c8eb49410 --- /dev/null +++ b/train/train436/4/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f30bf4d753d1ecca0aff56507234c1cec3ee745eaa63a01294769a572b8c93a2 +size 198457 diff --git a/train/train436/4/semantic_0.png b/train/train436/4/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..7b6a72ec2da6325d7f5e8d0d1b5086fc82e5d968 Binary files /dev/null and b/train/train436/4/semantic_0.png differ diff --git a/train/train436/4/semantic_1.png b/train/train436/4/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..bcfc044b3ef9e9fa0edaf6fff21041e69adbaa61 Binary files /dev/null and b/train/train436/4/semantic_1.png differ diff --git a/train/train436/color_to_object_id.json b/train/train436/color_to_object_id.json new file mode 100644 index 0000000000000000000000000000000000000000..fb4aa92f95fc72fd2b552726a46806c04e25cd62 --- /dev/null +++ b/train/train436/color_to_object_id.json @@ -0,0 +1,1990 @@ +[ + { + "window|6|0": [ + 43, + 165, + 91 + ] + }, + { + "Window": [ + 200, + 150, + 134 + ] + }, + { + "window|5|1": [ + 130, + 218, + 61 + ] + }, + { + "window|5|0": [ + 136, + 191, + 22 + ] + }, + { + "door|1|4": [ + 87, + 14, + 187 + ] + }, + { + "Doorway": [ + 163, + 222, + 124 + ] + }, + { + "door|5|6": [ + 163, + 25, + 123 + ] + }, + { + "door|4|5": [ + 50, + 233, + 221 + ] + }, + { + "door|2|4": [ + 91, + 180, + 98 + ] + }, + { + "Doorframe": [ + 191, + 139, + 21 + ] + }, + { + "door|2|3": [ + 144, + 182, + 201 + ] + }, + { + "Painting|3|7": [ + 179, + 232, + 3 + ] + }, + { + "Painting": [ + 40, + 117, + 236 + ] + }, + { + "Painting|3|6": [ + 105, + 78, + 198 + ] + }, + { + "Painting|3|5": [ + 156, + 50, + 198 + ] + }, + { + "Painting|3|4": [ + 215, + 188, + 149 + ] + }, + { + "Painting|2|4": [ + 168, + 73, + 214 + ] + }, + { + "Painting|2|3": [ + 50, + 126, + 53 + ] + }, + { + "Painting|6|8": [ + 111, + 50, + 53 + ] + }, + { + "Painting|6|7": [ + 153, + 91, + 237 + ] + }, + { + "Painting|4|6": [ + 111, + 255, + 77 + ] + }, + { + "Painting|4|5": [ + 53, + 66, + 101 + ] + }, + { + "Painting|4|4": [ + 186, + 182, + 80 + ] + }, + { + "Painting|5|7": [ + 36, + 115, + 71 + ] + }, + { + "Painting|5|6": [ + 220, + 108, + 112 + ] + }, + { + "Painting|5|5": [ + 137, + 50, + 249 + ] + }, + { + "Television|6|6": [ + 102, + 53, + 26 + ] + }, + { + "Television": [ + 27, + 245, + 217 + ] + }, + { + "TissueBox|surface|6|54": [ + 199, + 91, + 170 + ] + }, + { + "TissueBox": [ + 98, + 43, + 249 + ] + }, + { + "TissueBox|surface|6|53": [ + 18, + 46, + 133 + ] + }, + { + "CellPhone|surface|6|51": [ + 62, + 155, + 115 + ] + }, + { + "CellPhone": [ + 227, + 98, + 136 + ] + }, + { + "CellPhone|surface|6|50": [ + 120, + 22, + 133 + ] + }, + { + "CreditCard|surface|6|42": [ + 65, + 44, + 75 + ] + }, + { + "CreditCard": [ + 56, + 235, + 12 + ] + }, + { + "Book|surface|6|41": [ + 24, + 39, + 127 + ] + }, + { + "Book": [ + 43, + 31, + 148 + ] + }, + { + "Desk|6|5": [ + 13, + 75, + 159 + ] + }, + { + "Desk": [ + 14, + 120, + 179 + ] + }, + { + "GarbageCan|6|4": [ + 117, + 43, + 87 + ] + }, + { + "GarbageCan": [ + 225, + 40, + 55 + ] + }, + { + "Chair|6|3|1": [ + 6, + 129, + 219 + ] + }, + { + "Chair": [ + 166, + 13, + 176 + ] + }, + { + "Laptop|surface|6|58": [ + 87, + 35, + 126 + ] + }, + { + "Laptop": [ + 20, + 107, + 222 + ] + }, + { + "BaseballBat|surface|6|55": [ + 207, + 105, + 146 + ] + }, + { + "BaseballBat": [ + 171, + 20, + 38 + ] + }, + { + "DeskLamp|surface|6|49": [ + 87, + 127, + 133 + ] + }, + { + "DeskLamp": [ + 99, + 164, + 25 + ] + }, + { + "Pencil|surface|6|43": [ + 151, + 33, + 115 + ] + }, + { + "Pencil": [ + 177, + 226, + 23 + ] + }, + { + "DiningTable|6|3|0": [ + 34, + 96, + 185 + ] + }, + { + "DiningTable": [ + 83, + 33, + 33 + ] + }, + { + "Box|6|2": [ + 241, + 14, + 186 + ] + }, + { + "Box": [ + 60, + 252, + 230 + ] + }, + { + "CellPhone|surface|6|57": [ + 171, + 21, + 4 + ] + }, + { + "CellPhone|surface|6|56": [ + 93, + 9, + 109 + ] + }, + { + "Vase|surface|6|52": [ + 234, + 96, + 199 + ] + }, + { + "Vase": [ + 83, + 152, + 69 + ] + }, + { + "Pencil|surface|6|48": [ + 152, + 13, + 237 + ] + }, + { + "Book|surface|6|46": [ + 119, + 227, + 245 + ] + }, + { + "Book|surface|6|45": [ + 123, + 129, + 191 + ] + }, + { + "AlarmClock|surface|6|39": [ + 103, + 142, + 66 + ] + }, + { + "AlarmClock": [ + 184, + 20, + 170 + ] + }, + { + "Dresser|6|1___3": [ + 125, + 169, + 154 + ] + }, + { + "Drawer": [ + 155, + 30, + 210 + ] + }, + { + "Dresser|6|1___2": [ + 219, + 86, + 133 + ] + }, + { + "Dresser|6|1___1": [ + 91, + 55, + 231 + ] + }, + { + "Dresser|6|1___0": [ + 86, + 178, + 164 + ] + }, + { + "Dresser|6|1": [ + 74, + 74, + 184 + ] + }, + { + "Dresser": [ + 51, + 128, + 146 + ] + }, + { + "TennisRacket|surface|6|47": [ + 9, + 170, + 110 + ] + }, + { + "TennisRacket": [ + 138, + 71, + 107 + ] + }, + { + "RemoteControl|surface|6|44": [ + 172, + 50, + 175 + ] + }, + { + "RemoteControl": [ + 187, + 19, + 208 + ] + }, + { + "Pillow|surface|6|40": [ + 18, + 8, + 167 + ] + }, + { + "Pillow": [ + 217, + 193, + 130 + ] + }, + { + "Bed|6|0": [ + 5, + 103, + 154 + ] + }, + { + "Bed": [ + 209, + 156, + 101 + ] + }, + { + "DogBed|5|4": [ + 191, + 61, + 36 + ] + }, + { + "DogBed": [ + 106, + 193, + 45 + ] + }, + { + "Safe|5|3": [ + 218, + 86, + 222 + ] + }, + { + "Safe": [ + 198, + 238, + 160 + ] + }, + { + "Chair|5|2|4": [ + 99, + 174, + 176 + ] + }, + { + "Chair|5|2|3": [ + 210, + 165, + 135 + ] + }, + { + "Chair|5|2|2": [ + 11, + 225, + 10 + ] + }, + { + "Chair|5|2|1": [ + 142, + 232, + 13 + ] + }, + { + "Box|surface|5|37": [ + 248, + 37, + 196 + ] + }, + { + "Book|surface|5|36": [ + 51, + 144, + 225 + ] + }, + { + "Bowl|surface|5|33": [ + 250, + 216, + 98 + ] + }, + { + "Bowl": [ + 209, + 182, + 193 + ] + }, + { + "HousePlant|surface|5|32": [ + 182, + 235, + 89 + ] + }, + { + "HousePlant": [ + 73, + 144, + 213 + ] + }, + { + "CreditCard|surface|5|31": [ + 94, + 66, + 93 + ] + }, + { + "RemoteControl|surface|5|27": [ + 228, + 21, + 152 + ] + }, + { + "DiningTable|5|2|0": [ + 25, + 135, + 226 + ] + }, + { + "Statue|surface|5|35": [ + 251, + 136, + 129 + ] + }, + { + "Statue": [ + 243, + 75, + 41 + ] + }, + { + "KeyChain|surface|5|34": [ + 39, + 237, + 149 + ] + }, + { + "KeyChain": [ + 27, + 54, + 18 + ] + }, + { + "Vase|surface|5|30": [ + 116, + 90, + 102 + ] + }, + { + "Dresser|5|1___3": [ + 186, + 175, + 115 + ] + }, + { + "Dresser|5|1___2": [ + 193, + 31, + 77 + ] + }, + { + "Dresser|5|1___1": [ + 36, + 223, + 213 + ] + }, + { + "Dresser|5|1___0": [ + 42, + 182, + 193 + ] + }, + { + "Dresser|5|1": [ + 169, + 211, + 43 + ] + }, + { + "Pillow|surface|5|38": [ + 228, + 139, + 78 + ] + }, + { + "TeddyBear|surface|5|29": [ + 54, + 196, + 238 + ] + }, + { + "TeddyBear": [ + 229, + 73, + 134 + ] + }, + { + "BaseballBat|surface|5|28": [ + 16, + 86, + 117 + ] + }, + { + "Bed|5|0": [ + 213, + 171, + 182 + ] + }, + { + "CellPhone|surface|4|17": [ + 37, + 199, + 23 + ] + }, + { + "Watch|surface|4|16": [ + 121, + 179, + 101 + ] + }, + { + "Watch": [ + 242, + 6, + 88 + ] + }, + { + "Dresser|4|3___2": [ + 142, + 213, + 34 + ] + }, + { + "Dresser|4|3___1": [ + 22, + 100, + 55 + ] + }, + { + "Dresser|4|3___0": [ + 89, + 128, + 115 + ] + }, + { + "Dresser|4|3": [ + 92, + 22, + 49 + ] + }, + { + "FloorLamp|4|2": [ + 147, + 82, + 148 + ] + }, + { + "FloorLamp": [ + 253, + 73, + 35 + ] + }, + { + "Chair|4|1|4": [ + 78, + 48, + 24 + ] + }, + { + "Chair|4|1|3": [ + 178, + 87, + 59 + ] + }, + { + "Chair|4|1|2": [ + 59, + 92, + 140 + ] + }, + { + "Chair|4|1|1": [ + 23, + 202, + 17 + ] + }, + { + "Book|surface|4|26": [ + 74, + 176, + 203 + ] + }, + { + "Laptop|surface|4|23": [ + 120, + 244, + 89 + ] + }, + { + "DiningTable|4|1|0": [ + 52, + 59, + 190 + ] + }, + { + "Pen|surface|4|25": [ + 235, + 7, + 211 + ] + }, + { + "Pen": [ + 239, + 130, + 152 + ] + }, + { + "Vase|surface|4|24": [ + 46, + 194, + 144 + ] + }, + { + "Book|surface|4|22": [ + 5, + 182, + 176 + ] + }, + { + "CreditCard|surface|4|21": [ + 110, + 134, + 231 + ] + }, + { + "Watch|surface|4|20": [ + 188, + 102, + 63 + ] + }, + { + "Plate|surface|4|19": [ + 220, + 118, + 245 + ] + }, + { + "Plate": [ + 188, + 154, + 128 + ] + }, + { + "KeyChain|surface|4|18": [ + 205, + 237, + 105 + ] + }, + { + "CellPhone|surface|4|15": [ + 51, + 24, + 157 + ] + }, + { + "Bowl|surface|4|14": [ + 4, + 235, + 91 + ] + }, + { + "Television|4|0|1": [ + 253, + 56, + 77 + ] + }, + { + "TVStand|4|0|0___1": [ + 112, + 40, + 63 + ] + }, + { + "TVStand|4|0|0___0": [ + 198, + 214, + 177 + ] + }, + { + "TVStand|4|0|0": [ + 51, + 56, + 38 + ] + }, + { + "TVStand": [ + 94, + 234, + 136 + ] + }, + { + "Plunger|3|3": [ + 116, + 44, + 97 + ] + }, + { + "Plunger": [ + 74, + 209, + 56 + ] + }, + { + "GarbageCan|3|2": [ + 69, + 131, + 32 + ] + }, + { + "Faucet|3|1|1": [ + 183, + 115, + 49 + ] + }, + { + "Faucet": [ + 21, + 38, + 98 + ] + }, + { + "Sink|3|1|0___0": [ + 145, + 221, + 236 + ] + }, + { + "SinkBasin": [ + 80, + 192, + 81 + ] + }, + { + "Sink|3|1|0": [ + 255, + 162, + 107 + ] + }, + { + "Sink": [ + 30, + 181, + 88 + ] + }, + { + "SprayBottle|surface|3|13": [ + 132, + 5, + 103 + ] + }, + { + "SprayBottle": [ + 89, + 126, + 121 + ] + }, + { + "ToiletPaper|surface|3|12": [ + 189, + 127, + 230 + ] + }, + { + "ToiletPaper": [ + 162, + 204, + 152 + ] + }, + { + "Cloth|surface|3|11": [ + 247, + 134, + 56 + ] + }, + { + "Cloth": [ + 110, + 184, + 56 + ] + }, + { + "SoapBar|surface|3|10": [ + 160, + 203, + 144 + ] + }, + { + "SoapBar": [ + 43, + 97, + 155 + ] + }, + { + "Toilet|3|0": [ + 244, + 232, + 60 + ] + }, + { + "Toilet": [ + 21, + 27, + 163 + ] + }, + { + "HousePlant|2|2|0": [ + 195, + 73, + 217 + ] + }, + { + "Potato|surface|2|7": [ + 254, + 188, + 49 + ] + }, + { + "Potato": [ + 187, + 142, + 9 + ] + }, + { + "Tomato|surface|2|5": [ + 113, + 164, + 212 + ] + }, + { + "Tomato": [ + 119, + 189, + 121 + ] + }, + { + "Fridge|2|1": [ + 206, + 5, + 34 + ] + }, + { + "Fridge": [ + 91, + 156, + 207 + ] + }, + { + "Kettle|surface|2|9": [ + 163, + 91, + 15 + ] + }, + { + "Kettle": [ + 7, + 83, + 48 + ] + }, + { + "Fork|surface|2|8": [ + 163, + 143, + 225 + ] + }, + { + "Fork": [ + 54, + 200, + 25 + ] + }, + { + "Lettuce|surface|2|6": [ + 24, + 82, + 141 + ] + }, + { + "Lettuce": [ + 203, + 156, + 88 + ] + }, + { + "CreditCard|surface|2|4": [ + 169, + 235, + 99 + ] + }, + { + "Bread|surface|2|3": [ + 138, + 234, + 188 + ] + }, + { + "Bread": [ + 18, + 150, + 252 + ] + }, + { + "SoapBottle|surface|2|2": [ + 193, + 220, + 166 + ] + }, + { + "SoapBottle": [ + 168, + 222, + 137 + ] + }, + { + "Spoon|surface|2|1": [ + 230, + 162, + 137 + ] + }, + { + "Spoon": [ + 235, + 57, + 90 + ] + }, + { + "Spoon|surface|2|0": [ + 246, + 90, + 73 + ] + }, + { + "CounterTop|2|0": [ + 213, + 254, + 98 + ] + }, + { + "CounterTop": [ + 103, + 209, + 30 + ] + }, + { + "Ceiling_room|6|0|3.741107|0": [ + 163, + 54, + 94 + ] + }, + { + "Ceiling": [ + 50, + 55, + 251 + ] + }, + { + "Ceiling_room|5|0|3.741107|0": [ + 166, + 161, + 114 + ] + }, + { + "Ceiling_room|4|0|3.741107|0": [ + 141, + 19, + 191 + ] + }, + { + "Ceiling_room|3|0|3.741107|0": [ + 235, + 57, + 190 + ] + }, + { + "Ceiling_room|2|0|3.741107|0": [ + 185, + 150, + 191 + ] + }, + { + "wall|exterior|11.45|0.00|11.45|6.54": [ + 105, + 148, + 102 + ] + }, + { + "Wall": [ + 148, + 232, + 164 + ] + }, + { + "wall|exterior|9.81|0.00|11.45|0.00": [ + 84, + 206, + 179 + ] + }, + { + "wall|exterior|6.54|0.00|9.81|0.00": [ + 35, + 75, + 103 + ] + }, + { + "wall|exterior|3.27|0.00|6.54|0.00": [ + 155, + 107, + 176 + ] + }, + { + "wall|exterior|11.45|6.54|11.45|9.81": [ + 128, + 47, + 83 + ] + }, + { + "wall|exterior|3.27|8.18|3.27|9.81": [ + 70, + 211, + 178 + ] + }, + { + "wall|exterior|3.27|9.81|11.45|9.81": [ + 82, + 164, + 57 + ] + }, + { + "wall|exterior|0.00|0.00|0.00|8.18": [ + 159, + 85, + 79 + ] + }, + { + "wall|exterior|0.00|8.18|3.27|8.18": [ + 147, + 254, + 245 + ] + }, + { + "wall|exterior|0.00|0.00|3.27|0.00": [ + 30, + 177, + 113 + ] + }, + { + "wall|6|3.27|6.54|6.54|6.54": [ + 243, + 41, + 235 + ] + }, + { + "wall|6|6.54|6.54|9.81|6.54": [ + 70, + 213, + 98 + ] + }, + { + "wall|6|9.81|6.54|11.45|6.54": [ + 241, + 121, + 234 + ] + }, + { + "wall|6|11.45|6.54|11.45|9.81": [ + 210, + 210, + 66 + ] + }, + { + "wall|6|3.27|9.81|11.45|9.81": [ + 3, + 255, + 68 + ] + }, + { + "wall|6|3.27|8.18|3.27|9.81": [ + 138, + 30, + 179 + ] + }, + { + "wall|6|3.27|6.54|3.27|8.18": [ + 26, + 227, + 98 + ] + }, + { + "wall|5|0.00|0.00|3.27|0.00": [ + 182, + 72, + 67 + ] + }, + { + "wall|5|3.27|0.00|3.27|6.54": [ + 210, + 68, + 18 + ] + }, + { + "wall|5|3.27|6.54|3.27|8.18": [ + 89, + 2, + 212 + ] + }, + { + "wall|5|0.00|8.18|3.27|8.18": [ + 196, + 4, + 46 + ] + }, + { + "wall|5|0.00|0.00|0.00|8.18": [ + 135, + 33, + 165 + ] + }, + { + "wall|4|3.27|0.00|6.54|0.00": [ + 47, + 211, + 89 + ] + }, + { + "wall|4|6.54|0.00|6.54|6.54": [ + 238, + 82, + 51 + ] + }, + { + "wall|4|3.27|6.54|6.54|6.54": [ + 1, + 45, + 36 + ] + }, + { + "wall|4|3.27|0.00|3.27|6.54": [ + 81, + 111, + 114 + ] + }, + { + "wall|3|9.81|0.00|11.45|0.00": [ + 88, + 132, + 56 + ] + }, + { + "wall|3|11.45|0.00|11.45|6.54": [ + 75, + 188, + 218 + ] + }, + { + "wall|3|9.81|6.54|11.45|6.54": [ + 46, + 214, + 38 + ] + }, + { + "wall|3|9.81|0.00|9.81|6.54": [ + 204, + 98, + 202 + ] + }, + { + "wall|2|6.54|0.00|9.81|0.00": [ + 220, + 158, + 111 + ] + }, + { + "wall|2|9.81|0.00|9.81|6.54": [ + 177, + 121, + 70 + ] + }, + { + "wall|2|6.54|6.54|9.81|6.54": [ + 253, + 102, + 240 + ] + }, + { + "wall|2|6.54|0.00|6.54|6.54": [ + 181, + 45, + 190 + ] + }, + { + "room|6": [ + 217, + 194, + 196 + ] + }, + { + "Floor": [ + 243, + 246, + 208 + ] + }, + { + "room|5": [ + 190, + 121, + 70 + ] + }, + { + "room|4": [ + 60, + 42, + 179 + ] + }, + { + "room|3": [ + 28, + 62, + 16 + ] + }, + { + "room|2": [ + 188, + 125, + 135 + ] + }, + { + "TheHand": [ + 255, + 136, + 237 + ] + }, + { + "agent_neck_1": [ + 30, + 64, + 67 + ] + }, + { + "agent_body_1 (shadows)": [ + 134, + 158, + 226 + ] + }, + { + "agent_collarbone_1 (shadows)": [ + 217, + 96, + 80 + ] + }, + { + "agent_head_1 (shadows)": [ + 140, + 210, + 177 + ] + }, + { + "stretch_robot_base_code": [ + 101, + 30, + 126 + ] + }, + { + "agent_head_1": [ + 1, + 149, + 209 + ] + }, + { + "stretch_robot_laser": [ + 140, + 24, + 249 + ] + }, + { + "stretch_robot_mast": [ + 136, + 63, + 93 + ] + }, + { + "stretch_robot_head_1": [ + 0, + 57, + 255 + ] + }, + { + "agent_neck_3": [ + 209, + 228, + 37 + ] + }, + { + "robot_tilt_link_n (shadows)": [ + 202, + 16, + 52 + ] + }, + { + "agent_head_2 (shadows)": [ + 156, + 59, + 238 + ] + }, + { + "stretch_robot_head_3 (shadows)": [ + 83, + 209, + 138 + ] + }, + { + "agent_collarbone_2": [ + 152, + 152, + 185 + ] + }, + { + "agent_neck_2 (shadows)": [ + 244, + 240, + 196 + ] + }, + { + "agent_head_2": [ + 14, + 66, + 230 + ] + }, + { + "stretch_robot_head_2": [ + 73, + 58, + 96 + ] + }, + { + "agent_neck_3 (shadows)": [ + 239, + 35, + 232 + ] + }, + { + "stretch_robot_omniwheel": [ + 227, + 166, + 104 + ] + }, + { + "robot_elbow_link": [ + 231, + 128, + 58 + ] + }, + { + "robot_camera_link_n": [ + 140, + 65, + 197 + ] + }, + { + "robot_finger_r": [ + 122, + 202, + 170 + ] + }, + { + "robot_finger_l": [ + 178, + 169, + 157 + ] + }, + { + "robot_ar_tag": [ + 46, + 234, + 150 + ] + }, + { + "robot_cam_mount_n": [ + 54, + 221, + 114 + ] + }, + { + "robot_battery_n": [ + 165, + 68, + 55 + ] + }, + { + "robot_plate": [ + 211, + 118, + 132 + ] + }, + { + "robot_main_wheel_r_n": [ + 36, + 84, + 49 + ] + }, + { + "robot_shoulder_link": [ + 92, + 95, + 127 + ] + }, + { + "robot_roll_link_n": [ + 135, + 154, + 116 + ] + }, + { + "robot_gripper_link": [ + 241, + 136, + 173 + ] + }, + { + "robot_forearm_link": [ + 149, + 185, + 52 + ] + }, + { + "robot_main_wheel_l_n": [ + 139, + 151, + 200 + ] + }, + { + "robot_main_body": [ + 27, + 62, + 251 + ] + }, + { + "robot_wrist_link": [ + 3, + 195, + 0 + ] + }, + { + "robot_tilt_link_n": [ + 251, + 182, + 71 + ] + }, + { + "agent_collarbone_2 (shadows)": [ + 27, + 29, + 156 + ] + }, + { + "stretch_robot_head_2 (shadows)": [ + 167, + 106, + 44 + ] + }, + { + "stretch_robot_wheel_r": [ + 43, + 10, + 241 + ] + }, + { + "agent_collarbone_3": [ + 33, + 153, + 80 + ] + }, + { + "stretch_robot_wheel_l": [ + 209, + 121, + 111 + ] + }, + { + "agent_collarbone_3 (shadows)": [ + 12, + 185, + 24 + ] + }, + { + "agent_neck_1 (shadows)": [ + 5, + 106, + 127 + ] + }, + { + "agent_body_1": [ + 19, + 85, + 240 + ] + }, + { + "stretch_robot_base": [ + 18, + 223, + 56 + ] + }, + { + "robot_roll_link_n (shadows)": [ + 104, + 6, + 177 + ] + }, + { + "agent_neck_2": [ + 134, + 34, + 121 + ] + }, + { + "agent_collarbone_1": [ + 180, + 251, + 165 + ] + }, + { + "stretch_robot_head_3": [ + 175, + 244, + 187 + ] + }, + { + "robot_camera_link_n (shadows)": [ + 49, + 9, + 106 + ] + } +] \ No newline at end of file diff --git a/train/train436/top_down_image.png b/train/train436/top_down_image.png new file mode 100644 index 0000000000000000000000000000000000000000..3af03d398a4b6a063e86256f0db0cc3ce405aebe --- /dev/null +++ b/train/train436/top_down_image.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f16cf78b9e7050fbaaa9ade9f1cbc4b153cefb00ed0b6810e1b79a76eeb16e3a +size 261672 diff --git a/train/train498/0/0.json b/train/train498/0/0.json new file mode 100644 index 0000000000000000000000000000000000000000..f3a3b2222a0444faa410f2adddf72840e1cbf80f --- /dev/null +++ b/train/train498/0/0.json @@ -0,0 +1,4262 @@ +{ + "object": [ + { + "objectId": "Bowl|surface|4|14", + "object_info": { + "name": "Bowl|surface|4|14", + "position": { + "x": 4.138007164001465, + "y": 0.08874782919883728, + "z": 6.3692626953125 + }, + "rotation": { + "x": -0.0008045348222367465, + "y": 90.00009155273438, + "z": 0.00039010721957311034 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4699999988079071, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 5.21930456161499, + "objectType": "Bowl", + "objectId": "Bowl|surface|4|14", + "assetId": "Bowl_6", + "parentReceptacles": [ + "TVStand|4|0|0___0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.230236053466797, + 0.17130538821220398, + 6.461493492126465 + ], + [ + 4.230236053466797, + 0.17130538821220398, + 6.277033805847168 + ], + [ + 4.230236053466797, + 0.08824843168258667, + 6.461493492126465 + ], + [ + 4.230236053466797, + 0.08824843168258667, + 6.277033805847168 + ], + [ + 4.0457763671875, + 0.17130538821220398, + 6.461493492126465 + ], + [ + 4.0457763671875, + 0.17130538821220398, + 6.277033805847168 + ], + [ + 4.0457763671875, + 0.08824843168258667, + 6.461493492126465 + ], + [ + 4.0457763671875, + 0.08824843168258667, + 6.277033805847168 + ] + ], + "center": { + "x": 4.138006210327148, + "y": 0.12977690994739532, + "z": 6.369263648986816 + }, + "size": { + "x": 0.18445968627929688, + "y": 0.08305695652961731, + "z": 0.18445968627929688 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.2302374839782715, + 0.08825086057186127, + 6.277031898498535 + ], + [ + 4.23023796081543, + 0.08824960887432098, + 6.461493015289307 + ], + [ + 4.045776844024658, + 0.08824701607227325, + 6.461493492126465 + ], + [ + 4.0457763671875, + 0.08824826776981354, + 6.277032375335693 + ], + [ + 4.230236530303955, + 0.17130599915981293, + 6.277032375335693 + ], + [ + 4.230236530303955, + 0.17130474746227264, + 6.461493492126465 + ], + [ + 4.045775413513184, + 0.17130215466022491, + 6.461493968963623 + ], + [ + 4.045775413513184, + 0.1713034063577652, + 6.277032852172852 + ] + ] + } + } + }, + { + "objectId": "Book|surface|4|22", + "object_info": { + "name": "Book|surface|4|22", + "position": { + "x": 4.434379577636719, + "y": 0.27263882756233215, + "z": 6.329527378082275 + }, + "rotation": { + "x": 0.002365913474932313, + "y": 90.0003890991211, + "z": 0.25729310512542725 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 5.127967834472656, + "objectType": "Book", + "objectId": "Book|surface|4|22", + "assetId": "Book_20", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.586941719055176, + 0.30716240406036377, + 6.458010673522949 + ], + [ + 4.586941719055176, + 0.30716240406036377, + 6.2023820877075195 + ], + [ + 4.586941719055176, + 0.2722126245498657, + 6.458010673522949 + ], + [ + 4.586941719055176, + 0.2722126245498657, + 6.2023820877075195 + ], + [ + 4.2818193435668945, + 0.30716240406036377, + 6.458010673522949 + ], + [ + 4.2818193435668945, + 0.30716240406036377, + 6.2023820877075195 + ], + [ + 4.2818193435668945, + 0.2722126245498657, + 6.458010673522949 + ], + [ + 4.2818193435668945, + 0.2722126245498657, + 6.2023820877075195 + ] + ], + "center": { + "x": 4.434380531311035, + "y": 0.28968751430511475, + "z": 6.330196380615234 + }, + "size": { + "x": 0.30512237548828125, + "y": 0.03494977951049805, + "z": 0.2556285858154297 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.586939334869385, + 0.2724279761314392, + 6.202378273010254 + ], + [ + 4.586941242218018, + 0.2712807059288025, + 6.45785665512085 + ], + [ + 4.2818193435668945, + 0.2712933123111725, + 6.457858562469482 + ], + [ + 4.281817436218262, + 0.2724405825138092, + 6.202380657196045 + ], + [ + 4.586940765380859, + 0.3073573708534241, + 6.202535152435303 + ], + [ + 4.586942672729492, + 0.30621010065078735, + 6.458013534545898 + ], + [ + 4.281820774078369, + 0.30622270703315735, + 6.458015441894531 + ], + [ + 4.281818866729736, + 0.30736997723579407, + 6.202537536621094 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___1", + "object_info": { + "name": "Drawer (1)", + "position": { + "x": 3.606998920440674, + "y": 0.39762961864471436, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.130039691925049, + "objectType": "Drawer", + "objectId": "Dresser|4|3___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.4907017946243286, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.4907017946243286, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.30300021171569824, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.30300021171569824, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.4907017946243286, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.4907017946243286, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.30300021171569824, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.30300021171569824, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.3968510031700134, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Chair|4|1|1", + "object_info": { + "name": "Chair|4|1|1", + "position": { + "x": 5.354161262512207, + "y": 0.0031416714191436768, + "z": 2.6687018871307373 + }, + "rotation": { + "x": -0.0, + "y": 16.29289436340332, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 1.7843416929244995, + "objectType": "Chair", + "objectId": "Chair|4|1|1", + "assetId": "Chair_224_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.636518478393555, + 0.8033758401870728, + 3.015368938446045 + ], + [ + 5.636518478393555, + 0.8033758401870728, + 2.3285040855407715 + ], + [ + 5.636518478393555, + -1.004338264465332e-05, + 3.015368938446045 + ], + [ + 5.636518478393555, + -1.004338264465332e-05, + 2.3285040855407715 + ], + [ + 5.066144943237305, + 0.8033758401870728, + 3.015368938446045 + ], + [ + 5.066144943237305, + 0.8033758401870728, + 2.3285040855407715 + ], + [ + 5.066144943237305, + -1.004338264465332e-05, + 3.015368938446045 + ], + [ + 5.066144943237305, + -1.004338264465332e-05, + 2.3285040855407715 + ] + ], + "center": { + "x": 5.35133171081543, + "y": 0.40168288350105286, + "z": 2.671936511993408 + }, + "size": { + "x": 0.57037353515625, + "y": 0.803385853767395, + "z": 0.6868648529052734 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.6637420654296875, + -9.98377799987793e-06, + 2.8985416889190674 + ], + [ + 5.219473361968994, + -9.98377799987793e-06, + 3.028395175933838 + ], + [ + 5.048254489898682, + -9.98377799987793e-06, + 2.44260311126709 + ], + [ + 5.492523193359375, + -9.98377799987793e-06, + 2.3127496242523193 + ], + [ + 5.6637420654296875, + 0.8033754825592041, + 2.8985416889190674 + ], + [ + 5.219473361968994, + 0.8033754825592041, + 3.028395175933838 + ], + [ + 5.048254489898682, + 0.8033754825592041, + 2.44260311126709 + ], + [ + 5.492523193359375, + 0.8033754825592041, + 2.3127496242523193 + ] + ] + } + } + }, + { + "objectId": "CellPhone|surface|4|17", + "object_info": { + "name": "CellPhone|surface|4|17", + "position": { + "x": 3.606998920440674, + "y": 0.6999126672744751, + "z": 6.400298118591309 + }, + "rotation": { + "x": 4.23526716986089e-06, + "y": 180.00010681152344, + "z": -0.0013795691775158048 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1599999964237213, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 5.279437065124512, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|4|17", + "assetId": "Cellphone_8", + "parentReceptacles": [ + "Dresser|4|3", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.645237445831299, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.645237445831299, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.645237445831299, + 0.6992031335830688, + 6.473209381103516 + ], + [ + 3.645237445831299, + 0.6992031335830688, + 6.327386856079102 + ], + [ + 3.568760395050049, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.568760395050049, + 0.6992031335830688, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.6992031335830688, + 6.327386856079102 + ] + ], + "center": { + "x": 3.606998920440674, + "y": 0.7046447992324829, + "z": 6.400298118591309 + }, + "size": { + "x": 0.07647705078125, + "y": 0.010883331298828125, + "z": 0.14582252502441406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.568760395050049, + 0.6992031335830688, + 6.327386856079102 + ], + [ + 3.6452372074127197, + 0.6992049813270569, + 6.327386856079102 + ], + [ + 3.645237445831299, + 0.6992050409317017, + 6.473209381103516 + ], + [ + 3.568760633468628, + 0.6992031931877136, + 6.473209381103516 + ], + [ + 3.5687601566314697, + 0.7100846171379089, + 6.327386856079102 + ], + [ + 3.6452369689941406, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.6452372074127197, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.7100846171379089, + 6.473209381103516 + ] + ] + } + } + }, + { + "objectId": "Vase|surface|4|24", + "object_info": { + "name": "Vase|surface|4|24", + "position": { + "x": 4.730817794799805, + "y": 0.27228501439094543, + "z": 6.289771556854248 + }, + "rotation": { + "x": -1.976354042199091e-06, + "y": 90.0000228881836, + "z": 9.469399060435535e-07 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 5.0788726806640625, + "objectType": "Vase", + "objectId": "Vase|surface|4|24", + "assetId": "Vase_Flat_5", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.8065643310546875, + 0.34241700172424316, + 6.365267753601074 + ], + [ + 4.8065643310546875, + 0.34241700172424316, + 6.2142744064331055 + ], + [ + 4.8065643310546875, + 0.27224910259246826, + 6.365267753601074 + ], + [ + 4.8065643310546875, + 0.27224910259246826, + 6.2142744064331055 + ], + [ + 4.655572891235352, + 0.34241700172424316, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.34241700172424316, + 6.2142744064331055 + ], + [ + 4.655572891235352, + 0.27224910259246826, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.27224910259246826, + 6.2142744064331055 + ] + ], + "center": { + "x": 4.7310686111450195, + "y": 0.3073330521583557, + "z": 6.28977108001709 + }, + "size": { + "x": 0.15099143981933594, + "y": 0.0701678991317749, + "z": 0.15099334716796875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.806564807891846, + 0.2722490131855011, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.2722490131855011, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.2722490131855011, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.2722490131855011, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.3424171209335327, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.3424171209335327, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.3424171209335327, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.3424171209335327, + 6.2142744064331055 + ] + ] + } + } + }, + { + "objectId": "door|4|5", + "object_info": { + "name": "door|4|5", + "position": { + "x": 3.2712955474853516, + "y": -0.0022848844528198242, + "z": 1.335561990737915 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.7348806858062744, + "objectType": "Doorway", + "objectId": "door|4|5", + "assetId": "Doorway_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.322866916656494, + 2.0939149856567383, + 2.3705310821533203 + ], + [ + 3.322866916656494, + 2.0939149856567383, + 1.316781759262085 + ], + [ + 3.322866916656494, + -0.002017974853515625, + 2.3705310821533203 + ], + [ + 3.322866916656494, + -0.002017974853515625, + 1.316781759262085 + ], + [ + 2.355100154876709, + 2.0939149856567383, + 2.3705310821533203 + ], + [ + 2.355100154876709, + 2.0939149856567383, + 1.316781759262085 + ], + [ + 2.355100154876709, + -0.002017974853515625, + 2.3705310821533203 + ], + [ + 2.355100154876709, + -0.002017974853515625, + 1.316781759262085 + ] + ], + "center": { + "x": 2.8389835357666016, + "y": 1.0459485054016113, + "z": 1.8436564207077026 + }, + "size": { + "x": 0.9677667617797852, + "y": 2.095932960510254, + "z": 1.0537493228912354 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CellPhone|surface|4|15", + "object_info": { + "name": "CellPhone|surface|4|15", + "position": { + "x": 4.434444904327393, + "y": 0.08847507834434509, + "z": 6.409006118774414 + }, + "rotation": { + "x": 0.00010714182280935347, + "y": 90.00020599365234, + "z": -0.001583149773068726 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1599999964237213, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 5.232123374938965, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|4|15", + "assetId": "Cellphone_5", + "parentReceptacles": [ + "TVStand|4|0|0___0", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.504461288452148, + 0.09662994742393494, + 6.445829391479492 + ], + [ + 4.504461288452148, + 0.09662994742393494, + 6.372182846069336 + ], + [ + 4.504461288452148, + 0.0882478654384613, + 6.445829391479492 + ], + [ + 4.504461288452148, + 0.0882478654384613, + 6.372182846069336 + ], + [ + 4.363598823547363, + 0.09662994742393494, + 6.445829391479492 + ], + [ + 4.363598823547363, + 0.09662994742393494, + 6.372182846069336 + ], + [ + 4.363598823547363, + 0.0882478654384613, + 6.445829391479492 + ], + [ + 4.363598823547363, + 0.0882478654384613, + 6.372182846069336 + ] + ], + "center": { + "x": 4.434030055999756, + "y": 0.09243890643119812, + "z": 6.409006118774414 + }, + "size": { + "x": 0.14086246490478516, + "y": 0.008382081985473633, + "z": 0.07364654541015625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.504461288452148, + 0.0882478728890419, + 6.372182846069336 + ], + [ + 4.504461288452148, + 0.08824990689754486, + 6.445828914642334 + ], + [ + 4.3635993003845215, + 0.08825016766786575, + 6.445829391479492 + ], + [ + 4.363598823547363, + 0.08824813365936279, + 6.372183322906494 + ], + [ + 4.504461288452148, + 0.09662765264511108, + 6.372182369232178 + ], + [ + 4.504461288452148, + 0.09662968665361404, + 6.445828914642334 + ], + [ + 4.3635993003845215, + 0.09662995487451553, + 6.445829391479492 + ], + [ + 4.363598823547363, + 0.09662792086601257, + 6.372183322906494 + ] + ] + } + } + }, + { + "objectId": "TVStand|4|0|0", + "object_info": { + "name": "TVStand|4|0|0", + "position": { + "x": 4.588324069976807, + "y": 0.0009346157312393188, + "z": 6.329517364501953 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": [ + "Television|4|0|1" + ], + "distance": 5.161177635192871, + "objectType": "TVStand", + "objectId": "TVStand|4|0|0", + "assetId": "TV_Stand_220_1", + "parentReceptacles": [ + "Floor", + "Plate|surface|4|19" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.207240104675293, + 0.4502491354942322, + 6.515999794006348 + ], + [ + 5.207240104675293, + 0.4502491354942322, + 6.146122932434082 + ], + [ + 5.207240104675293, + 2.8312206268310547e-07, + 6.515999794006348 + ], + [ + 5.207240104675293, + 2.8312206268310547e-07, + 6.146122932434082 + ], + [ + 3.969435691833496, + 0.4502491354942322, + 6.515999794006348 + ], + [ + 3.969435691833496, + 0.4502491354942322, + 6.146122932434082 + ], + [ + 3.969435691833496, + 2.8312206268310547e-07, + 6.515999794006348 + ], + [ + 3.969435691833496, + 2.8312206268310547e-07, + 6.146122932434082 + ] + ], + "center": { + "x": 4.5883378982543945, + "y": 0.22512470185756683, + "z": 6.331061363220215 + }, + "size": { + "x": 1.2378044128417969, + "y": 0.4502488374710083, + "z": 0.3698768615722656 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.969435930252075, + 2.682209014892578e-07, + 6.14612340927124 + ], + [ + 5.207239627838135, + 2.682209014892578e-07, + 6.14612340927124 + ], + [ + 5.207239627838135, + 2.682209014892578e-07, + 6.515999794006348 + ], + [ + 3.969435930252075, + 2.682209014892578e-07, + 6.515999794006348 + ], + [ + 3.969435930252075, + 0.4502490758895874, + 6.14612340927124 + ], + [ + 5.207239627838135, + 0.4502490758895874, + 6.14612340927124 + ], + [ + 5.207239627838135, + 0.4502490758895874, + 6.515999794006348 + ], + [ + 3.969435930252075, + 0.4502490758895874, + 6.515999794006348 + ] + ] + } + } + }, + { + "objectId": "DiningTable|4|1|0", + "object_info": { + "name": "DiningTable|4|1|0", + "position": { + "x": 5.355981826782227, + "y": -0.0031822919845581055, + "z": 3.724600076675415 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Laptop|surface|4|23", + "Book|surface|4|26" + ], + "distance": 2.7034060955047607, + "objectType": "DiningTable", + "objectId": "DiningTable|4|1|0", + "assetId": "Dining_Table_218_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.855982780456543, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 5.855982780456543, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 2.8305177688598633 + ] + ], + "center": { + "x": 5.355981826782227, + "y": 0.3905254304409027, + "z": 3.724600076675415 + }, + "size": { + "x": 1.0000019073486328, + "y": 0.7810438275337219, + "z": 1.7881646156311035 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.855982303619385, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 3.5762786865234375e-06, + 4.618681907653809 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 4.618682384490967 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 4.618681907653809 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 4.618682384490967 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 2.8305180072784424 + ] + ] + } + } + }, + { + "objectId": "Chair|4|1|2", + "object_info": { + "name": "Chair|4|1|2", + "position": { + "x": 5.356987476348877, + "y": 0.0031416714191436768, + "z": 4.78104829788208 + }, + "rotation": { + "x": -0.0, + "y": 174.24070739746094, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 3.6936275959014893, + "objectType": "Chair", + "objectId": "Chair|4|1|2", + "assetId": "Chair_224_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.615507125854492, + 0.8033755421638489, + 5.103589057922363 + ], + [ + 5.615507125854492, + 0.8033755421638489, + 4.454636573791504 + ], + [ + 5.615507125854492, + -1.0073184967041016e-05, + 5.103589057922363 + ], + [ + 5.615507125854492, + -1.0073184967041016e-05, + 4.454636573791504 + ], + [ + 5.106142044067383, + 0.8033755421638489, + 5.103589057922363 + ], + [ + 5.106142044067383, + 0.8033755421638489, + 4.454636573791504 + ], + [ + 5.106142044067383, + -1.0073184967041016e-05, + 5.103589057922363 + ], + [ + 5.106142044067383, + -1.0073184967041016e-05, + 4.454636573791504 + ] + ], + "center": { + "x": 5.3608245849609375, + "y": 0.4016827344894409, + "z": 4.779112815856934 + }, + "size": { + "x": 0.5093650817871094, + "y": 0.8033856153488159, + "z": 0.6489524841308594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.15634822845459, + -9.98377799987793e-06, + 4.451790809631348 + ], + [ + 5.61686897277832, + -9.98377799987793e-06, + 4.4982380867004395 + ], + [ + 5.5556254386901855, + -9.98377799987793e-06, + 5.105459213256836 + ], + [ + 5.095105171203613, + -9.98377799987793e-06, + 5.059011936187744 + ], + [ + 5.15634822845459, + 0.8033754825592041, + 4.451790809631348 + ], + [ + 5.61686897277832, + 0.8033754825592041, + 4.4982380867004395 + ], + [ + 5.5556254386901855, + 0.8033754825592041, + 5.105459213256836 + ], + [ + 5.095105171203613, + 0.8033754825592041, + 5.059011936187744 + ] + ] + } + } + }, + { + "objectId": "Book|surface|4|26", + "object_info": { + "name": "Book|surface|4|26", + "position": { + "x": 5.355928897857666, + "y": 0.7821989059448242, + "z": 3.5031158924102783 + }, + "rotation": { + "x": 0.02382192388176918, + "y": 0.004052666947245598, + "z": 0.9088017344474792 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 2.3361923694610596, + "objectType": "Book", + "objectId": "Book|surface|4|26", + "assetId": "Book_15", + "parentReceptacles": [ + "DiningTable|4|1|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.444652557373047, + 0.7986949682235718, + 3.622157096862793 + ], + [ + 5.444652557373047, + 0.7986949682235718, + 3.384079933166504 + ], + [ + 5.444652557373047, + 0.7808306217193604, + 3.622157096862793 + ], + [ + 5.444652557373047, + 0.7808306217193604, + 3.384079933166504 + ], + [ + 5.26725959777832, + 0.7986949682235718, + 3.622157096862793 + ], + [ + 5.26725959777832, + 0.7986949682235718, + 3.384079933166504 + ], + [ + 5.26725959777832, + 0.7808306217193604, + 3.622157096862793 + ], + [ + 5.26725959777832, + 0.7808306217193604, + 3.384079933166504 + ] + ], + "center": { + "x": 5.355956077575684, + "y": 0.7897627949714661, + "z": 3.5031185150146484 + }, + "size": { + "x": 0.17739295959472656, + "y": 0.017864346504211426, + "z": 0.23807716369628906 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.444687366485596, + 0.7814724445343018, + 3.6221396923065186 + ], + [ + 5.267521858215332, + 0.7786621451377869, + 3.6221511363983154 + ], + [ + 5.267505168914795, + 0.778761088848114, + 3.3840901851654053 + ], + [ + 5.4446702003479, + 0.7815714478492737, + 3.3840787410736084 + ], + [ + 5.4444074630737305, + 0.7991089820861816, + 3.6221470832824707 + ], + [ + 5.267242431640625, + 0.796298623085022, + 3.6221582889556885 + ], + [ + 5.26722526550293, + 0.7963976263999939, + 3.3840975761413574 + ], + [ + 5.444390773773193, + 0.7992079854011536, + 3.3840861320495605 + ] + ] + } + } + }, + { + "objectId": "Chair|4|1|4", + "object_info": { + "name": "Chair|4|1|4", + "position": { + "x": 4.753887176513672, + "y": 0.0031416714191436768, + "z": 3.267345666885376 + }, + "rotation": { + "x": -0.0, + "y": 96.67647552490234, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 2.208132266998291, + "objectType": "Chair", + "objectId": "Chair|4|1|4", + "assetId": "Chair_224_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.072547912597656, + 0.8033758401870728, + 3.5126709938049316 + ], + [ + 5.072547912597656, + 0.8033758401870728, + 3.025862216949463 + ], + [ + 5.072547912597656, + -1.0132789611816406e-05, + 3.5126709938049316 + ], + [ + 5.072547912597656, + -1.0132789611816406e-05, + 3.025862216949463 + ], + [ + 4.440659523010254, + 0.8033758401870728, + 3.5126709938049316 + ], + [ + 4.440659523010254, + 0.8033758401870728, + 3.025862216949463 + ], + [ + 4.440659523010254, + -1.0132789611816406e-05, + 3.5126709938049316 + ], + [ + 4.440659523010254, + -1.0132789611816406e-05, + 3.025862216949463 + ] + ], + "center": { + "x": 4.756603717803955, + "y": 0.40168285369873047, + "z": 3.2692666053771973 + }, + "size": { + "x": 0.6318883895874023, + "y": 0.8033859729766846, + "z": 0.48680877685546875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.03221321105957, + -9.98377799987793e-06, + 3.0005099773406982 + ], + [ + 5.086026191711426, + -9.98377799987793e-06, + 3.460228204727173 + ], + [ + 4.479863166809082, + -9.98377799987793e-06, + 3.5311837196350098 + ], + [ + 4.426050186157227, + -9.98377799987793e-06, + 3.071465492248535 + ], + [ + 5.03221321105957, + 0.8033754825592041, + 3.0005099773406982 + ], + [ + 5.086026191711426, + 0.8033754825592041, + 3.460228204727173 + ], + [ + 4.479863166809082, + 0.8033754825592041, + 3.5311837196350098 + ], + [ + 4.426050186157227, + 0.8033754825592041, + 3.071465492248535 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___0", + "object_info": { + "name": "Drawer", + "position": { + "x": 3.606998920440674, + "y": 0.5816994309425354, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.115259647369385, + "objectType": "Drawer", + "objectId": "Dresser|4|3___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.6747716069221497, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.6747716069221497, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.4870700240135193, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.4870700240135193, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.6747716069221497, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.6747716069221497, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.4870700240135193, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.4870700240135193, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.5809208154678345, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|4", + "object_info": { + "name": "door|2|4", + "position": { + "x": 6.539700508117676, + "y": -0.0005981922149658203, + "z": 2.0724358558654785 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1661734580993652, + "objectType": "Doorframe", + "objectId": "door|2|4", + "assetId": "Doorframe_Double_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.590658664703369, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.590658664703369, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.590658664703369, + 0.0, + 4.011923313140869 + ], + [ + 6.590658664703369, + 0.0, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 0.0, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 0.0, + 2.069113254547119 + ] + ], + "center": { + "x": 6.540999889373779, + "y": 1.0435373783111572, + "z": 3.040518283843994 + }, + "size": { + "x": 0.09931755065917969, + "y": 2.0870747566223145, + "z": 1.94281005859375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|4|3", + "object_info": { + "name": "Dresser|4|3", + "position": { + "x": 3.606998920440674, + "y": -4.786252975463867e-05, + "z": 6.362965106964111 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Watch|surface|4|16", + "CellPhone|surface|4|17" + ], + "distance": 5.316083908081055, + "objectType": "Dresser", + "objectId": "Dresser|4|3", + "assetId": "RoboTHOR_dresser_rast_v", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.917998790740967, + 0.6992043256759644, + 6.518101692199707 + ], + [ + 3.917998790740967, + 0.6992043256759644, + 6.203625679016113 + ], + [ + 3.917998790740967, + 3.838539123535156e-05, + 6.518101692199707 + ], + [ + 3.917998790740967, + 3.838539123535156e-05, + 6.203625679016113 + ], + [ + 3.295999050140381, + 0.6992043256759644, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992043256759644, + 6.203625679016113 + ], + [ + 3.295999050140381, + 3.838539123535156e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 3.838539123535156e-05, + 6.203625679016113 + ] + ], + "center": { + "x": 3.606998920440674, + "y": 0.34962135553359985, + "z": 6.36086368560791 + }, + "size": { + "x": 0.6219997406005859, + "y": 0.699165940284729, + "z": 0.31447601318359375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.295999050140381, + 3.8564205169677734e-05, + 6.20362663269043 + ], + [ + 3.917998790740967, + 3.8564205169677734e-05, + 6.20362663269043 + ], + [ + 3.917998790740967, + 3.8564205169677734e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 3.8564205169677734e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992037892341614, + 6.20362663269043 + ], + [ + 3.917998790740967, + 0.6992037892341614, + 6.20362663269043 + ], + [ + 3.917998790740967, + 0.6992037892341614, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992037892341614, + 6.518101692199707 + ] + ] + } + } + }, + { + "objectId": "CreditCard|surface|4|21", + "object_info": { + "name": "CreditCard|surface|4|21", + "position": { + "x": 4.137941837310791, + "y": 0.27259376645088196, + "z": 6.3295159339904785 + }, + "rotation": { + "x": 0.00015720646479167044, + "y": 90.0001449584961, + "z": -0.00030558553407900035 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.15470552444458, + "objectType": "CreditCard", + "objectId": "CreditCard|surface|4|21", + "assetId": "CreditCard_3", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.164941310882568, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.164941310882568, + 0.27673888206481934, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.27224868535995483, + 6.372598171234131 + ], + [ + 4.164941310882568, + 0.27224868535995483, + 6.286433696746826 + ], + [ + 4.110942363739014, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27673888206481934, + 6.286433696746826 + ], + [ + 4.110942363739014, + 0.27224868535995483, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27224868535995483, + 6.286433696746826 + ] + ], + "center": { + "x": 4.137941837310791, + "y": 0.2744937837123871, + "z": 6.3295159339904785 + }, + "size": { + "x": 0.05399894714355469, + "y": 0.004490196704864502, + "z": 0.08616447448730469 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.16494083404541, + 0.27224868535995483, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.27224916219711304, + 6.372598171234131 + ], + [ + 4.110942840576172, + 0.2722492814064026, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.2722488343715668, + 6.286433696746826 + ], + [ + 4.16494083404541, + 0.2767382860183716, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.2767387330532074, + 6.372598171234131 + ], + [ + 4.110942840576172, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27673840522766113, + 6.286433696746826 + ] + ] + } + } + }, + { + "objectId": "Painting|4|6", + "object_info": { + "name": "Painting|4|6", + "position": { + "x": 6.538111209869385, + "y": 1.4183659553527832, + "z": 4.80001974105835 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.008447170257568, + "objectType": "Painting", + "objectId": "Painting|4|6", + "assetId": "Wall_Decor_Painting_8", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.5360002517700195, + 1.681741714477539, + 5.152198791503906 + ], + [ + 6.5360002517700195, + 1.681741714477539, + 4.4491167068481445 + ], + [ + 6.5360002517700195, + 1.1549901962280273, + 5.152198791503906 + ], + [ + 6.5360002517700195, + 1.1549901962280273, + 4.4491167068481445 + ], + [ + 6.518789291381836, + 1.681741714477539, + 5.152198791503906 + ], + [ + 6.518789291381836, + 1.681741714477539, + 4.4491167068481445 + ], + [ + 6.518789291381836, + 1.1549901962280273, + 5.152198791503906 + ], + [ + 6.518789291381836, + 1.1549901962280273, + 4.4491167068481445 + ] + ], + "center": { + "x": 6.527394771575928, + "y": 1.4183659553527832, + "z": 4.800657749176025 + }, + "size": { + "x": 0.017210960388183594, + "y": 0.5267515182495117, + "z": 0.7030820846557617 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TVStand|4|0|0___1", + "object_info": { + "name": "Shelf", + "position": { + "x": 4.588322162628174, + "y": 0.2684445381164551, + "z": 6.3295159339904785 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Watch|surface|4|20", + "Book|surface|4|22", + "KeyChain|surface|4|18", + "Vase|surface|4|24", + "CreditCard|surface|4|21" + ], + "distance": 5.121303558349609, + "objectType": "DiningTable", + "objectId": "TVStand|4|0|0___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.18937349319458, + 0.3674442172050476, + 6.494719982147217 + ], + [ + 5.18937349319458, + 0.3674442172050476, + 6.16431188583374 + ], + [ + 5.18937349319458, + 0.26823681592941284, + 6.494719982147217 + ], + [ + 5.18937349319458, + 0.26823681592941284, + 6.16431188583374 + ], + [ + 3.9872708320617676, + 0.3674442172050476, + 6.494719982147217 + ], + [ + 3.9872708320617676, + 0.3674442172050476, + 6.16431188583374 + ], + [ + 3.9872708320617676, + 0.26823681592941284, + 6.494719982147217 + ], + [ + 3.9872708320617676, + 0.26823681592941284, + 6.16431188583374 + ] + ], + "center": { + "x": 4.588322162628174, + "y": 0.3178405165672302, + "z": 6.3295159339904785 + }, + "size": { + "x": 1.2021026611328125, + "y": 0.09920740127563477, + "z": 0.33040809631347656 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Laptop|surface|4|23", + "object_info": { + "name": "Laptop|surface|4|23", + "position": { + "x": 5.23272705078125, + "y": 0.7810472846031189, + "z": 3.946084976196289 + }, + "rotation": { + "x": 1.3113454770063981e-05, + "y": 4.1948929720092565e-05, + "z": -6.975405267439783e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 2.299999952316284, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 2.7415850162506104, + "objectType": "Laptop", + "objectId": "Laptop|surface|4|23", + "assetId": "Laptop_19", + "parentReceptacles": [ + "DiningTable|4|1|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.459753036499023, + 0.829770028591156, + 4.116103172302246 + ], + [ + 5.459753036499023, + 0.829770028591156, + 3.780513286590576 + ], + [ + 5.459753036499023, + 0.7810469269752502, + 4.116103172302246 + ], + [ + 5.459753036499023, + 0.7810469269752502, + 3.780513286590576 + ], + [ + 5.005701065063477, + 0.829770028591156, + 4.116103172302246 + ], + [ + 5.005701065063477, + 0.829770028591156, + 3.780513286590576 + ], + [ + 5.005701065063477, + 0.7810469269752502, + 4.116103172302246 + ], + [ + 5.005701065063477, + 0.7810469269752502, + 3.780513286590576 + ] + ], + "center": { + "x": 5.23272705078125, + "y": 0.8054084777832031, + "z": 3.948308229446411 + }, + "size": { + "x": 0.4540519714355469, + "y": 0.04872310161590576, + "z": 0.3355898857116699 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.459753036499023, + 0.781046986579895, + 4.116102695465088 + ], + [ + 5.005701065063477, + 0.781047523021698, + 4.116103172302246 + ], + [ + 5.005701065063477, + 0.7810475826263428, + 3.7805135250091553 + ], + [ + 5.459753036499023, + 0.7810470461845398, + 3.780513048171997 + ], + [ + 5.459753036499023, + 0.8297694325447083, + 4.116102695465088 + ], + [ + 5.005701065063477, + 0.8297699689865112, + 4.116103172302246 + ], + [ + 5.005701065063477, + 0.8297700881958008, + 3.7805135250091553 + ], + [ + 5.459753036499023, + 0.829769492149353, + 3.780513048171997 + ] + ] + } + } + }, + { + "objectId": "Watch|surface|4|16", + "object_info": { + "name": "Watch|surface|4|16", + "position": { + "x": 3.6847031116485596, + "y": 0.7003282308578491, + "z": 6.288086414337158 + }, + "rotation": { + "x": 1.9947741031646729, + "y": 180.00387573242188, + "z": 1.19093656539917 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07000000029802322, + "salientMaterials": [ + "Metal", + "Glass", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.153391361236572, + "objectType": "Watch", + "objectId": "Watch|surface|4|16", + "assetId": "Watch_2", + "parentReceptacles": [ + "Dresser|4|3", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.7239737510681152, + 0.7344659566879272, + 6.313935279846191 + ], + [ + 3.7239737510681152, + 0.7344659566879272, + 6.265624046325684 + ], + [ + 3.7239737510681152, + 0.6990219354629517, + 6.313935279846191 + ], + [ + 3.7239737510681152, + 0.6990219354629517, + 6.265624046325684 + ], + [ + 3.6450982093811035, + 0.7344659566879272, + 6.313935279846191 + ], + [ + 3.6450982093811035, + 0.7344659566879272, + 6.265624046325684 + ], + [ + 3.6450982093811035, + 0.6990219354629517, + 6.313935279846191 + ], + [ + 3.6450982093811035, + 0.6990219354629517, + 6.265624046325684 + ] + ], + "center": { + "x": 3.6845359802246094, + "y": 0.7167439460754395, + "z": 6.2897796630859375 + }, + "size": { + "x": 0.07887554168701172, + "y": 0.035444021224975586, + "z": 0.04831123352050781 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.644953966140747, + 0.6981589794158936, + 6.265713691711426 + ], + [ + 3.723494052886963, + 0.6965271830558777, + 6.265765190124512 + ], + [ + 3.723497152328491, + 0.6982251405715942, + 6.314515590667725 + ], + [ + 3.6449573040008545, + 0.6998568773269653, + 6.314464092254639 + ], + [ + 3.645716905593872, + 0.7348403334617615, + 6.2644362449646 + ], + [ + 3.724256992340088, + 0.7332085967063904, + 6.2644877433776855 + ], + [ + 3.724260091781616, + 0.7349065542221069, + 6.31323766708374 + ], + [ + 3.6457202434539795, + 0.736538290977478, + 6.313186168670654 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___2", + "object_info": { + "name": "Drawer (2)", + "position": { + "x": 3.606998920440674, + "y": 0.20109392702579498, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.1530375480651855, + "objectType": "Drawer", + "objectId": "Dresser|4|3___2", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.29416608810424805, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.29416608810424805, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.10646450519561768, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.10646450519561768, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.29416608810424805, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.29416608810424805, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.10646450519561768, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.10646450519561768, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.20031529664993286, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|3", + "object_info": { + "name": "door|2|3", + "position": { + "x": 9.811773300170898, + "y": -0.00026702880859375, + "z": 6.5231428146362305 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 7.364771842956543, + "objectType": "Doorway", + "objectId": "door|2|3", + "assetId": "Doorway_Double_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.727968215942383, + 2.095932960510254, + 6.545433044433594 + ], + [ + 10.727968215942383, + 2.095932960510254, + 4.553407669067383 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 4.553407669067383 + ], + [ + 9.760202407836914, + 2.095932960510254, + 6.545433044433594 + ], + [ + 9.760202407836914, + 2.095932960510254, + 4.553407669067383 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 4.553407669067383 + ] + ], + "center": { + "x": 10.244085311889648, + "y": 1.0479663610458374, + "z": 5.549420356750488 + }, + "size": { + "x": 0.9677658081054688, + "y": 2.095933198928833, + "z": 1.992025375366211 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Chair|4|1|3", + "object_info": { + "name": "Chair|4|1|3", + "position": { + "x": 4.753437519073486, + "y": 0.0031416714191436768, + "z": 4.125640392303467 + }, + "rotation": { + "x": -0.0, + "y": 69.56246948242188, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 3.012551784515381, + "objectType": "Chair", + "objectId": "Chair|4|1|3", + "assetId": "Chair_224_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.112885475158691, + 0.8033758401870728, + 4.443963050842285 + ], + [ + 5.112885475158691, + 0.8033758401870728, + 3.8157224655151367 + ], + [ + 5.112885475158691, + -1.0013580322265625e-05, + 4.443963050842285 + ], + [ + 5.112885475158691, + -1.0013580322265625e-05, + 3.8157224655151367 + ], + [ + 4.39578914642334, + 0.8033758401870728, + 4.443963050842285 + ], + [ + 4.39578914642334, + 0.8033758401870728, + 3.8157224655151367 + ], + [ + 4.39578914642334, + -1.0013580322265625e-05, + 4.443963050842285 + ], + [ + 4.39578914642334, + -1.0013580322265625e-05, + 3.8157224655151367 + ] + ], + "center": { + "x": 4.754337310791016, + "y": 0.40168291330337524, + "z": 4.129842758178711 + }, + "size": { + "x": 0.7170963287353516, + "y": 0.803385853767395, + "z": 0.6282405853271484 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.12278938293457, + -9.98377799987793e-06, + 4.014980316162109 + ], + [ + 4.9611663818359375, + -9.98377799987793e-06, + 4.448701858520508 + ], + [ + 4.389281272888184, + -9.98377799987793e-06, + 4.235593318939209 + ], + [ + 4.550904273986816, + -9.98377799987793e-06, + 3.8018712997436523 + ], + [ + 5.12278938293457, + 0.8033754825592041, + 4.014980316162109 + ], + [ + 4.9611663818359375, + 0.8033754825592041, + 4.448701858520508 + ], + [ + 4.389281272888184, + 0.8033754825592041, + 4.235593318939209 + ], + [ + 4.550904273986816, + 0.8033754825592041, + 3.8018712997436523 + ] + ] + } + } + }, + { + "objectId": "Painting|4|4", + "object_info": { + "name": "Painting|4|4", + "position": { + "x": 3.608247995376587, + "y": 1.9246368408203125, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.503932476043701, + "objectType": "Painting", + "objectId": "Painting|4|4", + "assetId": "Wall_Decor_Photo_1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.9420716762542725, + 2.1772351264953613, + 6.5360002517700195 + ], + [ + 3.9420716762542725, + 2.1772351264953613, + 6.50425910949707 + ], + [ + 3.9420716762542725, + 1.6720385551452637, + 6.5360002517700195 + ], + [ + 3.9420716762542725, + 1.6720385551452637, + 6.50425910949707 + ], + [ + 3.2744243144989014, + 2.1772351264953613, + 6.5360002517700195 + ], + [ + 3.2744243144989014, + 2.1772351264953613, + 6.50425910949707 + ], + [ + 3.2744243144989014, + 1.6720385551452637, + 6.5360002517700195 + ], + [ + 3.2744243144989014, + 1.6720385551452637, + 6.50425910949707 + ] + ], + "center": { + "x": 3.608247995376587, + "y": 1.9246368408203125, + "z": 6.520129680633545 + }, + "size": { + "x": 0.6676473617553711, + "y": 0.5051965713500977, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TVStand|4|0|0___0", + "object_info": { + "name": "Shelf", + "position": { + "x": 4.5883870124816895, + "y": 0.08263473212718964, + "z": 6.329518795013428 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Bowl|surface|4|14", + "Plate|surface|4|19", + "Pen|surface|4|25", + "CellPhone|surface|4|15" + ], + "distance": 5.147557735443115, + "objectType": "DiningTable", + "objectId": "TVStand|4|0|0___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.1894378662109375, + 0.18163445591926575, + 6.494722843170166 + ], + [ + 5.1894378662109375, + 0.18163445591926575, + 6.1643147468566895 + ], + [ + 5.1894378662109375, + 0.08242693543434143, + 6.494722843170166 + ], + [ + 5.1894378662109375, + 0.08242693543434143, + 6.1643147468566895 + ], + [ + 3.9873361587524414, + 0.18163445591926575, + 6.494722843170166 + ], + [ + 3.9873361587524414, + 0.18163445591926575, + 6.1643147468566895 + ], + [ + 3.9873361587524414, + 0.08242693543434143, + 6.494722843170166 + ], + [ + 3.9873361587524414, + 0.08242693543434143, + 6.1643147468566895 + ] + ], + "center": { + "x": 4.5883870124816895, + "y": 0.1320306956768036, + "z": 6.329518795013428 + }, + "size": { + "x": 1.202101707458496, + "y": 0.09920752048492432, + "z": 0.33040809631347656 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Fridge|2|1", + "object_info": { + "name": "Fridge|2|1", + "position": { + "x": 8.027824401855469, + "y": 0.007394969463348389, + "z": 6.196259021759033 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Tomato|surface|2|5", + "Potato|surface|2|7" + ], + "distance": 6.000678539276123, + "objectType": "Fridge", + "objectId": "Fridge|2|1", + "assetId": "Fridge_15", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.576839447021484, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 8.576839447021484, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 8.576839447021484, + 0.0, + 6.515999794006348 + ], + [ + 8.576839447021484, + 0.0, + 5.736844062805176 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 7.494537353515625, + 0.0, + 6.515999794006348 + ], + [ + 7.494537353515625, + 0.0, + 5.736844062805176 + ] + ], + "center": { + "x": 8.035688400268555, + "y": 0.9413036108016968, + "z": 6.126421928405762 + }, + "size": { + "x": 1.0823020935058594, + "y": 1.8826072216033936, + "z": 0.7791557312011719 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Plate|surface|4|19", + "object_info": { + "name": "Plate|surface|4|19", + "position": { + "x": 4.8791022300720215, + "y": 0.08857652544975281, + "z": 6.369263172149658 + }, + "rotation": { + "x": 7.83866344136186e-05, + "y": 89.99977111816406, + "z": 0.0004667239263653755 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [ + "TVStand|4|0|0" + ], + "distance": 5.184935092926025, + "objectType": "Plate", + "objectId": "Plate|surface|4|19", + "assetId": "Plate_14", + "parentReceptacles": [ + "TVStand|4|0|0___0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.997548580169678, + 0.115453340113163, + 6.4866623878479 + ], + [ + 4.997548580169678, + 0.115453340113163, + 6.249765872955322 + ], + [ + 4.997548580169678, + 0.0882486030459404, + 6.4866623878479 + ], + [ + 4.997548580169678, + 0.0882486030459404, + 6.249765872955322 + ], + [ + 4.760651111602783, + 0.115453340113163, + 6.4866623878479 + ], + [ + 4.760651111602783, + 0.115453340113163, + 6.249765872955322 + ], + [ + 4.760651111602783, + 0.0882486030459404, + 6.4866623878479 + ], + [ + 4.760651111602783, + 0.0882486030459404, + 6.249765872955322 + ] + ], + "center": { + "x": 4.8790998458862305, + "y": 0.1018509715795517, + "z": 6.368214130401611 + }, + "size": { + "x": 0.23689746856689453, + "y": 0.027204737067222595, + "z": 0.23689651489257812 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.997549533843994, + 0.08825035393238068, + 6.249766826629639 + ], + [ + 4.997548580169678, + 0.08824842423200607, + 6.486663341522217 + ], + [ + 4.760651111602783, + 0.08824875205755234, + 6.4866623878479 + ], + [ + 4.7606520652771, + 0.08825068175792694, + 6.249765872955322 + ], + [ + 4.997549533843994, + 0.11545311659574509, + 6.249766826629639 + ], + [ + 4.997548580169678, + 0.11545118689537048, + 6.486663341522217 + ], + [ + 4.760651111602783, + 0.11545151472091675, + 6.4866623878479 + ], + [ + 4.7606520652771, + 0.11545343697071075, + 6.249765872955322 + ] + ] + } + } + }, + { + "objectId": "Pen|surface|4|25", + "object_info": { + "name": "Pen|surface|4|25", + "position": { + "x": 4.730879783630371, + "y": 0.09389401972293854, + "z": 6.3692626953125 + }, + "rotation": { + "x": 4.163075573160313e-05, + "y": 179.99993896484375, + "z": 359.9720153808594 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Plastic", + "Metal" + ], + "receptacleObjectIds": null, + "distance": 5.182531833648682, + "objectType": "Pen", + "objectId": "Pen|surface|4|25", + "assetId": "Pen_1", + "parentReceptacles": [ + "TVStand|4|0|0___0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.736525058746338, + 0.09953894466161728, + 6.462701320648193 + ], + [ + 4.736525058746338, + 0.09953894466161728, + 6.262863636016846 + ], + [ + 4.736525058746338, + 0.0882490798830986, + 6.462701320648193 + ], + [ + 4.736525058746338, + 0.0882490798830986, + 6.262863636016846 + ], + [ + 4.725234508514404, + 0.09953894466161728, + 6.462701320648193 + ], + [ + 4.725234508514404, + 0.09953894466161728, + 6.262863636016846 + ], + [ + 4.725234508514404, + 0.0882490798830986, + 6.462701320648193 + ], + [ + 4.725234508514404, + 0.0882490798830986, + 6.262863636016846 + ] + ], + "center": { + "x": 4.730879783630371, + "y": 0.09389401227235794, + "z": 6.3627824783325195 + }, + "size": { + "x": 0.011290550231933594, + "y": 0.011289864778518677, + "z": 0.19983768463134766 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.7252373695373535, + 0.08824633061885834, + 6.262863636016846 + ], + [ + 4.736527919769287, + 0.08825184404850006, + 6.262863636016846 + ], + [ + 4.736527442932129, + 0.0882519856095314, + 6.462701797485352 + ], + [ + 4.7252373695373535, + 0.08824647217988968, + 6.462701797485352 + ], + [ + 4.725232124328613, + 0.09953603893518448, + 6.262863636016846 + ], + [ + 4.736522197723389, + 0.0995415523648262, + 6.262863636016846 + ], + [ + 4.736522197723389, + 0.09954169392585754, + 6.462701797485352 + ], + [ + 4.725231647491455, + 0.09953618794679642, + 6.462701797485352 + ] + ] + } + } + }, + { + "objectId": "Television|4|0|1", + "object_info": { + "name": "Television|4|0|1", + "position": { + "x": 4.5883378982543945, + "y": 0.9386330842971802, + "z": 6.25775671005249 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.010506629943848, + "objectType": "Television", + "objectId": "Television|4|0|1", + "assetId": "Television_23", + "parentReceptacles": [ + "Floor", + "TVStand|4|0|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.0883378982543945, + 1.2561266422271729, + 6.508190631866455 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.153933048248291 + ], + [ + 5.0883378982543945, + 0.4502493143081665, + 6.508190631866455 + ], + [ + 5.0883378982543945, + 0.4502493143081665, + 6.153933048248291 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.508190631866455 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.153933048248291 + ], + [ + 4.0883378982543945, + 0.4502493143081665, + 6.508190631866455 + ], + [ + 4.0883378982543945, + 0.4502493143081665, + 6.153933048248291 + ] + ], + "center": { + "x": 4.5883378982543945, + "y": 0.8531879782676697, + "z": 6.331061840057373 + }, + "size": { + "x": 1.0, + "y": 0.8058773279190063, + "z": 0.35425758361816406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.0883378982543945, + 0.4502493441104889, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 0.4502493441104889, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 0.4502493441104889, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 0.4502493441104889, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.508191108703613 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 4.900000095367432, + "y": 0.9009997844696045, + "z": 1.5 + }, + "agent_rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "agent_cameraHorizon": 30.000003814697266, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 4.900000095367432, + "y": 1.5759997367858887, + "z": 1.5 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Fridge|2|1", + "Chair|4|1|1", + "DiningTable|4|1|0", + "door|2|3", + "door|2|4" + ], + "different_object": [ + "Plate|surface|4|19", + "Book|surface|4|22", + "Television|4|0|1", + "Bowl|surface|4|14", + "Watch|surface|4|16", + "Chair|4|1|2", + "CellPhone|surface|4|15", + "Dresser|4|3", + "Pen|surface|4|25", + "TVStand|4|0|0___1", + "TVStand|4|0|0___0", + "Chair|4|1|3", + "Painting|4|6", + "Dresser|4|3___1", + "Laptop|surface|4|23", + "Dresser|4|3___0", + "CreditCard|surface|4|21", + "door|4|5", + "Book|surface|4|26", + "CellPhone|surface|4|17", + "Chair|4|1|4", + "Dresser|4|3___2", + "Vase|surface|4|24", + "Painting|4|4", + "TVStand|4|0|0" + ] +} \ No newline at end of file diff --git a/train/train498/0/0_depth_npy.npy b/train/train498/0/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..e995a1e41a2228c8a4f0e86f5fd5e9e096e483ca --- /dev/null +++ b/train/train498/0/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9d9f19d6b3f5a68a9a3ab7a5bb4ce6505d620647527f8342ac1abd87efee9678 +size 3145856 diff --git a/train/train498/0/0_semantic_sensor_npy.npy b/train/train498/0/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..36c9324bd9e48a55ea8d24ffb1dd75dec2baf010 --- /dev/null +++ b/train/train498/0/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4d824343a386824bb45f4a57d6210cbe55599c5d7914496db7a5bc8f7cd24311 +size 2359424 diff --git a/train/train498/0/1.json b/train/train498/0/1.json new file mode 100644 index 0000000000000000000000000000000000000000..90ef6f533b0c7215686ddfd8ee2d5adb680f1afc --- /dev/null +++ b/train/train498/0/1.json @@ -0,0 +1,1063 @@ +{ + "object": [ + { + "objectId": "Chair|4|1|1", + "object_info": { + "name": "Chair|4|1|1", + "position": { + "x": 5.354161262512207, + "y": 0.0031416714191436768, + "z": 2.6687018871307373 + }, + "rotation": { + "x": -0.0, + "y": 16.29289436340332, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 1.7843416929244995, + "objectType": "Chair", + "objectId": "Chair|4|1|1", + "assetId": "Chair_224_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.636518478393555, + 0.8033758401870728, + 3.015368938446045 + ], + [ + 5.636518478393555, + 0.8033758401870728, + 2.3285040855407715 + ], + [ + 5.636518478393555, + -1.004338264465332e-05, + 3.015368938446045 + ], + [ + 5.636518478393555, + -1.004338264465332e-05, + 2.3285040855407715 + ], + [ + 5.066144943237305, + 0.8033758401870728, + 3.015368938446045 + ], + [ + 5.066144943237305, + 0.8033758401870728, + 2.3285040855407715 + ], + [ + 5.066144943237305, + -1.004338264465332e-05, + 3.015368938446045 + ], + [ + 5.066144943237305, + -1.004338264465332e-05, + 2.3285040855407715 + ] + ], + "center": { + "x": 5.35133171081543, + "y": 0.40168288350105286, + "z": 2.671936511993408 + }, + "size": { + "x": 0.57037353515625, + "y": 0.803385853767395, + "z": 0.6868648529052734 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.6637420654296875, + -9.98377799987793e-06, + 2.8985416889190674 + ], + [ + 5.219473361968994, + -9.98377799987793e-06, + 3.028395175933838 + ], + [ + 5.048254489898682, + -9.98377799987793e-06, + 2.44260311126709 + ], + [ + 5.492523193359375, + -9.98377799987793e-06, + 2.3127496242523193 + ], + [ + 5.6637420654296875, + 0.8033754825592041, + 2.8985416889190674 + ], + [ + 5.219473361968994, + 0.8033754825592041, + 3.028395175933838 + ], + [ + 5.048254489898682, + 0.8033754825592041, + 2.44260311126709 + ], + [ + 5.492523193359375, + 0.8033754825592041, + 2.3127496242523193 + ] + ] + } + } + }, + { + "objectId": "DiningTable|4|1|0", + "object_info": { + "name": "DiningTable|4|1|0", + "position": { + "x": 5.355981826782227, + "y": -0.0031822919845581055, + "z": 3.724600076675415 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Laptop|surface|4|23", + "Book|surface|4|26" + ], + "distance": 2.7034060955047607, + "objectType": "DiningTable", + "objectId": "DiningTable|4|1|0", + "assetId": "Dining_Table_218_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.855982780456543, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 5.855982780456543, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 2.8305177688598633 + ] + ], + "center": { + "x": 5.355981826782227, + "y": 0.3905254304409027, + "z": 3.724600076675415 + }, + "size": { + "x": 1.0000019073486328, + "y": 0.7810438275337219, + "z": 1.7881646156311035 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.855982303619385, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 3.5762786865234375e-06, + 4.618681907653809 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 4.618682384490967 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 4.618681907653809 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 4.618682384490967 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 2.8305180072784424 + ] + ] + } + } + }, + { + "objectId": "door|2|4", + "object_info": { + "name": "door|2|4", + "position": { + "x": 6.539700508117676, + "y": -0.0005981922149658203, + "z": 2.0724358558654785 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1661734580993652, + "objectType": "Doorframe", + "objectId": "door|2|4", + "assetId": "Doorframe_Double_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.590658664703369, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.590658664703369, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.590658664703369, + 0.0, + 4.011923313140869 + ], + [ + 6.590658664703369, + 0.0, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 0.0, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 0.0, + 2.069113254547119 + ] + ], + "center": { + "x": 6.540999889373779, + "y": 1.0435373783111572, + "z": 3.040518283843994 + }, + "size": { + "x": 0.09931755065917969, + "y": 2.0870747566223145, + "z": 1.94281005859375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|3", + "object_info": { + "name": "door|2|3", + "position": { + "x": 9.811773300170898, + "y": -0.00026702880859375, + "z": 6.5231428146362305 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 7.364771842956543, + "objectType": "Doorway", + "objectId": "door|2|3", + "assetId": "Doorway_Double_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.727968215942383, + 2.095932960510254, + 6.545433044433594 + ], + [ + 10.727968215942383, + 2.095932960510254, + 4.553407669067383 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 4.553407669067383 + ], + [ + 9.760202407836914, + 2.095932960510254, + 6.545433044433594 + ], + [ + 9.760202407836914, + 2.095932960510254, + 4.553407669067383 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 4.553407669067383 + ] + ], + "center": { + "x": 10.244085311889648, + "y": 1.0479663610458374, + "z": 5.549420356750488 + }, + "size": { + "x": 0.9677658081054688, + "y": 2.095933198928833, + "z": 1.992025375366211 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "FloorLamp|4|2", + "object_info": { + "name": "FloorLamp|4|2", + "position": { + "x": 6.263036727905273, + "y": -0.0018747448921203613, + "z": 0.9616859555244446 + }, + "rotation": { + "x": 359.9669189453125, + "y": 269.9986572265625, + "z": 359.9627380371094 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 1.7853816747665405, + "objectType": "FloorLamp", + "objectId": "FloorLamp|4|2", + "assetId": "Floor_Lamp_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.517219543457031, + 2.0757031440734863, + 1.2152924537658691 + ], + [ + 6.517219543457031, + 2.0757031440734863, + 0.7076406478881836 + ], + [ + 6.517219543457031, + -0.0020160675048828125, + 1.2152924537658691 + ], + [ + 6.517219543457031, + -0.0020160675048828125, + 0.7076406478881836 + ], + [ + 6.009941101074219, + 2.0757031440734863, + 1.2152924537658691 + ], + [ + 6.009941101074219, + 2.0757031440734863, + 0.7076406478881836 + ], + [ + 6.009941101074219, + -0.0020160675048828125, + 1.2152924537658691 + ], + [ + 6.009941101074219, + -0.0020160675048828125, + 0.7076406478881836 + ] + ], + "center": { + "x": 6.263580322265625, + "y": 1.0368435382843018, + "z": 0.9614665508270264 + }, + "size": { + "x": 0.5072784423828125, + "y": 2.077719211578369, + "z": 0.5076518058776855 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.00874137878418, + -0.001891990890726447, + 1.213939905166626 + ], + [ + 6.008753776550293, + -0.0015617554308846593, + 0.7062857151031494 + ], + [ + 6.5160441398620605, + -0.0018547163344919682, + 0.706297755241394 + ], + [ + 6.516031742095947, + -0.002184951677918434, + 1.213951826095581 + ], + [ + 6.009941101074219, + 2.0755419731140137, + 1.2152912616729736 + ], + [ + 6.009953498840332, + 2.0758721828460693, + 0.7076371908187866 + ], + [ + 6.5172438621521, + 2.0755791664123535, + 0.7076491713523865 + ], + [ + 6.517231464385986, + 2.075248956680298, + 1.2153033018112183 + ] + ] + } + } + }, + { + "objectId": "Painting|3|7", + "object_info": { + "name": "Painting|3|7", + "position": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.831557273864746, + "objectType": "Painting", + "objectId": "Painting|3|7", + "assetId": "Wall_Decor_Photo_10", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.833455085754395, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.50425910949707 + ] + ], + "center": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.520129680633545 + }, + "size": { + "x": 0.7115726470947266, + "y": 0.4246177673339844, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Fridge|2|1", + "object_info": { + "name": "Fridge|2|1", + "position": { + "x": 8.027824401855469, + "y": 0.007394969463348389, + "z": 6.196259021759033 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Tomato|surface|2|5", + "Potato|surface|2|7" + ], + "distance": 6.000678539276123, + "objectType": "Fridge", + "objectId": "Fridge|2|1", + "assetId": "Fridge_15", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.576839447021484, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 8.576839447021484, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 8.576839447021484, + 0.0, + 6.515999794006348 + ], + [ + 8.576839447021484, + 0.0, + 5.736844062805176 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 7.494537353515625, + 0.0, + 6.515999794006348 + ], + [ + 7.494537353515625, + 0.0, + 5.736844062805176 + ] + ], + "center": { + "x": 8.035688400268555, + "y": 0.9413036108016968, + "z": 6.126421928405762 + }, + "size": { + "x": 1.0823020935058594, + "y": 1.8826072216033936, + "z": 0.7791557312011719 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|3|4", + "object_info": { + "name": "Painting|3|4", + "position": { + "x": 11.443442344665527, + "y": 1.4678616523742676, + "z": 5.477546215057373 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.9369797706604, + "objectType": "Painting", + "objectId": "Painting|3|4", + "assetId": "Wall_Decor_Painting_3", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.442000389099121, + 1.773220181465149, + 5.879675388336182 + ], + [ + 11.442000389099121, + 1.773220181465149, + 5.07399320602417 + ], + [ + 11.442000389099121, + 1.16008460521698, + 5.879675388336182 + ], + [ + 11.442000389099121, + 1.16008460521698, + 5.07399320602417 + ], + [ + 11.422650337219238, + 1.773220181465149, + 5.879675388336182 + ], + [ + 11.422650337219238, + 1.773220181465149, + 5.07399320602417 + ], + [ + 11.422650337219238, + 1.16008460521698, + 5.879675388336182 + ], + [ + 11.422650337219238, + 1.16008460521698, + 5.07399320602417 + ] + ], + "center": { + "x": 11.43232536315918, + "y": 1.4666523933410645, + "z": 5.476834297180176 + }, + "size": { + "x": 0.019350051879882812, + "y": 0.613135576248169, + "z": 0.8056821823120117 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 4.900000095367432, + "y": 0.9009997844696045, + "z": 1.2999999523162842 + }, + "agent_rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "agent_cameraHorizon": 30.000003814697266, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 4.900000095367432, + "y": 1.5759997367858887, + "z": 1.2999999523162842 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Fridge|2|1", + "Chair|4|1|1", + "DiningTable|4|1|0", + "door|2|3", + "door|2|4" + ], + "different_object": [ + "Painting|3|4", + "FloorLamp|4|2", + "Painting|3|7" + ] +} \ No newline at end of file diff --git a/train/train498/0/1_depth_npy.npy b/train/train498/0/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..e7f1794f70220f3cad8428d5be33ad248e579110 --- /dev/null +++ b/train/train498/0/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:93c8387e8577ec6d8be9de0597b514a2b2c23c0333233d2ba611d42f64f0727f +size 3145856 diff --git a/train/train498/0/1_semantic_sensor_npy.npy b/train/train498/0/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..fbad58eff9868154e7e09716108fdef790571339 --- /dev/null +++ b/train/train498/0/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:50a0baab6ebcbfee9972f72ed3156da8dc0169d74b2bfe8f4aa424682e4b0320 +size 2359424 diff --git a/train/train498/0/depth_0.png b/train/train498/0/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..78a873c2b6fd9bf79231ded1645a0b7b15d70084 Binary files /dev/null and b/train/train498/0/depth_0.png differ diff --git a/train/train498/0/depth_1.png b/train/train498/0/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..25b303e3dce5764e78b72291420dafb720eaaaa6 Binary files /dev/null and b/train/train498/0/depth_1.png differ diff --git a/train/train498/0/mask_questions.jsonl b/train/train498/0/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..437e9c96052aaab4144117a24f0c38a75ad49c05 --- /dev/null +++ b/train/train498/0/mask_questions.jsonl @@ -0,0 +1,5 @@ +{"id": 2660, "folder_dir": "train498/0", "pair_name": "0-1:Fridge|2|1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. CellPhone\nB. Fridge\nC. Chair\nD. Vase", "answer": "B", "object_name": "Fridge", "image_1": "train498/0/rgb_0.png", "image_2": "train498/0/rgb_1.png", "mask_image": "train498/0/rgb_1_mask_Fridge|2|1.png", "options": ["CellPhone", "Fridge", "Chair", "Vase"]} +{"id": 2661, "folder_dir": "train498/0", "pair_name": "0-1:Chair|4|1|1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Drawer\nB. Doorway\nC. Chair\nD. Fridge", "answer": "C", "object_name": "Chair", "image_1": "train498/0/rgb_0.png", "image_2": "train498/0/rgb_1.png", "mask_image": "train498/0/rgb_1_mask_Chair|4|1|1.png", "options": ["Drawer", "Doorway", "Chair", "Fridge"]} +{"id": 2662, "folder_dir": "train498/0", "pair_name": "0-1:DiningTable|4|1|0", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. DiningTable\nB. Fridge\nC. CellPhone\nD. Book", "answer": "A", "object_name": "DiningTable", "image_1": "train498/0/rgb_0.png", "image_2": "train498/0/rgb_1.png", "mask_image": "train498/0/rgb_1_mask_DiningTable|4|1|0.png", "options": ["DiningTable", "Fridge", "CellPhone", "Book"]} +{"id": 2663, "folder_dir": "train498/0", "pair_name": "1-0:Fridge|2|1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Fridge\nB. Painting\nC. Painting\nD. Chair", "answer": "A", "object_name": "Fridge", "image_1": "train498/0/rgb_1.png", "image_2": "train498/0/rgb_0.png", "mask_image": "train498/0/rgb_0_mask_Fridge|2|1.png", "options": ["Fridge", "Painting", "Painting", "Chair"]} +{"id": 2664, "folder_dir": "train498/0", "pair_name": "1-0:Chair|4|1|1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Painting\nB. Fridge\nC. Chair\nD. FloorLamp", "answer": "C", "object_name": "Chair", "image_1": "train498/0/rgb_1.png", "image_2": "train498/0/rgb_0.png", "mask_image": "train498/0/rgb_0_mask_Chair|4|1|1.png", "options": ["Painting", "Fridge", "Chair", "FloorLamp"]} diff --git a/train/train498/0/questions_distance.jsonl b/train/train498/0/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7bd082015068aa5f043e841d44cc956b8227c665 --- /dev/null +++ b/train/train498/0/questions_distance.jsonl @@ -0,0 +1,2 @@ +{"id": 1073, "folder_dir": "train498/0", "query": "Which of the following objects is closest to Fridge in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Plate\nB. Vase\nC. Pen\nD. Other\n", "answer": "A", "src_object": "Fridge", "target_object": "Plate", "question": "Which of the following objects is closest to Fridge in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Plate", "semantic_id": "Plate|surface|4|19", "distance": 3.2752397628418777, "com": {"x": 4.8790998458862305, "y": 0.1018509715795517, "z": 6.368214130401611}}, {"text": "Vase", "semantic_id": "Vase|surface|4|24", "distance": 3.3688445445323785, "com": {"x": 4.7310686111450195, "y": 0.3073330521583557, "z": 6.28977108001709}}, {"text": "Pen", "semantic_id": "Pen|surface|4|25", "distance": 3.4199019474024865, "com": {"x": 4.730879783630371, "y": 0.09389401227235794, "z": 6.3627824783325195}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train498/0/rgb_0.png", "image_2": "train498/0/rgb_1.png"} +{"id": 1074, "folder_dir": "train498/0", "query": "Which of the following objects is closest to DiningTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Plate\nB. Laptop\nC. Vase\nD. Other\n", "answer": "B", "src_object": "DiningTable", "target_object": "Laptop", "question": "Which of the following objects is closest to DiningTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Plate", "semantic_id": "Plate|surface|4|19", "distance": 2.7017484397998337, "com": {"x": 4.8790998458862305, "y": 0.1018509715795517, "z": 6.368214130401611}}, {"text": "Laptop", "semantic_id": "Laptop|surface|4|23", "distance": 0.4872012114058171, "com": {"x": 5.23272705078125, "y": 0.8054084777832031, "z": 3.948308229446411}}, {"text": "Vase", "semantic_id": "Vase|surface|4|24", "distance": 2.6415033172924987, "com": {"x": 4.7310686111450195, "y": 0.3073330521583557, "z": 6.28977108001709}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train498/0/rgb_0.png", "image_2": "train498/0/rgb_1.png"} diff --git a/train/train498/0/rgb_0.png b/train/train498/0/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..c1e33e17a5091e3db6b0051d08e99bf97e31287b --- /dev/null +++ b/train/train498/0/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:73693276b823b659475fba1ea790925411087775fe95553a2773d76bd275d09d +size 429998 diff --git a/train/train498/0/rgb_0_mask_Chair|4|1|1.png b/train/train498/0/rgb_0_mask_Chair|4|1|1.png new file mode 100644 index 0000000000000000000000000000000000000000..9c52bed757d515fa3d79d6897a1fbb3eac31b036 --- /dev/null +++ b/train/train498/0/rgb_0_mask_Chair|4|1|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d13463867c67447373908e1b1fc2576ebd6d611cbbb8f94fec276a258d0aede8 +size 361373 diff --git a/train/train498/0/rgb_0_mask_Fridge|2|1.png b/train/train498/0/rgb_0_mask_Fridge|2|1.png new file mode 100644 index 0000000000000000000000000000000000000000..118393b09b2fd35ed8d0acca47e92869ece9b25f --- /dev/null +++ b/train/train498/0/rgb_0_mask_Fridge|2|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:22572900b3c579a19685e7b7223c743fc2b5376b6d7826441195a9edd537e1c0 +size 369428 diff --git a/train/train498/0/rgb_1.png b/train/train498/0/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..f1eebf7ea7caf5615c0b5839a80bc68e77a17cd1 --- /dev/null +++ b/train/train498/0/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:901278e8c917d7ce7039d4a8d54cad9b3c5fcbdf50ec4505db6391d903500838 +size 449093 diff --git a/train/train498/0/rgb_1_mask_Chair|4|1|1.png b/train/train498/0/rgb_1_mask_Chair|4|1|1.png new file mode 100644 index 0000000000000000000000000000000000000000..0d51d756303081ffb8b4afef3b068e9af7e6041b --- /dev/null +++ b/train/train498/0/rgb_1_mask_Chair|4|1|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:00ef88193ed0f20e85bdb48996c4e3bcefc0532d6c724e592dc1ca8b53f939e5 +size 361970 diff --git a/train/train498/0/rgb_1_mask_DiningTable|4|1|0.png b/train/train498/0/rgb_1_mask_DiningTable|4|1|0.png new file mode 100644 index 0000000000000000000000000000000000000000..01b5bee2998943d98ec103928894994cb21554ed --- /dev/null +++ b/train/train498/0/rgb_1_mask_DiningTable|4|1|0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7ee27a70018b71e687a8d4fcbd01a90be7331a96f63399b2bff92d69792fae2c +size 382336 diff --git a/train/train498/0/rgb_1_mask_Fridge|2|1.png b/train/train498/0/rgb_1_mask_Fridge|2|1.png new file mode 100644 index 0000000000000000000000000000000000000000..056295930c2972c335d75419e7ebd87f84e47037 --- /dev/null +++ b/train/train498/0/rgb_1_mask_Fridge|2|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d7775bd4405fddcfb542ad8d74671ed63b3579d57a49a352742643fcec957ad2 +size 397853 diff --git a/train/train498/0/semantic_0.png b/train/train498/0/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..6d22527bfad6713383c87e218b7049f3101991a5 Binary files /dev/null and b/train/train498/0/semantic_0.png differ diff --git a/train/train498/0/semantic_1.png b/train/train498/0/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..e99d41d06754c296c35b90dcc4d537218c79d18b Binary files /dev/null and b/train/train498/0/semantic_1.png differ diff --git a/train/train498/3/0.json b/train/train498/3/0.json new file mode 100644 index 0000000000000000000000000000000000000000..f7a8b0017121eee908e6ccb105a8446474c24ddf --- /dev/null +++ b/train/train498/3/0.json @@ -0,0 +1,634 @@ +{ + "object": [ + { + "objectId": "door|2|4", + "object_info": { + "name": "door|2|4", + "position": { + "x": 6.539700508117676, + "y": -0.0005981922149658203, + "z": 2.0724358558654785 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1661734580993652, + "objectType": "Doorframe", + "objectId": "door|2|4", + "assetId": "Doorframe_Double_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.590658664703369, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.590658664703369, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.590658664703369, + 0.0, + 4.011923313140869 + ], + [ + 6.590658664703369, + 0.0, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 0.0, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 0.0, + 2.069113254547119 + ] + ], + "center": { + "x": 6.540999889373779, + "y": 1.0435373783111572, + "z": 3.040518283843994 + }, + "size": { + "x": 0.09931755065917969, + "y": 2.0870747566223145, + "z": 1.94281005859375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|3", + "object_info": { + "name": "door|2|3", + "position": { + "x": 9.811773300170898, + "y": -0.00026702880859375, + "z": 6.5231428146362305 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 7.364771842956543, + "objectType": "Doorway", + "objectId": "door|2|3", + "assetId": "Doorway_Double_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.727968215942383, + 2.095932960510254, + 6.545433044433594 + ], + [ + 10.727968215942383, + 2.095932960510254, + 4.553407669067383 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 4.553407669067383 + ], + [ + 9.760202407836914, + 2.095932960510254, + 6.545433044433594 + ], + [ + 9.760202407836914, + 2.095932960510254, + 4.553407669067383 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 4.553407669067383 + ] + ], + "center": { + "x": 10.244085311889648, + "y": 1.0479663610458374, + "z": 5.549420356750488 + }, + "size": { + "x": 0.9677658081054688, + "y": 2.095933198928833, + "z": 1.992025375366211 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "FloorLamp|4|2", + "object_info": { + "name": "FloorLamp|4|2", + "position": { + "x": 6.263036727905273, + "y": -0.0018747448921203613, + "z": 0.9616859555244446 + }, + "rotation": { + "x": 359.9669189453125, + "y": 269.9986572265625, + "z": 359.9627380371094 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 1.7853816747665405, + "objectType": "FloorLamp", + "objectId": "FloorLamp|4|2", + "assetId": "Floor_Lamp_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.517219543457031, + 2.0757031440734863, + 1.2152924537658691 + ], + [ + 6.517219543457031, + 2.0757031440734863, + 0.7076406478881836 + ], + [ + 6.517219543457031, + -0.0020160675048828125, + 1.2152924537658691 + ], + [ + 6.517219543457031, + -0.0020160675048828125, + 0.7076406478881836 + ], + [ + 6.009941101074219, + 2.0757031440734863, + 1.2152924537658691 + ], + [ + 6.009941101074219, + 2.0757031440734863, + 0.7076406478881836 + ], + [ + 6.009941101074219, + -0.0020160675048828125, + 1.2152924537658691 + ], + [ + 6.009941101074219, + -0.0020160675048828125, + 0.7076406478881836 + ] + ], + "center": { + "x": 6.263580322265625, + "y": 1.0368435382843018, + "z": 0.9614665508270264 + }, + "size": { + "x": 0.5072784423828125, + "y": 2.077719211578369, + "z": 0.5076518058776855 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.00874137878418, + -0.001891990890726447, + 1.213939905166626 + ], + [ + 6.008753776550293, + -0.0015617554308846593, + 0.7062857151031494 + ], + [ + 6.5160441398620605, + -0.0018547163344919682, + 0.706297755241394 + ], + [ + 6.516031742095947, + -0.002184951677918434, + 1.213951826095581 + ], + [ + 6.009941101074219, + 2.0755419731140137, + 1.2152912616729736 + ], + [ + 6.009953498840332, + 2.0758721828460693, + 0.7076371908187866 + ], + [ + 6.5172438621521, + 2.0755791664123535, + 0.7076491713523865 + ], + [ + 6.517231464385986, + 2.075248956680298, + 1.2153033018112183 + ] + ] + } + } + }, + { + "objectId": "Painting|3|7", + "object_info": { + "name": "Painting|3|7", + "position": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.831557273864746, + "objectType": "Painting", + "objectId": "Painting|3|7", + "assetId": "Wall_Decor_Photo_10", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.833455085754395, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.50425910949707 + ] + ], + "center": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.520129680633545 + }, + "size": { + "x": 0.7115726470947266, + "y": 0.4246177673339844, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|3|4", + "object_info": { + "name": "Painting|3|4", + "position": { + "x": 11.443442344665527, + "y": 1.4678616523742676, + "z": 5.477546215057373 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.9369797706604, + "objectType": "Painting", + "objectId": "Painting|3|4", + "assetId": "Wall_Decor_Painting_3", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.442000389099121, + 1.773220181465149, + 5.879675388336182 + ], + [ + 11.442000389099121, + 1.773220181465149, + 5.07399320602417 + ], + [ + 11.442000389099121, + 1.16008460521698, + 5.879675388336182 + ], + [ + 11.442000389099121, + 1.16008460521698, + 5.07399320602417 + ], + [ + 11.422650337219238, + 1.773220181465149, + 5.879675388336182 + ], + [ + 11.422650337219238, + 1.773220181465149, + 5.07399320602417 + ], + [ + 11.422650337219238, + 1.16008460521698, + 5.879675388336182 + ], + [ + 11.422650337219238, + 1.16008460521698, + 5.07399320602417 + ] + ], + "center": { + "x": 11.43232536315918, + "y": 1.4666523933410645, + "z": 5.476834297180176 + }, + "size": { + "x": 0.019350051879882812, + "y": 0.613135576248169, + "z": 0.8056821823120117 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 5.199999809265137, + "y": 0.9009997844696045, + "z": 1.2999999523162842 + }, + "agent_rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "agent_cameraHorizon": -30.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 5.199999809265137, + "y": 1.5759997367858887, + "z": 1.2999999523162842 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "door|2|4", + "door|2|3", + "Painting|3|7" + ], + "different_object": [ + "Painting|3|4", + "FloorLamp|4|2" + ] +} \ No newline at end of file diff --git a/train/train498/3/0_depth_npy.npy b/train/train498/3/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..61ed6212f16af9cd25273c1a80e5059f87151f46 --- /dev/null +++ b/train/train498/3/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7f59aea51b16c39033839b911e43b41a5c13a617b384ef8d43521284eaa84fa9 +size 3145856 diff --git a/train/train498/3/0_semantic_sensor_npy.npy b/train/train498/3/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..d10acd8cc71b9742302d84b9118ce995011a3366 --- /dev/null +++ b/train/train498/3/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:43030abbe24ca2737b838fdaf4b9b4a5d8c441fec5386c69d7bab55125b20b30 +size 2359424 diff --git a/train/train498/3/1.json b/train/train498/3/1.json new file mode 100644 index 0000000000000000000000000000000000000000..d4ee3ae4ad4bd4efee3979856b1c983f15e31516 --- /dev/null +++ b/train/train498/3/1.json @@ -0,0 +1,2733 @@ +{ + "object": [ + { + "objectId": "Book|surface|4|22", + "object_info": { + "name": "Book|surface|4|22", + "position": { + "x": 4.434379577636719, + "y": 0.27263882756233215, + "z": 6.329527378082275 + }, + "rotation": { + "x": 0.002365913474932313, + "y": 90.0003890991211, + "z": 0.25729310512542725 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 5.127967834472656, + "objectType": "Book", + "objectId": "Book|surface|4|22", + "assetId": "Book_20", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.586941719055176, + 0.30716240406036377, + 6.458010673522949 + ], + [ + 4.586941719055176, + 0.30716240406036377, + 6.2023820877075195 + ], + [ + 4.586941719055176, + 0.2722126245498657, + 6.458010673522949 + ], + [ + 4.586941719055176, + 0.2722126245498657, + 6.2023820877075195 + ], + [ + 4.2818193435668945, + 0.30716240406036377, + 6.458010673522949 + ], + [ + 4.2818193435668945, + 0.30716240406036377, + 6.2023820877075195 + ], + [ + 4.2818193435668945, + 0.2722126245498657, + 6.458010673522949 + ], + [ + 4.2818193435668945, + 0.2722126245498657, + 6.2023820877075195 + ] + ], + "center": { + "x": 4.434380531311035, + "y": 0.28968751430511475, + "z": 6.330196380615234 + }, + "size": { + "x": 0.30512237548828125, + "y": 0.03494977951049805, + "z": 0.2556285858154297 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.586939334869385, + 0.2724279761314392, + 6.202378273010254 + ], + [ + 4.586941242218018, + 0.2712807059288025, + 6.45785665512085 + ], + [ + 4.2818193435668945, + 0.2712933123111725, + 6.457858562469482 + ], + [ + 4.281817436218262, + 0.2724405825138092, + 6.202380657196045 + ], + [ + 4.586940765380859, + 0.3073573708534241, + 6.202535152435303 + ], + [ + 4.586942672729492, + 0.30621010065078735, + 6.458013534545898 + ], + [ + 4.281820774078369, + 0.30622270703315735, + 6.458015441894531 + ], + [ + 4.281818866729736, + 0.30736997723579407, + 6.202537536621094 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___1", + "object_info": { + "name": "Drawer (1)", + "position": { + "x": 3.606998920440674, + "y": 0.39762961864471436, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.130039691925049, + "objectType": "Drawer", + "objectId": "Dresser|4|3___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.4907017946243286, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.4907017946243286, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.30300021171569824, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.30300021171569824, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.4907017946243286, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.4907017946243286, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.30300021171569824, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.30300021171569824, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.3968510031700134, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CellPhone|surface|4|17", + "object_info": { + "name": "CellPhone|surface|4|17", + "position": { + "x": 3.606998920440674, + "y": 0.6999126672744751, + "z": 6.400298118591309 + }, + "rotation": { + "x": 4.23526716986089e-06, + "y": 180.00010681152344, + "z": -0.0013795691775158048 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1599999964237213, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 5.279437065124512, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|4|17", + "assetId": "Cellphone_8", + "parentReceptacles": [ + "Dresser|4|3", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.645237445831299, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.645237445831299, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.645237445831299, + 0.6992031335830688, + 6.473209381103516 + ], + [ + 3.645237445831299, + 0.6992031335830688, + 6.327386856079102 + ], + [ + 3.568760395050049, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.568760395050049, + 0.6992031335830688, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.6992031335830688, + 6.327386856079102 + ] + ], + "center": { + "x": 3.606998920440674, + "y": 0.7046447992324829, + "z": 6.400298118591309 + }, + "size": { + "x": 0.07647705078125, + "y": 0.010883331298828125, + "z": 0.14582252502441406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.568760395050049, + 0.6992031335830688, + 6.327386856079102 + ], + [ + 3.6452372074127197, + 0.6992049813270569, + 6.327386856079102 + ], + [ + 3.645237445831299, + 0.6992050409317017, + 6.473209381103516 + ], + [ + 3.568760633468628, + 0.6992031931877136, + 6.473209381103516 + ], + [ + 3.5687601566314697, + 0.7100846171379089, + 6.327386856079102 + ], + [ + 3.6452369689941406, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.6452372074127197, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.7100846171379089, + 6.473209381103516 + ] + ] + } + } + }, + { + "objectId": "Vase|surface|4|24", + "object_info": { + "name": "Vase|surface|4|24", + "position": { + "x": 4.730817794799805, + "y": 0.27228501439094543, + "z": 6.289771556854248 + }, + "rotation": { + "x": -1.976354042199091e-06, + "y": 90.0000228881836, + "z": 9.469399060435535e-07 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 5.0788726806640625, + "objectType": "Vase", + "objectId": "Vase|surface|4|24", + "assetId": "Vase_Flat_5", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.8065643310546875, + 0.34241700172424316, + 6.365267753601074 + ], + [ + 4.8065643310546875, + 0.34241700172424316, + 6.2142744064331055 + ], + [ + 4.8065643310546875, + 0.27224910259246826, + 6.365267753601074 + ], + [ + 4.8065643310546875, + 0.27224910259246826, + 6.2142744064331055 + ], + [ + 4.655572891235352, + 0.34241700172424316, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.34241700172424316, + 6.2142744064331055 + ], + [ + 4.655572891235352, + 0.27224910259246826, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.27224910259246826, + 6.2142744064331055 + ] + ], + "center": { + "x": 4.7310686111450195, + "y": 0.3073330521583557, + "z": 6.28977108001709 + }, + "size": { + "x": 0.15099143981933594, + "y": 0.0701678991317749, + "z": 0.15099334716796875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.806564807891846, + 0.2722490131855011, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.2722490131855011, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.2722490131855011, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.2722490131855011, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.3424171209335327, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.3424171209335327, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.3424171209335327, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.3424171209335327, + 6.2142744064331055 + ] + ] + } + } + }, + { + "objectId": "TVStand|4|0|0", + "object_info": { + "name": "TVStand|4|0|0", + "position": { + "x": 4.588324069976807, + "y": 0.0009346157312393188, + "z": 6.329517364501953 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": [ + "Television|4|0|1" + ], + "distance": 5.161177635192871, + "objectType": "TVStand", + "objectId": "TVStand|4|0|0", + "assetId": "TV_Stand_220_1", + "parentReceptacles": [ + "Floor", + "Plate|surface|4|19" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.207240104675293, + 0.4502491354942322, + 6.515999794006348 + ], + [ + 5.207240104675293, + 0.4502491354942322, + 6.146122932434082 + ], + [ + 5.207240104675293, + 2.8312206268310547e-07, + 6.515999794006348 + ], + [ + 5.207240104675293, + 2.8312206268310547e-07, + 6.146122932434082 + ], + [ + 3.969435691833496, + 0.4502491354942322, + 6.515999794006348 + ], + [ + 3.969435691833496, + 0.4502491354942322, + 6.146122932434082 + ], + [ + 3.969435691833496, + 2.8312206268310547e-07, + 6.515999794006348 + ], + [ + 3.969435691833496, + 2.8312206268310547e-07, + 6.146122932434082 + ] + ], + "center": { + "x": 4.5883378982543945, + "y": 0.22512470185756683, + "z": 6.331061363220215 + }, + "size": { + "x": 1.2378044128417969, + "y": 0.4502488374710083, + "z": 0.3698768615722656 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.969435930252075, + 2.682209014892578e-07, + 6.14612340927124 + ], + [ + 5.207239627838135, + 2.682209014892578e-07, + 6.14612340927124 + ], + [ + 5.207239627838135, + 2.682209014892578e-07, + 6.515999794006348 + ], + [ + 3.969435930252075, + 2.682209014892578e-07, + 6.515999794006348 + ], + [ + 3.969435930252075, + 0.4502490758895874, + 6.14612340927124 + ], + [ + 5.207239627838135, + 0.4502490758895874, + 6.14612340927124 + ], + [ + 5.207239627838135, + 0.4502490758895874, + 6.515999794006348 + ], + [ + 3.969435930252075, + 0.4502490758895874, + 6.515999794006348 + ] + ] + } + } + }, + { + "objectId": "DiningTable|4|1|0", + "object_info": { + "name": "DiningTable|4|1|0", + "position": { + "x": 5.355981826782227, + "y": -0.0031822919845581055, + "z": 3.724600076675415 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Laptop|surface|4|23", + "Book|surface|4|26" + ], + "distance": 2.7034060955047607, + "objectType": "DiningTable", + "objectId": "DiningTable|4|1|0", + "assetId": "Dining_Table_218_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.855982780456543, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 5.855982780456543, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 2.8305177688598633 + ] + ], + "center": { + "x": 5.355981826782227, + "y": 0.3905254304409027, + "z": 3.724600076675415 + }, + "size": { + "x": 1.0000019073486328, + "y": 0.7810438275337219, + "z": 1.7881646156311035 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.855982303619385, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 3.5762786865234375e-06, + 4.618681907653809 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 4.618682384490967 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 4.618681907653809 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 4.618682384490967 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 2.8305180072784424 + ] + ] + } + } + }, + { + "objectId": "Chair|4|1|2", + "object_info": { + "name": "Chair|4|1|2", + "position": { + "x": 5.356987476348877, + "y": 0.0031416714191436768, + "z": 4.78104829788208 + }, + "rotation": { + "x": -0.0, + "y": 174.24070739746094, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 3.6936275959014893, + "objectType": "Chair", + "objectId": "Chair|4|1|2", + "assetId": "Chair_224_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.615507125854492, + 0.8033755421638489, + 5.103589057922363 + ], + [ + 5.615507125854492, + 0.8033755421638489, + 4.454636573791504 + ], + [ + 5.615507125854492, + -1.0073184967041016e-05, + 5.103589057922363 + ], + [ + 5.615507125854492, + -1.0073184967041016e-05, + 4.454636573791504 + ], + [ + 5.106142044067383, + 0.8033755421638489, + 5.103589057922363 + ], + [ + 5.106142044067383, + 0.8033755421638489, + 4.454636573791504 + ], + [ + 5.106142044067383, + -1.0073184967041016e-05, + 5.103589057922363 + ], + [ + 5.106142044067383, + -1.0073184967041016e-05, + 4.454636573791504 + ] + ], + "center": { + "x": 5.3608245849609375, + "y": 0.4016827344894409, + "z": 4.779112815856934 + }, + "size": { + "x": 0.5093650817871094, + "y": 0.8033856153488159, + "z": 0.6489524841308594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.15634822845459, + -9.98377799987793e-06, + 4.451790809631348 + ], + [ + 5.61686897277832, + -9.98377799987793e-06, + 4.4982380867004395 + ], + [ + 5.5556254386901855, + -9.98377799987793e-06, + 5.105459213256836 + ], + [ + 5.095105171203613, + -9.98377799987793e-06, + 5.059011936187744 + ], + [ + 5.15634822845459, + 0.8033754825592041, + 4.451790809631348 + ], + [ + 5.61686897277832, + 0.8033754825592041, + 4.4982380867004395 + ], + [ + 5.5556254386901855, + 0.8033754825592041, + 5.105459213256836 + ], + [ + 5.095105171203613, + 0.8033754825592041, + 5.059011936187744 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___0", + "object_info": { + "name": "Drawer", + "position": { + "x": 3.606998920440674, + "y": 0.5816994309425354, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.115259647369385, + "objectType": "Drawer", + "objectId": "Dresser|4|3___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.6747716069221497, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.6747716069221497, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.4870700240135193, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.4870700240135193, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.6747716069221497, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.6747716069221497, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.4870700240135193, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.4870700240135193, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.5809208154678345, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|4", + "object_info": { + "name": "door|2|4", + "position": { + "x": 6.539700508117676, + "y": -0.0005981922149658203, + "z": 2.0724358558654785 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1661734580993652, + "objectType": "Doorframe", + "objectId": "door|2|4", + "assetId": "Doorframe_Double_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.590658664703369, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.590658664703369, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.590658664703369, + 0.0, + 4.011923313140869 + ], + [ + 6.590658664703369, + 0.0, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 0.0, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 0.0, + 2.069113254547119 + ] + ], + "center": { + "x": 6.540999889373779, + "y": 1.0435373783111572, + "z": 3.040518283843994 + }, + "size": { + "x": 0.09931755065917969, + "y": 2.0870747566223145, + "z": 1.94281005859375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|4|3", + "object_info": { + "name": "Dresser|4|3", + "position": { + "x": 3.606998920440674, + "y": -4.786252975463867e-05, + "z": 6.362965106964111 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Watch|surface|4|16", + "CellPhone|surface|4|17" + ], + "distance": 5.316083908081055, + "objectType": "Dresser", + "objectId": "Dresser|4|3", + "assetId": "RoboTHOR_dresser_rast_v", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.917998790740967, + 0.6992043256759644, + 6.518101692199707 + ], + [ + 3.917998790740967, + 0.6992043256759644, + 6.203625679016113 + ], + [ + 3.917998790740967, + 3.838539123535156e-05, + 6.518101692199707 + ], + [ + 3.917998790740967, + 3.838539123535156e-05, + 6.203625679016113 + ], + [ + 3.295999050140381, + 0.6992043256759644, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992043256759644, + 6.203625679016113 + ], + [ + 3.295999050140381, + 3.838539123535156e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 3.838539123535156e-05, + 6.203625679016113 + ] + ], + "center": { + "x": 3.606998920440674, + "y": 0.34962135553359985, + "z": 6.36086368560791 + }, + "size": { + "x": 0.6219997406005859, + "y": 0.699165940284729, + "z": 0.31447601318359375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.295999050140381, + 3.8564205169677734e-05, + 6.20362663269043 + ], + [ + 3.917998790740967, + 3.8564205169677734e-05, + 6.20362663269043 + ], + [ + 3.917998790740967, + 3.8564205169677734e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 3.8564205169677734e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992037892341614, + 6.20362663269043 + ], + [ + 3.917998790740967, + 0.6992037892341614, + 6.20362663269043 + ], + [ + 3.917998790740967, + 0.6992037892341614, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992037892341614, + 6.518101692199707 + ] + ] + } + } + }, + { + "objectId": "CreditCard|surface|4|21", + "object_info": { + "name": "CreditCard|surface|4|21", + "position": { + "x": 4.137941837310791, + "y": 0.27259376645088196, + "z": 6.3295159339904785 + }, + "rotation": { + "x": 0.00015720646479167044, + "y": 90.0001449584961, + "z": -0.00030558553407900035 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.15470552444458, + "objectType": "CreditCard", + "objectId": "CreditCard|surface|4|21", + "assetId": "CreditCard_3", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.164941310882568, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.164941310882568, + 0.27673888206481934, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.27224868535995483, + 6.372598171234131 + ], + [ + 4.164941310882568, + 0.27224868535995483, + 6.286433696746826 + ], + [ + 4.110942363739014, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27673888206481934, + 6.286433696746826 + ], + [ + 4.110942363739014, + 0.27224868535995483, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27224868535995483, + 6.286433696746826 + ] + ], + "center": { + "x": 4.137941837310791, + "y": 0.2744937837123871, + "z": 6.3295159339904785 + }, + "size": { + "x": 0.05399894714355469, + "y": 0.004490196704864502, + "z": 0.08616447448730469 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.16494083404541, + 0.27224868535995483, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.27224916219711304, + 6.372598171234131 + ], + [ + 4.110942840576172, + 0.2722492814064026, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.2722488343715668, + 6.286433696746826 + ], + [ + 4.16494083404541, + 0.2767382860183716, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.2767387330532074, + 6.372598171234131 + ], + [ + 4.110942840576172, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27673840522766113, + 6.286433696746826 + ] + ] + } + } + }, + { + "objectId": "Painting|4|6", + "object_info": { + "name": "Painting|4|6", + "position": { + "x": 6.538111209869385, + "y": 1.4183659553527832, + "z": 4.80001974105835 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.008447170257568, + "objectType": "Painting", + "objectId": "Painting|4|6", + "assetId": "Wall_Decor_Painting_8", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.5360002517700195, + 1.681741714477539, + 5.152198791503906 + ], + [ + 6.5360002517700195, + 1.681741714477539, + 4.4491167068481445 + ], + [ + 6.5360002517700195, + 1.1549901962280273, + 5.152198791503906 + ], + [ + 6.5360002517700195, + 1.1549901962280273, + 4.4491167068481445 + ], + [ + 6.518789291381836, + 1.681741714477539, + 5.152198791503906 + ], + [ + 6.518789291381836, + 1.681741714477539, + 4.4491167068481445 + ], + [ + 6.518789291381836, + 1.1549901962280273, + 5.152198791503906 + ], + [ + 6.518789291381836, + 1.1549901962280273, + 4.4491167068481445 + ] + ], + "center": { + "x": 6.527394771575928, + "y": 1.4183659553527832, + "z": 4.800657749176025 + }, + "size": { + "x": 0.017210960388183594, + "y": 0.5267515182495117, + "z": 0.7030820846557617 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TVStand|4|0|0___1", + "object_info": { + "name": "Shelf", + "position": { + "x": 4.588322162628174, + "y": 0.2684445381164551, + "z": 6.3295159339904785 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Watch|surface|4|20", + "Book|surface|4|22", + "KeyChain|surface|4|18", + "Vase|surface|4|24", + "CreditCard|surface|4|21" + ], + "distance": 5.121303558349609, + "objectType": "DiningTable", + "objectId": "TVStand|4|0|0___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.18937349319458, + 0.3674442172050476, + 6.494719982147217 + ], + [ + 5.18937349319458, + 0.3674442172050476, + 6.16431188583374 + ], + [ + 5.18937349319458, + 0.26823681592941284, + 6.494719982147217 + ], + [ + 5.18937349319458, + 0.26823681592941284, + 6.16431188583374 + ], + [ + 3.9872708320617676, + 0.3674442172050476, + 6.494719982147217 + ], + [ + 3.9872708320617676, + 0.3674442172050476, + 6.16431188583374 + ], + [ + 3.9872708320617676, + 0.26823681592941284, + 6.494719982147217 + ], + [ + 3.9872708320617676, + 0.26823681592941284, + 6.16431188583374 + ] + ], + "center": { + "x": 4.588322162628174, + "y": 0.3178405165672302, + "z": 6.3295159339904785 + }, + "size": { + "x": 1.2021026611328125, + "y": 0.09920740127563477, + "z": 0.33040809631347656 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Watch|surface|4|16", + "object_info": { + "name": "Watch|surface|4|16", + "position": { + "x": 3.6847031116485596, + "y": 0.7003282308578491, + "z": 6.288086414337158 + }, + "rotation": { + "x": 1.9947741031646729, + "y": 180.00387573242188, + "z": 1.19093656539917 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07000000029802322, + "salientMaterials": [ + "Metal", + "Glass", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.153391361236572, + "objectType": "Watch", + "objectId": "Watch|surface|4|16", + "assetId": "Watch_2", + "parentReceptacles": [ + "Dresser|4|3", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.7239737510681152, + 0.7344659566879272, + 6.313935279846191 + ], + [ + 3.7239737510681152, + 0.7344659566879272, + 6.265624046325684 + ], + [ + 3.7239737510681152, + 0.6990219354629517, + 6.313935279846191 + ], + [ + 3.7239737510681152, + 0.6990219354629517, + 6.265624046325684 + ], + [ + 3.6450982093811035, + 0.7344659566879272, + 6.313935279846191 + ], + [ + 3.6450982093811035, + 0.7344659566879272, + 6.265624046325684 + ], + [ + 3.6450982093811035, + 0.6990219354629517, + 6.313935279846191 + ], + [ + 3.6450982093811035, + 0.6990219354629517, + 6.265624046325684 + ] + ], + "center": { + "x": 3.6845359802246094, + "y": 0.7167439460754395, + "z": 6.2897796630859375 + }, + "size": { + "x": 0.07887554168701172, + "y": 0.035444021224975586, + "z": 0.04831123352050781 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.644953966140747, + 0.6981589794158936, + 6.265713691711426 + ], + [ + 3.723494052886963, + 0.6965271830558777, + 6.265765190124512 + ], + [ + 3.723497152328491, + 0.6982251405715942, + 6.314515590667725 + ], + [ + 3.6449573040008545, + 0.6998568773269653, + 6.314464092254639 + ], + [ + 3.645716905593872, + 0.7348403334617615, + 6.2644362449646 + ], + [ + 3.724256992340088, + 0.7332085967063904, + 6.2644877433776855 + ], + [ + 3.724260091781616, + 0.7349065542221069, + 6.31323766708374 + ], + [ + 3.6457202434539795, + 0.736538290977478, + 6.313186168670654 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___2", + "object_info": { + "name": "Drawer (2)", + "position": { + "x": 3.606998920440674, + "y": 0.20109392702579498, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.1530375480651855, + "objectType": "Drawer", + "objectId": "Dresser|4|3___2", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.29416608810424805, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.29416608810424805, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.10646450519561768, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.10646450519561768, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.29416608810424805, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.29416608810424805, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.10646450519561768, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.10646450519561768, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.20031529664993286, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|3", + "object_info": { + "name": "door|2|3", + "position": { + "x": 9.811773300170898, + "y": -0.00026702880859375, + "z": 6.5231428146362305 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 7.364771842956543, + "objectType": "Doorway", + "objectId": "door|2|3", + "assetId": "Doorway_Double_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.727968215942383, + 2.095932960510254, + 6.545433044433594 + ], + [ + 10.727968215942383, + 2.095932960510254, + 4.553407669067383 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 4.553407669067383 + ], + [ + 9.760202407836914, + 2.095932960510254, + 6.545433044433594 + ], + [ + 9.760202407836914, + 2.095932960510254, + 4.553407669067383 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 4.553407669067383 + ] + ], + "center": { + "x": 10.244085311889648, + "y": 1.0479663610458374, + "z": 5.549420356750488 + }, + "size": { + "x": 0.9677658081054688, + "y": 2.095933198928833, + "z": 1.992025375366211 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|3|7", + "object_info": { + "name": "Painting|3|7", + "position": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.831557273864746, + "objectType": "Painting", + "objectId": "Painting|3|7", + "assetId": "Wall_Decor_Photo_10", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.833455085754395, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.50425910949707 + ] + ], + "center": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.520129680633545 + }, + "size": { + "x": 0.7115726470947266, + "y": 0.4246177673339844, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|4|4", + "object_info": { + "name": "Painting|4|4", + "position": { + "x": 3.608247995376587, + "y": 1.9246368408203125, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.503932476043701, + "objectType": "Painting", + "objectId": "Painting|4|4", + "assetId": "Wall_Decor_Photo_1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.9420716762542725, + 2.1772351264953613, + 6.5360002517700195 + ], + [ + 3.9420716762542725, + 2.1772351264953613, + 6.50425910949707 + ], + [ + 3.9420716762542725, + 1.6720385551452637, + 6.5360002517700195 + ], + [ + 3.9420716762542725, + 1.6720385551452637, + 6.50425910949707 + ], + [ + 3.2744243144989014, + 2.1772351264953613, + 6.5360002517700195 + ], + [ + 3.2744243144989014, + 2.1772351264953613, + 6.50425910949707 + ], + [ + 3.2744243144989014, + 1.6720385551452637, + 6.5360002517700195 + ], + [ + 3.2744243144989014, + 1.6720385551452637, + 6.50425910949707 + ] + ], + "center": { + "x": 3.608247995376587, + "y": 1.9246368408203125, + "z": 6.520129680633545 + }, + "size": { + "x": 0.6676473617553711, + "y": 0.5051965713500977, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Fridge|2|1", + "object_info": { + "name": "Fridge|2|1", + "position": { + "x": 8.027824401855469, + "y": 0.007394969463348389, + "z": 6.196259021759033 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Tomato|surface|2|5", + "Potato|surface|2|7" + ], + "distance": 6.000678539276123, + "objectType": "Fridge", + "objectId": "Fridge|2|1", + "assetId": "Fridge_15", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.576839447021484, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 8.576839447021484, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 8.576839447021484, + 0.0, + 6.515999794006348 + ], + [ + 8.576839447021484, + 0.0, + 5.736844062805176 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 7.494537353515625, + 0.0, + 6.515999794006348 + ], + [ + 7.494537353515625, + 0.0, + 5.736844062805176 + ] + ], + "center": { + "x": 8.035688400268555, + "y": 0.9413036108016968, + "z": 6.126421928405762 + }, + "size": { + "x": 1.0823020935058594, + "y": 1.8826072216033936, + "z": 0.7791557312011719 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Television|4|0|1", + "object_info": { + "name": "Television|4|0|1", + "position": { + "x": 4.5883378982543945, + "y": 0.9386330842971802, + "z": 6.25775671005249 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.010506629943848, + "objectType": "Television", + "objectId": "Television|4|0|1", + "assetId": "Television_23", + "parentReceptacles": [ + "Floor", + "TVStand|4|0|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.0883378982543945, + 1.2561266422271729, + 6.508190631866455 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.153933048248291 + ], + [ + 5.0883378982543945, + 0.4502493143081665, + 6.508190631866455 + ], + [ + 5.0883378982543945, + 0.4502493143081665, + 6.153933048248291 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.508190631866455 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.153933048248291 + ], + [ + 4.0883378982543945, + 0.4502493143081665, + 6.508190631866455 + ], + [ + 4.0883378982543945, + 0.4502493143081665, + 6.153933048248291 + ] + ], + "center": { + "x": 4.5883378982543945, + "y": 0.8531879782676697, + "z": 6.331061840057373 + }, + "size": { + "x": 1.0, + "y": 0.8058773279190063, + "z": 0.35425758361816406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.0883378982543945, + 0.4502493441104889, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 0.4502493441104889, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 0.4502493441104889, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 0.4502493441104889, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.508191108703613 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 5.199999809265137, + "y": 0.9009997844696045, + "z": 1.2999999523162842 + }, + "agent_rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "agent_cameraHorizon": -30.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 5.199999809265137, + "y": 1.5759997367858887, + "z": 1.2999999523162842 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "door|2|4", + "door|2|3", + "Painting|3|7" + ], + "different_object": [ + "Fridge|2|1", + "CellPhone|surface|4|17", + "Dresser|4|3", + "Book|surface|4|22", + "DiningTable|4|1|0", + "Dresser|4|3___0", + "TVStand|4|0|0___1", + "Watch|surface|4|16", + "Dresser|4|3___2", + "CreditCard|surface|4|21", + "Vase|surface|4|24", + "Painting|4|6", + "Dresser|4|3___1", + "Television|4|0|1", + "Painting|4|4", + "Chair|4|1|2", + "TVStand|4|0|0" + ] +} \ No newline at end of file diff --git a/train/train498/3/1_depth_npy.npy b/train/train498/3/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..c7f0ed435248ac29e19a6d08903a38a92e85e10e --- /dev/null +++ b/train/train498/3/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:41653694ff43bda7aeb1b5e782d44c264a56f65cb46fc196d04dcdb0fcb94b3a +size 3145856 diff --git a/train/train498/3/1_semantic_sensor_npy.npy b/train/train498/3/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..9eca891343d758ecd9650a2df7fd41d85315f931 --- /dev/null +++ b/train/train498/3/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0903989acf87dc1ea27c974a6395a9d85ca7a3a021e0b86bfd904ea090818066 +size 2359424 diff --git a/train/train498/3/depth_0.png b/train/train498/3/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..6434bd9b15dfa0475b46915937bc0eb5cf54b9f4 Binary files /dev/null and b/train/train498/3/depth_0.png differ diff --git a/train/train498/3/depth_1.png b/train/train498/3/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..4ddc76db69fc926a2d9f54f85772c2ec83a995d8 Binary files /dev/null and b/train/train498/3/depth_1.png differ diff --git a/train/train498/3/mask_questions.jsonl b/train/train498/3/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/train/train498/3/questions_direction.jsonl b/train/train498/3/questions_direction.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6277e47af62a265cf89ddb5653235c3031012aca --- /dev/null +++ b/train/train498/3/questions_direction.jsonl @@ -0,0 +1,6 @@ +{"id": 4449, "folder_dir": "train498/3", "pair_name": "FloorLamp-Book", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of FloorLamp. Where is the centroid position of Book in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "FloorLamp", "tgt_object": "Book", "src_com": {"x": 6.263580322265625, "y": 1.0368435382843018, "z": 0.9614665508270264}, "tgt_com": {"x": 4.434380531311035, "y": 0.28968751430511475, "z": 6.330196380615234}, "agent_pos": {"x": 5.199999809265137, "y": 1.5759997367858887, "z": 1.2999999523162842}, "image_1": "train498/3/rgb_0.png", "image_2": "train498/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4450, "folder_dir": "train498/3", "pair_name": "FloorLamp-Chair", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of FloorLamp. Where is the centroid position of Chair in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "FloorLamp", "tgt_object": "Chair", "src_com": {"x": 6.263580322265625, "y": 1.0368435382843018, "z": 0.9614665508270264}, "tgt_com": {"x": 5.3608245849609375, "y": 0.4016827344894409, "z": 4.779112815856934}, "agent_pos": {"x": 5.199999809265137, "y": 1.5759997367858887, "z": 1.2999999523162842}, "image_1": "train498/3/rgb_0.png", "image_2": "train498/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4451, "folder_dir": "train498/3", "pair_name": "FloorLamp-Television", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of FloorLamp. Where is the centroid position of Television in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "FloorLamp", "tgt_object": "Television", "src_com": {"x": 6.263580322265625, "y": 1.0368435382843018, "z": 0.9614665508270264}, "tgt_com": {"x": 4.5883378982543945, "y": 0.8531879782676697, "z": 6.331061840057373}, "agent_pos": {"x": 5.199999809265137, "y": 1.5759997367858887, "z": 1.2999999523162842}, "image_1": "train498/3/rgb_0.png", "image_2": "train498/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4452, "folder_dir": "train498/3", "pair_name": "Book-FloorLamp", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Book. Where is the centroid position of FloorLamp in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Book", "tgt_object": "FloorLamp", "src_com": {"x": 4.434380531311035, "y": 0.28968751430511475, "z": 6.330196380615234}, "tgt_com": {"x": 6.263580322265625, "y": 1.0368435382843018, "z": 0.9614665508270264}, "agent_pos": {"x": 5.199999809265137, "y": 1.5759997367858887, "z": 1.2999999523162842}, "image_1": "train498/3/rgb_1.png", "image_2": "train498/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4453, "folder_dir": "train498/3", "pair_name": "Chair-FloorLamp", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Chair. Where is the centroid position of FloorLamp in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Chair", "tgt_object": "FloorLamp", "src_com": {"x": 5.3608245849609375, "y": 0.4016827344894409, "z": 4.779112815856934}, "tgt_com": {"x": 6.263580322265625, "y": 1.0368435382843018, "z": 0.9614665508270264}, "agent_pos": {"x": 5.199999809265137, "y": 1.5759997367858887, "z": 1.2999999523162842}, "image_1": "train498/3/rgb_1.png", "image_2": "train498/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4454, "folder_dir": "train498/3", "pair_name": "Television-FloorLamp", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Television. Where is the centroid position of FloorLamp in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Television", "tgt_object": "FloorLamp", "src_com": {"x": 4.5883378982543945, "y": 0.8531879782676697, "z": 6.331061840057373}, "tgt_com": {"x": 6.263580322265625, "y": 1.0368435382843018, "z": 0.9614665508270264}, "agent_pos": {"x": 5.199999809265137, "y": 1.5759997367858887, "z": 1.2999999523162842}, "image_1": "train498/3/rgb_1.png", "image_2": "train498/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} diff --git a/train/train498/3/rgb_0.png b/train/train498/3/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..77e03bb217115bce1b62cc6099fa671a854c825d --- /dev/null +++ b/train/train498/3/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f96d4a4a4b47fea1ad31ba4b43f2aa7f1568be4be64b940bea230b323c2772eb +size 193723 diff --git a/train/train498/3/rgb_1.png b/train/train498/3/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..3a26472c1a7dbab2d3f57e96229fecfc9f1ce6c1 --- /dev/null +++ b/train/train498/3/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5e0ed5733bd2acfb15dfc7455912e3af100672c32b3ddc40a38867737fef8b61 +size 244044 diff --git a/train/train498/3/semantic_0.png b/train/train498/3/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..b1408724fe5271baa427d242fca9638154ae2e38 Binary files /dev/null and b/train/train498/3/semantic_0.png differ diff --git a/train/train498/3/semantic_1.png b/train/train498/3/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..955221a1931a65d9f4f15b6f02b69aa9d401dd18 Binary files /dev/null and b/train/train498/3/semantic_1.png differ diff --git a/train/train498/4/0.json b/train/train498/4/0.json new file mode 100644 index 0000000000000000000000000000000000000000..9079afcc75414ddc2de84ae8a393c76c597abb12 --- /dev/null +++ b/train/train498/4/0.json @@ -0,0 +1,2622 @@ +{ + "object": [ + { + "objectId": "Book|surface|4|22", + "object_info": { + "name": "Book|surface|4|22", + "position": { + "x": 4.434379577636719, + "y": 0.27263882756233215, + "z": 6.329527378082275 + }, + "rotation": { + "x": 0.002365913474932313, + "y": 90.0003890991211, + "z": 0.25729310512542725 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 5.127967834472656, + "objectType": "Book", + "objectId": "Book|surface|4|22", + "assetId": "Book_20", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.586941719055176, + 0.30716240406036377, + 6.458010673522949 + ], + [ + 4.586941719055176, + 0.30716240406036377, + 6.2023820877075195 + ], + [ + 4.586941719055176, + 0.2722126245498657, + 6.458010673522949 + ], + [ + 4.586941719055176, + 0.2722126245498657, + 6.2023820877075195 + ], + [ + 4.2818193435668945, + 0.30716240406036377, + 6.458010673522949 + ], + [ + 4.2818193435668945, + 0.30716240406036377, + 6.2023820877075195 + ], + [ + 4.2818193435668945, + 0.2722126245498657, + 6.458010673522949 + ], + [ + 4.2818193435668945, + 0.2722126245498657, + 6.2023820877075195 + ] + ], + "center": { + "x": 4.434380531311035, + "y": 0.28968751430511475, + "z": 6.330196380615234 + }, + "size": { + "x": 0.30512237548828125, + "y": 0.03494977951049805, + "z": 0.2556285858154297 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.586939334869385, + 0.2724279761314392, + 6.202378273010254 + ], + [ + 4.586941242218018, + 0.2712807059288025, + 6.45785665512085 + ], + [ + 4.2818193435668945, + 0.2712933123111725, + 6.457858562469482 + ], + [ + 4.281817436218262, + 0.2724405825138092, + 6.202380657196045 + ], + [ + 4.586940765380859, + 0.3073573708534241, + 6.202535152435303 + ], + [ + 4.586942672729492, + 0.30621010065078735, + 6.458013534545898 + ], + [ + 4.281820774078369, + 0.30622270703315735, + 6.458015441894531 + ], + [ + 4.281818866729736, + 0.30736997723579407, + 6.202537536621094 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___1", + "object_info": { + "name": "Drawer (1)", + "position": { + "x": 3.606998920440674, + "y": 0.39762961864471436, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.130039691925049, + "objectType": "Drawer", + "objectId": "Dresser|4|3___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.4907017946243286, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.4907017946243286, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.30300021171569824, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.30300021171569824, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.4907017946243286, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.4907017946243286, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.30300021171569824, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.30300021171569824, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.3968510031700134, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CellPhone|surface|4|17", + "object_info": { + "name": "CellPhone|surface|4|17", + "position": { + "x": 3.606998920440674, + "y": 0.6999126672744751, + "z": 6.400298118591309 + }, + "rotation": { + "x": 4.23526716986089e-06, + "y": 180.00010681152344, + "z": -0.0013795691775158048 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1599999964237213, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 5.279437065124512, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|4|17", + "assetId": "Cellphone_8", + "parentReceptacles": [ + "Dresser|4|3", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.645237445831299, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.645237445831299, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.645237445831299, + 0.6992031335830688, + 6.473209381103516 + ], + [ + 3.645237445831299, + 0.6992031335830688, + 6.327386856079102 + ], + [ + 3.568760395050049, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.568760395050049, + 0.6992031335830688, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.6992031335830688, + 6.327386856079102 + ] + ], + "center": { + "x": 3.606998920440674, + "y": 0.7046447992324829, + "z": 6.400298118591309 + }, + "size": { + "x": 0.07647705078125, + "y": 0.010883331298828125, + "z": 0.14582252502441406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.568760395050049, + 0.6992031335830688, + 6.327386856079102 + ], + [ + 3.6452372074127197, + 0.6992049813270569, + 6.327386856079102 + ], + [ + 3.645237445831299, + 0.6992050409317017, + 6.473209381103516 + ], + [ + 3.568760633468628, + 0.6992031931877136, + 6.473209381103516 + ], + [ + 3.5687601566314697, + 0.7100846171379089, + 6.327386856079102 + ], + [ + 3.6452369689941406, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.6452372074127197, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.7100846171379089, + 6.473209381103516 + ] + ] + } + } + }, + { + "objectId": "Vase|surface|4|24", + "object_info": { + "name": "Vase|surface|4|24", + "position": { + "x": 4.730817794799805, + "y": 0.27228501439094543, + "z": 6.289771556854248 + }, + "rotation": { + "x": -1.976354042199091e-06, + "y": 90.0000228881836, + "z": 9.469399060435535e-07 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 5.0788726806640625, + "objectType": "Vase", + "objectId": "Vase|surface|4|24", + "assetId": "Vase_Flat_5", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.8065643310546875, + 0.34241700172424316, + 6.365267753601074 + ], + [ + 4.8065643310546875, + 0.34241700172424316, + 6.2142744064331055 + ], + [ + 4.8065643310546875, + 0.27224910259246826, + 6.365267753601074 + ], + [ + 4.8065643310546875, + 0.27224910259246826, + 6.2142744064331055 + ], + [ + 4.655572891235352, + 0.34241700172424316, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.34241700172424316, + 6.2142744064331055 + ], + [ + 4.655572891235352, + 0.27224910259246826, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.27224910259246826, + 6.2142744064331055 + ] + ], + "center": { + "x": 4.7310686111450195, + "y": 0.3073330521583557, + "z": 6.28977108001709 + }, + "size": { + "x": 0.15099143981933594, + "y": 0.0701678991317749, + "z": 0.15099334716796875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.806564807891846, + 0.2722490131855011, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.2722490131855011, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.2722490131855011, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.2722490131855011, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.3424171209335327, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.3424171209335327, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.3424171209335327, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.3424171209335327, + 6.2142744064331055 + ] + ] + } + } + }, + { + "objectId": "TVStand|4|0|0", + "object_info": { + "name": "TVStand|4|0|0", + "position": { + "x": 4.588324069976807, + "y": 0.0009346157312393188, + "z": 6.329517364501953 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": [ + "Television|4|0|1" + ], + "distance": 5.161177635192871, + "objectType": "TVStand", + "objectId": "TVStand|4|0|0", + "assetId": "TV_Stand_220_1", + "parentReceptacles": [ + "Floor", + "Plate|surface|4|19" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.207240104675293, + 0.4502491354942322, + 6.515999794006348 + ], + [ + 5.207240104675293, + 0.4502491354942322, + 6.146122932434082 + ], + [ + 5.207240104675293, + 2.8312206268310547e-07, + 6.515999794006348 + ], + [ + 5.207240104675293, + 2.8312206268310547e-07, + 6.146122932434082 + ], + [ + 3.969435691833496, + 0.4502491354942322, + 6.515999794006348 + ], + [ + 3.969435691833496, + 0.4502491354942322, + 6.146122932434082 + ], + [ + 3.969435691833496, + 2.8312206268310547e-07, + 6.515999794006348 + ], + [ + 3.969435691833496, + 2.8312206268310547e-07, + 6.146122932434082 + ] + ], + "center": { + "x": 4.5883378982543945, + "y": 0.22512470185756683, + "z": 6.331061363220215 + }, + "size": { + "x": 1.2378044128417969, + "y": 0.4502488374710083, + "z": 0.3698768615722656 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.969435930252075, + 2.682209014892578e-07, + 6.14612340927124 + ], + [ + 5.207239627838135, + 2.682209014892578e-07, + 6.14612340927124 + ], + [ + 5.207239627838135, + 2.682209014892578e-07, + 6.515999794006348 + ], + [ + 3.969435930252075, + 2.682209014892578e-07, + 6.515999794006348 + ], + [ + 3.969435930252075, + 0.4502490758895874, + 6.14612340927124 + ], + [ + 5.207239627838135, + 0.4502490758895874, + 6.14612340927124 + ], + [ + 5.207239627838135, + 0.4502490758895874, + 6.515999794006348 + ], + [ + 3.969435930252075, + 0.4502490758895874, + 6.515999794006348 + ] + ] + } + } + }, + { + "objectId": "DiningTable|4|1|0", + "object_info": { + "name": "DiningTable|4|1|0", + "position": { + "x": 5.355981826782227, + "y": -0.0031822919845581055, + "z": 3.724600076675415 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Laptop|surface|4|23", + "Book|surface|4|26" + ], + "distance": 2.7034060955047607, + "objectType": "DiningTable", + "objectId": "DiningTable|4|1|0", + "assetId": "Dining_Table_218_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.855982780456543, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 5.855982780456543, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 2.8305177688598633 + ] + ], + "center": { + "x": 5.355981826782227, + "y": 0.3905254304409027, + "z": 3.724600076675415 + }, + "size": { + "x": 1.0000019073486328, + "y": 0.7810438275337219, + "z": 1.7881646156311035 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.855982303619385, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 3.5762786865234375e-06, + 4.618681907653809 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 4.618682384490967 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 4.618681907653809 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 4.618682384490967 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 2.8305180072784424 + ] + ] + } + } + }, + { + "objectId": "Chair|4|1|2", + "object_info": { + "name": "Chair|4|1|2", + "position": { + "x": 5.356987476348877, + "y": 0.0031416714191436768, + "z": 4.78104829788208 + }, + "rotation": { + "x": -0.0, + "y": 174.24070739746094, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 3.6936275959014893, + "objectType": "Chair", + "objectId": "Chair|4|1|2", + "assetId": "Chair_224_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.615507125854492, + 0.8033755421638489, + 5.103589057922363 + ], + [ + 5.615507125854492, + 0.8033755421638489, + 4.454636573791504 + ], + [ + 5.615507125854492, + -1.0073184967041016e-05, + 5.103589057922363 + ], + [ + 5.615507125854492, + -1.0073184967041016e-05, + 4.454636573791504 + ], + [ + 5.106142044067383, + 0.8033755421638489, + 5.103589057922363 + ], + [ + 5.106142044067383, + 0.8033755421638489, + 4.454636573791504 + ], + [ + 5.106142044067383, + -1.0073184967041016e-05, + 5.103589057922363 + ], + [ + 5.106142044067383, + -1.0073184967041016e-05, + 4.454636573791504 + ] + ], + "center": { + "x": 5.3608245849609375, + "y": 0.4016827344894409, + "z": 4.779112815856934 + }, + "size": { + "x": 0.5093650817871094, + "y": 0.8033856153488159, + "z": 0.6489524841308594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.15634822845459, + -9.98377799987793e-06, + 4.451790809631348 + ], + [ + 5.61686897277832, + -9.98377799987793e-06, + 4.4982380867004395 + ], + [ + 5.5556254386901855, + -9.98377799987793e-06, + 5.105459213256836 + ], + [ + 5.095105171203613, + -9.98377799987793e-06, + 5.059011936187744 + ], + [ + 5.15634822845459, + 0.8033754825592041, + 4.451790809631348 + ], + [ + 5.61686897277832, + 0.8033754825592041, + 4.4982380867004395 + ], + [ + 5.5556254386901855, + 0.8033754825592041, + 5.105459213256836 + ], + [ + 5.095105171203613, + 0.8033754825592041, + 5.059011936187744 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___0", + "object_info": { + "name": "Drawer", + "position": { + "x": 3.606998920440674, + "y": 0.5816994309425354, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.115259647369385, + "objectType": "Drawer", + "objectId": "Dresser|4|3___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.6747716069221497, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.6747716069221497, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.4870700240135193, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.4870700240135193, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.6747716069221497, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.6747716069221497, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.4870700240135193, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.4870700240135193, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.5809208154678345, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|4", + "object_info": { + "name": "door|2|4", + "position": { + "x": 6.539700508117676, + "y": -0.0005981922149658203, + "z": 2.0724358558654785 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1661734580993652, + "objectType": "Doorframe", + "objectId": "door|2|4", + "assetId": "Doorframe_Double_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.590658664703369, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.590658664703369, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.590658664703369, + 0.0, + 4.011923313140869 + ], + [ + 6.590658664703369, + 0.0, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 0.0, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 0.0, + 2.069113254547119 + ] + ], + "center": { + "x": 6.540999889373779, + "y": 1.0435373783111572, + "z": 3.040518283843994 + }, + "size": { + "x": 0.09931755065917969, + "y": 2.0870747566223145, + "z": 1.94281005859375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|4|3", + "object_info": { + "name": "Dresser|4|3", + "position": { + "x": 3.606998920440674, + "y": -4.786252975463867e-05, + "z": 6.362965106964111 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Watch|surface|4|16", + "CellPhone|surface|4|17" + ], + "distance": 5.316083908081055, + "objectType": "Dresser", + "objectId": "Dresser|4|3", + "assetId": "RoboTHOR_dresser_rast_v", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.917998790740967, + 0.6992043256759644, + 6.518101692199707 + ], + [ + 3.917998790740967, + 0.6992043256759644, + 6.203625679016113 + ], + [ + 3.917998790740967, + 3.838539123535156e-05, + 6.518101692199707 + ], + [ + 3.917998790740967, + 3.838539123535156e-05, + 6.203625679016113 + ], + [ + 3.295999050140381, + 0.6992043256759644, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992043256759644, + 6.203625679016113 + ], + [ + 3.295999050140381, + 3.838539123535156e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 3.838539123535156e-05, + 6.203625679016113 + ] + ], + "center": { + "x": 3.606998920440674, + "y": 0.34962135553359985, + "z": 6.36086368560791 + }, + "size": { + "x": 0.6219997406005859, + "y": 0.699165940284729, + "z": 0.31447601318359375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.295999050140381, + 3.8564205169677734e-05, + 6.20362663269043 + ], + [ + 3.917998790740967, + 3.8564205169677734e-05, + 6.20362663269043 + ], + [ + 3.917998790740967, + 3.8564205169677734e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 3.8564205169677734e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992037892341614, + 6.20362663269043 + ], + [ + 3.917998790740967, + 0.6992037892341614, + 6.20362663269043 + ], + [ + 3.917998790740967, + 0.6992037892341614, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992037892341614, + 6.518101692199707 + ] + ] + } + } + }, + { + "objectId": "CreditCard|surface|4|21", + "object_info": { + "name": "CreditCard|surface|4|21", + "position": { + "x": 4.137941837310791, + "y": 0.27259376645088196, + "z": 6.3295159339904785 + }, + "rotation": { + "x": 0.00015720646479167044, + "y": 90.0001449584961, + "z": -0.00030558553407900035 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.15470552444458, + "objectType": "CreditCard", + "objectId": "CreditCard|surface|4|21", + "assetId": "CreditCard_3", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.164941310882568, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.164941310882568, + 0.27673888206481934, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.27224868535995483, + 6.372598171234131 + ], + [ + 4.164941310882568, + 0.27224868535995483, + 6.286433696746826 + ], + [ + 4.110942363739014, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27673888206481934, + 6.286433696746826 + ], + [ + 4.110942363739014, + 0.27224868535995483, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27224868535995483, + 6.286433696746826 + ] + ], + "center": { + "x": 4.137941837310791, + "y": 0.2744937837123871, + "z": 6.3295159339904785 + }, + "size": { + "x": 0.05399894714355469, + "y": 0.004490196704864502, + "z": 0.08616447448730469 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.16494083404541, + 0.27224868535995483, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.27224916219711304, + 6.372598171234131 + ], + [ + 4.110942840576172, + 0.2722492814064026, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.2722488343715668, + 6.286433696746826 + ], + [ + 4.16494083404541, + 0.2767382860183716, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.2767387330532074, + 6.372598171234131 + ], + [ + 4.110942840576172, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27673840522766113, + 6.286433696746826 + ] + ] + } + } + }, + { + "objectId": "Painting|4|6", + "object_info": { + "name": "Painting|4|6", + "position": { + "x": 6.538111209869385, + "y": 1.4183659553527832, + "z": 4.80001974105835 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.008447170257568, + "objectType": "Painting", + "objectId": "Painting|4|6", + "assetId": "Wall_Decor_Painting_8", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.5360002517700195, + 1.681741714477539, + 5.152198791503906 + ], + [ + 6.5360002517700195, + 1.681741714477539, + 4.4491167068481445 + ], + [ + 6.5360002517700195, + 1.1549901962280273, + 5.152198791503906 + ], + [ + 6.5360002517700195, + 1.1549901962280273, + 4.4491167068481445 + ], + [ + 6.518789291381836, + 1.681741714477539, + 5.152198791503906 + ], + [ + 6.518789291381836, + 1.681741714477539, + 4.4491167068481445 + ], + [ + 6.518789291381836, + 1.1549901962280273, + 5.152198791503906 + ], + [ + 6.518789291381836, + 1.1549901962280273, + 4.4491167068481445 + ] + ], + "center": { + "x": 6.527394771575928, + "y": 1.4183659553527832, + "z": 4.800657749176025 + }, + "size": { + "x": 0.017210960388183594, + "y": 0.5267515182495117, + "z": 0.7030820846557617 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TVStand|4|0|0___1", + "object_info": { + "name": "Shelf", + "position": { + "x": 4.588322162628174, + "y": 0.2684445381164551, + "z": 6.3295159339904785 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Watch|surface|4|20", + "Book|surface|4|22", + "KeyChain|surface|4|18", + "Vase|surface|4|24", + "CreditCard|surface|4|21" + ], + "distance": 5.121303558349609, + "objectType": "DiningTable", + "objectId": "TVStand|4|0|0___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.18937349319458, + 0.3674442172050476, + 6.494719982147217 + ], + [ + 5.18937349319458, + 0.3674442172050476, + 6.16431188583374 + ], + [ + 5.18937349319458, + 0.26823681592941284, + 6.494719982147217 + ], + [ + 5.18937349319458, + 0.26823681592941284, + 6.16431188583374 + ], + [ + 3.9872708320617676, + 0.3674442172050476, + 6.494719982147217 + ], + [ + 3.9872708320617676, + 0.3674442172050476, + 6.16431188583374 + ], + [ + 3.9872708320617676, + 0.26823681592941284, + 6.494719982147217 + ], + [ + 3.9872708320617676, + 0.26823681592941284, + 6.16431188583374 + ] + ], + "center": { + "x": 4.588322162628174, + "y": 0.3178405165672302, + "z": 6.3295159339904785 + }, + "size": { + "x": 1.2021026611328125, + "y": 0.09920740127563477, + "z": 0.33040809631347656 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Watch|surface|4|16", + "object_info": { + "name": "Watch|surface|4|16", + "position": { + "x": 3.6847031116485596, + "y": 0.7003282308578491, + "z": 6.288086414337158 + }, + "rotation": { + "x": 1.9947741031646729, + "y": 180.00387573242188, + "z": 1.19093656539917 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07000000029802322, + "salientMaterials": [ + "Metal", + "Glass", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.153391361236572, + "objectType": "Watch", + "objectId": "Watch|surface|4|16", + "assetId": "Watch_2", + "parentReceptacles": [ + "Dresser|4|3", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.7239737510681152, + 0.7344659566879272, + 6.313935279846191 + ], + [ + 3.7239737510681152, + 0.7344659566879272, + 6.265624046325684 + ], + [ + 3.7239737510681152, + 0.6990219354629517, + 6.313935279846191 + ], + [ + 3.7239737510681152, + 0.6990219354629517, + 6.265624046325684 + ], + [ + 3.6450982093811035, + 0.7344659566879272, + 6.313935279846191 + ], + [ + 3.6450982093811035, + 0.7344659566879272, + 6.265624046325684 + ], + [ + 3.6450982093811035, + 0.6990219354629517, + 6.313935279846191 + ], + [ + 3.6450982093811035, + 0.6990219354629517, + 6.265624046325684 + ] + ], + "center": { + "x": 3.6845359802246094, + "y": 0.7167439460754395, + "z": 6.2897796630859375 + }, + "size": { + "x": 0.07887554168701172, + "y": 0.035444021224975586, + "z": 0.04831123352050781 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.644953966140747, + 0.6981589794158936, + 6.265713691711426 + ], + [ + 3.723494052886963, + 0.6965271830558777, + 6.265765190124512 + ], + [ + 3.723497152328491, + 0.6982251405715942, + 6.314515590667725 + ], + [ + 3.6449573040008545, + 0.6998568773269653, + 6.314464092254639 + ], + [ + 3.645716905593872, + 0.7348403334617615, + 6.2644362449646 + ], + [ + 3.724256992340088, + 0.7332085967063904, + 6.2644877433776855 + ], + [ + 3.724260091781616, + 0.7349065542221069, + 6.31323766708374 + ], + [ + 3.6457202434539795, + 0.736538290977478, + 6.313186168670654 + ] + ] + } + } + }, + { + "objectId": "door|2|3", + "object_info": { + "name": "door|2|3", + "position": { + "x": 9.811773300170898, + "y": -0.00026702880859375, + "z": 6.5231428146362305 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 7.364771842956543, + "objectType": "Doorway", + "objectId": "door|2|3", + "assetId": "Doorway_Double_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.727968215942383, + 2.095932960510254, + 6.545433044433594 + ], + [ + 10.727968215942383, + 2.095932960510254, + 4.553407669067383 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 4.553407669067383 + ], + [ + 9.760202407836914, + 2.095932960510254, + 6.545433044433594 + ], + [ + 9.760202407836914, + 2.095932960510254, + 4.553407669067383 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 4.553407669067383 + ] + ], + "center": { + "x": 10.244085311889648, + "y": 1.0479663610458374, + "z": 5.549420356750488 + }, + "size": { + "x": 0.9677658081054688, + "y": 2.095933198928833, + "z": 1.992025375366211 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|3|7", + "object_info": { + "name": "Painting|3|7", + "position": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.831557273864746, + "objectType": "Painting", + "objectId": "Painting|3|7", + "assetId": "Wall_Decor_Photo_10", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.833455085754395, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.50425910949707 + ] + ], + "center": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.520129680633545 + }, + "size": { + "x": 0.7115726470947266, + "y": 0.4246177673339844, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|4|4", + "object_info": { + "name": "Painting|4|4", + "position": { + "x": 3.608247995376587, + "y": 1.9246368408203125, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.503932476043701, + "objectType": "Painting", + "objectId": "Painting|4|4", + "assetId": "Wall_Decor_Photo_1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.9420716762542725, + 2.1772351264953613, + 6.5360002517700195 + ], + [ + 3.9420716762542725, + 2.1772351264953613, + 6.50425910949707 + ], + [ + 3.9420716762542725, + 1.6720385551452637, + 6.5360002517700195 + ], + [ + 3.9420716762542725, + 1.6720385551452637, + 6.50425910949707 + ], + [ + 3.2744243144989014, + 2.1772351264953613, + 6.5360002517700195 + ], + [ + 3.2744243144989014, + 2.1772351264953613, + 6.50425910949707 + ], + [ + 3.2744243144989014, + 1.6720385551452637, + 6.5360002517700195 + ], + [ + 3.2744243144989014, + 1.6720385551452637, + 6.50425910949707 + ] + ], + "center": { + "x": 3.608247995376587, + "y": 1.9246368408203125, + "z": 6.520129680633545 + }, + "size": { + "x": 0.6676473617553711, + "y": 0.5051965713500977, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Fridge|2|1", + "object_info": { + "name": "Fridge|2|1", + "position": { + "x": 8.027824401855469, + "y": 0.007394969463348389, + "z": 6.196259021759033 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Tomato|surface|2|5", + "Potato|surface|2|7" + ], + "distance": 6.000678539276123, + "objectType": "Fridge", + "objectId": "Fridge|2|1", + "assetId": "Fridge_15", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.576839447021484, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 8.576839447021484, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 8.576839447021484, + 0.0, + 6.515999794006348 + ], + [ + 8.576839447021484, + 0.0, + 5.736844062805176 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 7.494537353515625, + 0.0, + 6.515999794006348 + ], + [ + 7.494537353515625, + 0.0, + 5.736844062805176 + ] + ], + "center": { + "x": 8.035688400268555, + "y": 0.9413036108016968, + "z": 6.126421928405762 + }, + "size": { + "x": 1.0823020935058594, + "y": 1.8826072216033936, + "z": 0.7791557312011719 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Television|4|0|1", + "object_info": { + "name": "Television|4|0|1", + "position": { + "x": 4.5883378982543945, + "y": 0.9386330842971802, + "z": 6.25775671005249 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.010506629943848, + "objectType": "Television", + "objectId": "Television|4|0|1", + "assetId": "Television_23", + "parentReceptacles": [ + "Floor", + "TVStand|4|0|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.0883378982543945, + 1.2561266422271729, + 6.508190631866455 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.153933048248291 + ], + [ + 5.0883378982543945, + 0.4502493143081665, + 6.508190631866455 + ], + [ + 5.0883378982543945, + 0.4502493143081665, + 6.153933048248291 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.508190631866455 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.153933048248291 + ], + [ + 4.0883378982543945, + 0.4502493143081665, + 6.508190631866455 + ], + [ + 4.0883378982543945, + 0.4502493143081665, + 6.153933048248291 + ] + ], + "center": { + "x": 4.5883378982543945, + "y": 0.8531879782676697, + "z": 6.331061840057373 + }, + "size": { + "x": 1.0, + "y": 0.8058773279190063, + "z": 0.35425758361816406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.0883378982543945, + 0.4502493441104889, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 0.4502493441104889, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 0.4502493441104889, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 0.4502493441104889, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.508191108703613 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 5.199999809265137, + "y": 0.9009997844696045, + "z": 1.5 + }, + "agent_rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "agent_cameraHorizon": -30.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 5.199999809265137, + "y": 1.5759997367858887, + "z": 1.5 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "door|2|4", + "door|2|3", + "Painting|3|7" + ], + "different_object": [ + "Fridge|2|1", + "CellPhone|surface|4|17", + "Dresser|4|3", + "Book|surface|4|22", + "DiningTable|4|1|0", + "Dresser|4|3___0", + "TVStand|4|0|0___1", + "Watch|surface|4|16", + "Vase|surface|4|24", + "CreditCard|surface|4|21", + "Painting|4|6", + "Dresser|4|3___1", + "Television|4|0|1", + "Painting|4|4", + "Chair|4|1|2", + "TVStand|4|0|0" + ] +} \ No newline at end of file diff --git a/train/train498/4/0_depth_npy.npy b/train/train498/4/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..b2bd662e4a39b2b9d28fe9c788397f4f490df6c1 --- /dev/null +++ b/train/train498/4/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:94836a38665c791898b291c07cb87aa0a2b0f066ed79b58924d136804ecd770c +size 3145856 diff --git a/train/train498/4/0_semantic_sensor_npy.npy b/train/train498/4/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..c6180a9b6948ac81efe8b3b5c9e4787bf2adee0e --- /dev/null +++ b/train/train498/4/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2d6d9d2695377cb03de339fe41f75902753293db02dc668ceaafc63fda2b204f +size 2359424 diff --git a/train/train498/4/1.json b/train/train498/4/1.json new file mode 100644 index 0000000000000000000000000000000000000000..17e6e37a058eb81a77905bc5fdbde7538e939425 --- /dev/null +++ b/train/train498/4/1.json @@ -0,0 +1,634 @@ +{ + "object": [ + { + "objectId": "door|2|4", + "object_info": { + "name": "door|2|4", + "position": { + "x": 6.539700508117676, + "y": -0.0005981922149658203, + "z": 2.0724358558654785 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1661734580993652, + "objectType": "Doorframe", + "objectId": "door|2|4", + "assetId": "Doorframe_Double_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.590658664703369, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.590658664703369, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.590658664703369, + 0.0, + 4.011923313140869 + ], + [ + 6.590658664703369, + 0.0, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 0.0, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 0.0, + 2.069113254547119 + ] + ], + "center": { + "x": 6.540999889373779, + "y": 1.0435373783111572, + "z": 3.040518283843994 + }, + "size": { + "x": 0.09931755065917969, + "y": 2.0870747566223145, + "z": 1.94281005859375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|3", + "object_info": { + "name": "door|2|3", + "position": { + "x": 9.811773300170898, + "y": -0.00026702880859375, + "z": 6.5231428146362305 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 7.364771842956543, + "objectType": "Doorway", + "objectId": "door|2|3", + "assetId": "Doorway_Double_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.727968215942383, + 2.095932960510254, + 6.545433044433594 + ], + [ + 10.727968215942383, + 2.095932960510254, + 4.553407669067383 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 4.553407669067383 + ], + [ + 9.760202407836914, + 2.095932960510254, + 6.545433044433594 + ], + [ + 9.760202407836914, + 2.095932960510254, + 4.553407669067383 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 4.553407669067383 + ] + ], + "center": { + "x": 10.244085311889648, + "y": 1.0479663610458374, + "z": 5.549420356750488 + }, + "size": { + "x": 0.9677658081054688, + "y": 2.095933198928833, + "z": 1.992025375366211 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "FloorLamp|4|2", + "object_info": { + "name": "FloorLamp|4|2", + "position": { + "x": 6.263036727905273, + "y": -0.0018747448921203613, + "z": 0.9616859555244446 + }, + "rotation": { + "x": 359.9669189453125, + "y": 269.9986572265625, + "z": 359.9627380371094 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 1.7853816747665405, + "objectType": "FloorLamp", + "objectId": "FloorLamp|4|2", + "assetId": "Floor_Lamp_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.517219543457031, + 2.0757031440734863, + 1.2152924537658691 + ], + [ + 6.517219543457031, + 2.0757031440734863, + 0.7076406478881836 + ], + [ + 6.517219543457031, + -0.0020160675048828125, + 1.2152924537658691 + ], + [ + 6.517219543457031, + -0.0020160675048828125, + 0.7076406478881836 + ], + [ + 6.009941101074219, + 2.0757031440734863, + 1.2152924537658691 + ], + [ + 6.009941101074219, + 2.0757031440734863, + 0.7076406478881836 + ], + [ + 6.009941101074219, + -0.0020160675048828125, + 1.2152924537658691 + ], + [ + 6.009941101074219, + -0.0020160675048828125, + 0.7076406478881836 + ] + ], + "center": { + "x": 6.263580322265625, + "y": 1.0368435382843018, + "z": 0.9614665508270264 + }, + "size": { + "x": 0.5072784423828125, + "y": 2.077719211578369, + "z": 0.5076518058776855 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.00874137878418, + -0.001891990890726447, + 1.213939905166626 + ], + [ + 6.008753776550293, + -0.0015617554308846593, + 0.7062857151031494 + ], + [ + 6.5160441398620605, + -0.0018547163344919682, + 0.706297755241394 + ], + [ + 6.516031742095947, + -0.002184951677918434, + 1.213951826095581 + ], + [ + 6.009941101074219, + 2.0755419731140137, + 1.2152912616729736 + ], + [ + 6.009953498840332, + 2.0758721828460693, + 0.7076371908187866 + ], + [ + 6.5172438621521, + 2.0755791664123535, + 0.7076491713523865 + ], + [ + 6.517231464385986, + 2.075248956680298, + 1.2153033018112183 + ] + ] + } + } + }, + { + "objectId": "Painting|3|7", + "object_info": { + "name": "Painting|3|7", + "position": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.831557273864746, + "objectType": "Painting", + "objectId": "Painting|3|7", + "assetId": "Wall_Decor_Photo_10", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.833455085754395, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.50425910949707 + ] + ], + "center": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.520129680633545 + }, + "size": { + "x": 0.7115726470947266, + "y": 0.4246177673339844, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|3|4", + "object_info": { + "name": "Painting|3|4", + "position": { + "x": 11.443442344665527, + "y": 1.4678616523742676, + "z": 5.477546215057373 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.9369797706604, + "objectType": "Painting", + "objectId": "Painting|3|4", + "assetId": "Wall_Decor_Painting_3", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.442000389099121, + 1.773220181465149, + 5.879675388336182 + ], + [ + 11.442000389099121, + 1.773220181465149, + 5.07399320602417 + ], + [ + 11.442000389099121, + 1.16008460521698, + 5.879675388336182 + ], + [ + 11.442000389099121, + 1.16008460521698, + 5.07399320602417 + ], + [ + 11.422650337219238, + 1.773220181465149, + 5.879675388336182 + ], + [ + 11.422650337219238, + 1.773220181465149, + 5.07399320602417 + ], + [ + 11.422650337219238, + 1.16008460521698, + 5.879675388336182 + ], + [ + 11.422650337219238, + 1.16008460521698, + 5.07399320602417 + ] + ], + "center": { + "x": 11.43232536315918, + "y": 1.4666523933410645, + "z": 5.476834297180176 + }, + "size": { + "x": 0.019350051879882812, + "y": 0.613135576248169, + "z": 0.8056821823120117 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 5.199999809265137, + "y": 0.9009997844696045, + "z": 1.5 + }, + "agent_rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "agent_cameraHorizon": -30.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 5.199999809265137, + "y": 1.5759997367858887, + "z": 1.5 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "door|2|4", + "door|2|3", + "Painting|3|7" + ], + "different_object": [ + "Painting|3|4", + "FloorLamp|4|2" + ] +} \ No newline at end of file diff --git a/train/train498/4/1_depth_npy.npy b/train/train498/4/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..410ce7708dd26e214a7feb3389b9c4ce80a9b101 --- /dev/null +++ b/train/train498/4/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:58bb85a2bcc591f0ab4df3916f5f8a4e0d8821500f2ca129c37eb35f25d362d3 +size 3145856 diff --git a/train/train498/4/1_semantic_sensor_npy.npy b/train/train498/4/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..35bb9f0004170564aefbefecbfc4f95334c44100 --- /dev/null +++ b/train/train498/4/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:23c7f0618a5341b40ea88be86cc951901497c0ff08920a1dc182c9f463606552 +size 2359424 diff --git a/train/train498/4/depth_0.png b/train/train498/4/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..e5983df9de9fa6b18f80dee7b8406a450432655d Binary files /dev/null and b/train/train498/4/depth_0.png differ diff --git a/train/train498/4/depth_1.png b/train/train498/4/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..59f260fc9c6738e4c92a9eef848bd95af4ec063e Binary files /dev/null and b/train/train498/4/depth_1.png differ diff --git a/train/train498/4/mask_questions.jsonl b/train/train498/4/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/train/train498/4/rgb_0.png b/train/train498/4/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..fe2961c4f31677110379cebef127ce15a7c3f728 --- /dev/null +++ b/train/train498/4/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d62650ff982ebe07efdb59dc62b04d21f3997d6aa080cf25faff7f61f22a1662 +size 242129 diff --git a/train/train498/4/rgb_1.png b/train/train498/4/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..615f578498e2cc7351a74e831f32062003fd577e --- /dev/null +++ b/train/train498/4/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:640827b942508aa2cef4b502771a81419db6ccfa3b80c570bf544bf1b50cd751 +size 198482 diff --git a/train/train498/4/semantic_0.png b/train/train498/4/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..7b6a72ec2da6325d7f5e8d0d1b5086fc82e5d968 Binary files /dev/null and b/train/train498/4/semantic_0.png differ diff --git a/train/train498/4/semantic_1.png b/train/train498/4/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..bcfc044b3ef9e9fa0edaf6fff21041e69adbaa61 Binary files /dev/null and b/train/train498/4/semantic_1.png differ diff --git a/train/train498/color_to_object_id.json b/train/train498/color_to_object_id.json new file mode 100644 index 0000000000000000000000000000000000000000..fb4aa92f95fc72fd2b552726a46806c04e25cd62 --- /dev/null +++ b/train/train498/color_to_object_id.json @@ -0,0 +1,1990 @@ +[ + { + "window|6|0": [ + 43, + 165, + 91 + ] + }, + { + "Window": [ + 200, + 150, + 134 + ] + }, + { + "window|5|1": [ + 130, + 218, + 61 + ] + }, + { + "window|5|0": [ + 136, + 191, + 22 + ] + }, + { + "door|1|4": [ + 87, + 14, + 187 + ] + }, + { + "Doorway": [ + 163, + 222, + 124 + ] + }, + { + "door|5|6": [ + 163, + 25, + 123 + ] + }, + { + "door|4|5": [ + 50, + 233, + 221 + ] + }, + { + "door|2|4": [ + 91, + 180, + 98 + ] + }, + { + "Doorframe": [ + 191, + 139, + 21 + ] + }, + { + "door|2|3": [ + 144, + 182, + 201 + ] + }, + { + "Painting|3|7": [ + 179, + 232, + 3 + ] + }, + { + "Painting": [ + 40, + 117, + 236 + ] + }, + { + "Painting|3|6": [ + 105, + 78, + 198 + ] + }, + { + "Painting|3|5": [ + 156, + 50, + 198 + ] + }, + { + "Painting|3|4": [ + 215, + 188, + 149 + ] + }, + { + "Painting|2|4": [ + 168, + 73, + 214 + ] + }, + { + "Painting|2|3": [ + 50, + 126, + 53 + ] + }, + { + "Painting|6|8": [ + 111, + 50, + 53 + ] + }, + { + "Painting|6|7": [ + 153, + 91, + 237 + ] + }, + { + "Painting|4|6": [ + 111, + 255, + 77 + ] + }, + { + "Painting|4|5": [ + 53, + 66, + 101 + ] + }, + { + "Painting|4|4": [ + 186, + 182, + 80 + ] + }, + { + "Painting|5|7": [ + 36, + 115, + 71 + ] + }, + { + "Painting|5|6": [ + 220, + 108, + 112 + ] + }, + { + "Painting|5|5": [ + 137, + 50, + 249 + ] + }, + { + "Television|6|6": [ + 102, + 53, + 26 + ] + }, + { + "Television": [ + 27, + 245, + 217 + ] + }, + { + "TissueBox|surface|6|54": [ + 199, + 91, + 170 + ] + }, + { + "TissueBox": [ + 98, + 43, + 249 + ] + }, + { + "TissueBox|surface|6|53": [ + 18, + 46, + 133 + ] + }, + { + "CellPhone|surface|6|51": [ + 62, + 155, + 115 + ] + }, + { + "CellPhone": [ + 227, + 98, + 136 + ] + }, + { + "CellPhone|surface|6|50": [ + 120, + 22, + 133 + ] + }, + { + "CreditCard|surface|6|42": [ + 65, + 44, + 75 + ] + }, + { + "CreditCard": [ + 56, + 235, + 12 + ] + }, + { + "Book|surface|6|41": [ + 24, + 39, + 127 + ] + }, + { + "Book": [ + 43, + 31, + 148 + ] + }, + { + "Desk|6|5": [ + 13, + 75, + 159 + ] + }, + { + "Desk": [ + 14, + 120, + 179 + ] + }, + { + "GarbageCan|6|4": [ + 117, + 43, + 87 + ] + }, + { + "GarbageCan": [ + 225, + 40, + 55 + ] + }, + { + "Chair|6|3|1": [ + 6, + 129, + 219 + ] + }, + { + "Chair": [ + 166, + 13, + 176 + ] + }, + { + "Laptop|surface|6|58": [ + 87, + 35, + 126 + ] + }, + { + "Laptop": [ + 20, + 107, + 222 + ] + }, + { + "BaseballBat|surface|6|55": [ + 207, + 105, + 146 + ] + }, + { + "BaseballBat": [ + 171, + 20, + 38 + ] + }, + { + "DeskLamp|surface|6|49": [ + 87, + 127, + 133 + ] + }, + { + "DeskLamp": [ + 99, + 164, + 25 + ] + }, + { + "Pencil|surface|6|43": [ + 151, + 33, + 115 + ] + }, + { + "Pencil": [ + 177, + 226, + 23 + ] + }, + { + "DiningTable|6|3|0": [ + 34, + 96, + 185 + ] + }, + { + "DiningTable": [ + 83, + 33, + 33 + ] + }, + { + "Box|6|2": [ + 241, + 14, + 186 + ] + }, + { + "Box": [ + 60, + 252, + 230 + ] + }, + { + "CellPhone|surface|6|57": [ + 171, + 21, + 4 + ] + }, + { + "CellPhone|surface|6|56": [ + 93, + 9, + 109 + ] + }, + { + "Vase|surface|6|52": [ + 234, + 96, + 199 + ] + }, + { + "Vase": [ + 83, + 152, + 69 + ] + }, + { + "Pencil|surface|6|48": [ + 152, + 13, + 237 + ] + }, + { + "Book|surface|6|46": [ + 119, + 227, + 245 + ] + }, + { + "Book|surface|6|45": [ + 123, + 129, + 191 + ] + }, + { + "AlarmClock|surface|6|39": [ + 103, + 142, + 66 + ] + }, + { + "AlarmClock": [ + 184, + 20, + 170 + ] + }, + { + "Dresser|6|1___3": [ + 125, + 169, + 154 + ] + }, + { + "Drawer": [ + 155, + 30, + 210 + ] + }, + { + "Dresser|6|1___2": [ + 219, + 86, + 133 + ] + }, + { + "Dresser|6|1___1": [ + 91, + 55, + 231 + ] + }, + { + "Dresser|6|1___0": [ + 86, + 178, + 164 + ] + }, + { + "Dresser|6|1": [ + 74, + 74, + 184 + ] + }, + { + "Dresser": [ + 51, + 128, + 146 + ] + }, + { + "TennisRacket|surface|6|47": [ + 9, + 170, + 110 + ] + }, + { + "TennisRacket": [ + 138, + 71, + 107 + ] + }, + { + "RemoteControl|surface|6|44": [ + 172, + 50, + 175 + ] + }, + { + "RemoteControl": [ + 187, + 19, + 208 + ] + }, + { + "Pillow|surface|6|40": [ + 18, + 8, + 167 + ] + }, + { + "Pillow": [ + 217, + 193, + 130 + ] + }, + { + "Bed|6|0": [ + 5, + 103, + 154 + ] + }, + { + "Bed": [ + 209, + 156, + 101 + ] + }, + { + "DogBed|5|4": [ + 191, + 61, + 36 + ] + }, + { + "DogBed": [ + 106, + 193, + 45 + ] + }, + { + "Safe|5|3": [ + 218, + 86, + 222 + ] + }, + { + "Safe": [ + 198, + 238, + 160 + ] + }, + { + "Chair|5|2|4": [ + 99, + 174, + 176 + ] + }, + { + "Chair|5|2|3": [ + 210, + 165, + 135 + ] + }, + { + "Chair|5|2|2": [ + 11, + 225, + 10 + ] + }, + { + "Chair|5|2|1": [ + 142, + 232, + 13 + ] + }, + { + "Box|surface|5|37": [ + 248, + 37, + 196 + ] + }, + { + "Book|surface|5|36": [ + 51, + 144, + 225 + ] + }, + { + "Bowl|surface|5|33": [ + 250, + 216, + 98 + ] + }, + { + "Bowl": [ + 209, + 182, + 193 + ] + }, + { + "HousePlant|surface|5|32": [ + 182, + 235, + 89 + ] + }, + { + "HousePlant": [ + 73, + 144, + 213 + ] + }, + { + "CreditCard|surface|5|31": [ + 94, + 66, + 93 + ] + }, + { + "RemoteControl|surface|5|27": [ + 228, + 21, + 152 + ] + }, + { + "DiningTable|5|2|0": [ + 25, + 135, + 226 + ] + }, + { + "Statue|surface|5|35": [ + 251, + 136, + 129 + ] + }, + { + "Statue": [ + 243, + 75, + 41 + ] + }, + { + "KeyChain|surface|5|34": [ + 39, + 237, + 149 + ] + }, + { + "KeyChain": [ + 27, + 54, + 18 + ] + }, + { + "Vase|surface|5|30": [ + 116, + 90, + 102 + ] + }, + { + "Dresser|5|1___3": [ + 186, + 175, + 115 + ] + }, + { + "Dresser|5|1___2": [ + 193, + 31, + 77 + ] + }, + { + "Dresser|5|1___1": [ + 36, + 223, + 213 + ] + }, + { + "Dresser|5|1___0": [ + 42, + 182, + 193 + ] + }, + { + "Dresser|5|1": [ + 169, + 211, + 43 + ] + }, + { + "Pillow|surface|5|38": [ + 228, + 139, + 78 + ] + }, + { + "TeddyBear|surface|5|29": [ + 54, + 196, + 238 + ] + }, + { + "TeddyBear": [ + 229, + 73, + 134 + ] + }, + { + "BaseballBat|surface|5|28": [ + 16, + 86, + 117 + ] + }, + { + "Bed|5|0": [ + 213, + 171, + 182 + ] + }, + { + "CellPhone|surface|4|17": [ + 37, + 199, + 23 + ] + }, + { + "Watch|surface|4|16": [ + 121, + 179, + 101 + ] + }, + { + "Watch": [ + 242, + 6, + 88 + ] + }, + { + "Dresser|4|3___2": [ + 142, + 213, + 34 + ] + }, + { + "Dresser|4|3___1": [ + 22, + 100, + 55 + ] + }, + { + "Dresser|4|3___0": [ + 89, + 128, + 115 + ] + }, + { + "Dresser|4|3": [ + 92, + 22, + 49 + ] + }, + { + "FloorLamp|4|2": [ + 147, + 82, + 148 + ] + }, + { + "FloorLamp": [ + 253, + 73, + 35 + ] + }, + { + "Chair|4|1|4": [ + 78, + 48, + 24 + ] + }, + { + "Chair|4|1|3": [ + 178, + 87, + 59 + ] + }, + { + "Chair|4|1|2": [ + 59, + 92, + 140 + ] + }, + { + "Chair|4|1|1": [ + 23, + 202, + 17 + ] + }, + { + "Book|surface|4|26": [ + 74, + 176, + 203 + ] + }, + { + "Laptop|surface|4|23": [ + 120, + 244, + 89 + ] + }, + { + "DiningTable|4|1|0": [ + 52, + 59, + 190 + ] + }, + { + "Pen|surface|4|25": [ + 235, + 7, + 211 + ] + }, + { + "Pen": [ + 239, + 130, + 152 + ] + }, + { + "Vase|surface|4|24": [ + 46, + 194, + 144 + ] + }, + { + "Book|surface|4|22": [ + 5, + 182, + 176 + ] + }, + { + "CreditCard|surface|4|21": [ + 110, + 134, + 231 + ] + }, + { + "Watch|surface|4|20": [ + 188, + 102, + 63 + ] + }, + { + "Plate|surface|4|19": [ + 220, + 118, + 245 + ] + }, + { + "Plate": [ + 188, + 154, + 128 + ] + }, + { + "KeyChain|surface|4|18": [ + 205, + 237, + 105 + ] + }, + { + "CellPhone|surface|4|15": [ + 51, + 24, + 157 + ] + }, + { + "Bowl|surface|4|14": [ + 4, + 235, + 91 + ] + }, + { + "Television|4|0|1": [ + 253, + 56, + 77 + ] + }, + { + "TVStand|4|0|0___1": [ + 112, + 40, + 63 + ] + }, + { + "TVStand|4|0|0___0": [ + 198, + 214, + 177 + ] + }, + { + "TVStand|4|0|0": [ + 51, + 56, + 38 + ] + }, + { + "TVStand": [ + 94, + 234, + 136 + ] + }, + { + "Plunger|3|3": [ + 116, + 44, + 97 + ] + }, + { + "Plunger": [ + 74, + 209, + 56 + ] + }, + { + "GarbageCan|3|2": [ + 69, + 131, + 32 + ] + }, + { + "Faucet|3|1|1": [ + 183, + 115, + 49 + ] + }, + { + "Faucet": [ + 21, + 38, + 98 + ] + }, + { + "Sink|3|1|0___0": [ + 145, + 221, + 236 + ] + }, + { + "SinkBasin": [ + 80, + 192, + 81 + ] + }, + { + "Sink|3|1|0": [ + 255, + 162, + 107 + ] + }, + { + "Sink": [ + 30, + 181, + 88 + ] + }, + { + "SprayBottle|surface|3|13": [ + 132, + 5, + 103 + ] + }, + { + "SprayBottle": [ + 89, + 126, + 121 + ] + }, + { + "ToiletPaper|surface|3|12": [ + 189, + 127, + 230 + ] + }, + { + "ToiletPaper": [ + 162, + 204, + 152 + ] + }, + { + "Cloth|surface|3|11": [ + 247, + 134, + 56 + ] + }, + { + "Cloth": [ + 110, + 184, + 56 + ] + }, + { + "SoapBar|surface|3|10": [ + 160, + 203, + 144 + ] + }, + { + "SoapBar": [ + 43, + 97, + 155 + ] + }, + { + "Toilet|3|0": [ + 244, + 232, + 60 + ] + }, + { + "Toilet": [ + 21, + 27, + 163 + ] + }, + { + "HousePlant|2|2|0": [ + 195, + 73, + 217 + ] + }, + { + "Potato|surface|2|7": [ + 254, + 188, + 49 + ] + }, + { + "Potato": [ + 187, + 142, + 9 + ] + }, + { + "Tomato|surface|2|5": [ + 113, + 164, + 212 + ] + }, + { + "Tomato": [ + 119, + 189, + 121 + ] + }, + { + "Fridge|2|1": [ + 206, + 5, + 34 + ] + }, + { + "Fridge": [ + 91, + 156, + 207 + ] + }, + { + "Kettle|surface|2|9": [ + 163, + 91, + 15 + ] + }, + { + "Kettle": [ + 7, + 83, + 48 + ] + }, + { + "Fork|surface|2|8": [ + 163, + 143, + 225 + ] + }, + { + "Fork": [ + 54, + 200, + 25 + ] + }, + { + "Lettuce|surface|2|6": [ + 24, + 82, + 141 + ] + }, + { + "Lettuce": [ + 203, + 156, + 88 + ] + }, + { + "CreditCard|surface|2|4": [ + 169, + 235, + 99 + ] + }, + { + "Bread|surface|2|3": [ + 138, + 234, + 188 + ] + }, + { + "Bread": [ + 18, + 150, + 252 + ] + }, + { + "SoapBottle|surface|2|2": [ + 193, + 220, + 166 + ] + }, + { + "SoapBottle": [ + 168, + 222, + 137 + ] + }, + { + "Spoon|surface|2|1": [ + 230, + 162, + 137 + ] + }, + { + "Spoon": [ + 235, + 57, + 90 + ] + }, + { + "Spoon|surface|2|0": [ + 246, + 90, + 73 + ] + }, + { + "CounterTop|2|0": [ + 213, + 254, + 98 + ] + }, + { + "CounterTop": [ + 103, + 209, + 30 + ] + }, + { + "Ceiling_room|6|0|3.741107|0": [ + 163, + 54, + 94 + ] + }, + { + "Ceiling": [ + 50, + 55, + 251 + ] + }, + { + "Ceiling_room|5|0|3.741107|0": [ + 166, + 161, + 114 + ] + }, + { + "Ceiling_room|4|0|3.741107|0": [ + 141, + 19, + 191 + ] + }, + { + "Ceiling_room|3|0|3.741107|0": [ + 235, + 57, + 190 + ] + }, + { + "Ceiling_room|2|0|3.741107|0": [ + 185, + 150, + 191 + ] + }, + { + "wall|exterior|11.45|0.00|11.45|6.54": [ + 105, + 148, + 102 + ] + }, + { + "Wall": [ + 148, + 232, + 164 + ] + }, + { + "wall|exterior|9.81|0.00|11.45|0.00": [ + 84, + 206, + 179 + ] + }, + { + "wall|exterior|6.54|0.00|9.81|0.00": [ + 35, + 75, + 103 + ] + }, + { + "wall|exterior|3.27|0.00|6.54|0.00": [ + 155, + 107, + 176 + ] + }, + { + "wall|exterior|11.45|6.54|11.45|9.81": [ + 128, + 47, + 83 + ] + }, + { + "wall|exterior|3.27|8.18|3.27|9.81": [ + 70, + 211, + 178 + ] + }, + { + "wall|exterior|3.27|9.81|11.45|9.81": [ + 82, + 164, + 57 + ] + }, + { + "wall|exterior|0.00|0.00|0.00|8.18": [ + 159, + 85, + 79 + ] + }, + { + "wall|exterior|0.00|8.18|3.27|8.18": [ + 147, + 254, + 245 + ] + }, + { + "wall|exterior|0.00|0.00|3.27|0.00": [ + 30, + 177, + 113 + ] + }, + { + "wall|6|3.27|6.54|6.54|6.54": [ + 243, + 41, + 235 + ] + }, + { + "wall|6|6.54|6.54|9.81|6.54": [ + 70, + 213, + 98 + ] + }, + { + "wall|6|9.81|6.54|11.45|6.54": [ + 241, + 121, + 234 + ] + }, + { + "wall|6|11.45|6.54|11.45|9.81": [ + 210, + 210, + 66 + ] + }, + { + "wall|6|3.27|9.81|11.45|9.81": [ + 3, + 255, + 68 + ] + }, + { + "wall|6|3.27|8.18|3.27|9.81": [ + 138, + 30, + 179 + ] + }, + { + "wall|6|3.27|6.54|3.27|8.18": [ + 26, + 227, + 98 + ] + }, + { + "wall|5|0.00|0.00|3.27|0.00": [ + 182, + 72, + 67 + ] + }, + { + "wall|5|3.27|0.00|3.27|6.54": [ + 210, + 68, + 18 + ] + }, + { + "wall|5|3.27|6.54|3.27|8.18": [ + 89, + 2, + 212 + ] + }, + { + "wall|5|0.00|8.18|3.27|8.18": [ + 196, + 4, + 46 + ] + }, + { + "wall|5|0.00|0.00|0.00|8.18": [ + 135, + 33, + 165 + ] + }, + { + "wall|4|3.27|0.00|6.54|0.00": [ + 47, + 211, + 89 + ] + }, + { + "wall|4|6.54|0.00|6.54|6.54": [ + 238, + 82, + 51 + ] + }, + { + "wall|4|3.27|6.54|6.54|6.54": [ + 1, + 45, + 36 + ] + }, + { + "wall|4|3.27|0.00|3.27|6.54": [ + 81, + 111, + 114 + ] + }, + { + "wall|3|9.81|0.00|11.45|0.00": [ + 88, + 132, + 56 + ] + }, + { + "wall|3|11.45|0.00|11.45|6.54": [ + 75, + 188, + 218 + ] + }, + { + "wall|3|9.81|6.54|11.45|6.54": [ + 46, + 214, + 38 + ] + }, + { + "wall|3|9.81|0.00|9.81|6.54": [ + 204, + 98, + 202 + ] + }, + { + "wall|2|6.54|0.00|9.81|0.00": [ + 220, + 158, + 111 + ] + }, + { + "wall|2|9.81|0.00|9.81|6.54": [ + 177, + 121, + 70 + ] + }, + { + "wall|2|6.54|6.54|9.81|6.54": [ + 253, + 102, + 240 + ] + }, + { + "wall|2|6.54|0.00|6.54|6.54": [ + 181, + 45, + 190 + ] + }, + { + "room|6": [ + 217, + 194, + 196 + ] + }, + { + "Floor": [ + 243, + 246, + 208 + ] + }, + { + "room|5": [ + 190, + 121, + 70 + ] + }, + { + "room|4": [ + 60, + 42, + 179 + ] + }, + { + "room|3": [ + 28, + 62, + 16 + ] + }, + { + "room|2": [ + 188, + 125, + 135 + ] + }, + { + "TheHand": [ + 255, + 136, + 237 + ] + }, + { + "agent_neck_1": [ + 30, + 64, + 67 + ] + }, + { + "agent_body_1 (shadows)": [ + 134, + 158, + 226 + ] + }, + { + "agent_collarbone_1 (shadows)": [ + 217, + 96, + 80 + ] + }, + { + "agent_head_1 (shadows)": [ + 140, + 210, + 177 + ] + }, + { + "stretch_robot_base_code": [ + 101, + 30, + 126 + ] + }, + { + "agent_head_1": [ + 1, + 149, + 209 + ] + }, + { + "stretch_robot_laser": [ + 140, + 24, + 249 + ] + }, + { + "stretch_robot_mast": [ + 136, + 63, + 93 + ] + }, + { + "stretch_robot_head_1": [ + 0, + 57, + 255 + ] + }, + { + "agent_neck_3": [ + 209, + 228, + 37 + ] + }, + { + "robot_tilt_link_n (shadows)": [ + 202, + 16, + 52 + ] + }, + { + "agent_head_2 (shadows)": [ + 156, + 59, + 238 + ] + }, + { + "stretch_robot_head_3 (shadows)": [ + 83, + 209, + 138 + ] + }, + { + "agent_collarbone_2": [ + 152, + 152, + 185 + ] + }, + { + "agent_neck_2 (shadows)": [ + 244, + 240, + 196 + ] + }, + { + "agent_head_2": [ + 14, + 66, + 230 + ] + }, + { + "stretch_robot_head_2": [ + 73, + 58, + 96 + ] + }, + { + "agent_neck_3 (shadows)": [ + 239, + 35, + 232 + ] + }, + { + "stretch_robot_omniwheel": [ + 227, + 166, + 104 + ] + }, + { + "robot_elbow_link": [ + 231, + 128, + 58 + ] + }, + { + "robot_camera_link_n": [ + 140, + 65, + 197 + ] + }, + { + "robot_finger_r": [ + 122, + 202, + 170 + ] + }, + { + "robot_finger_l": [ + 178, + 169, + 157 + ] + }, + { + "robot_ar_tag": [ + 46, + 234, + 150 + ] + }, + { + "robot_cam_mount_n": [ + 54, + 221, + 114 + ] + }, + { + "robot_battery_n": [ + 165, + 68, + 55 + ] + }, + { + "robot_plate": [ + 211, + 118, + 132 + ] + }, + { + "robot_main_wheel_r_n": [ + 36, + 84, + 49 + ] + }, + { + "robot_shoulder_link": [ + 92, + 95, + 127 + ] + }, + { + "robot_roll_link_n": [ + 135, + 154, + 116 + ] + }, + { + "robot_gripper_link": [ + 241, + 136, + 173 + ] + }, + { + "robot_forearm_link": [ + 149, + 185, + 52 + ] + }, + { + "robot_main_wheel_l_n": [ + 139, + 151, + 200 + ] + }, + { + "robot_main_body": [ + 27, + 62, + 251 + ] + }, + { + "robot_wrist_link": [ + 3, + 195, + 0 + ] + }, + { + "robot_tilt_link_n": [ + 251, + 182, + 71 + ] + }, + { + "agent_collarbone_2 (shadows)": [ + 27, + 29, + 156 + ] + }, + { + "stretch_robot_head_2 (shadows)": [ + 167, + 106, + 44 + ] + }, + { + "stretch_robot_wheel_r": [ + 43, + 10, + 241 + ] + }, + { + "agent_collarbone_3": [ + 33, + 153, + 80 + ] + }, + { + "stretch_robot_wheel_l": [ + 209, + 121, + 111 + ] + }, + { + "agent_collarbone_3 (shadows)": [ + 12, + 185, + 24 + ] + }, + { + "agent_neck_1 (shadows)": [ + 5, + 106, + 127 + ] + }, + { + "agent_body_1": [ + 19, + 85, + 240 + ] + }, + { + "stretch_robot_base": [ + 18, + 223, + 56 + ] + }, + { + "robot_roll_link_n (shadows)": [ + 104, + 6, + 177 + ] + }, + { + "agent_neck_2": [ + 134, + 34, + 121 + ] + }, + { + "agent_collarbone_1": [ + 180, + 251, + 165 + ] + }, + { + "stretch_robot_head_3": [ + 175, + 244, + 187 + ] + }, + { + "robot_camera_link_n (shadows)": [ + 49, + 9, + 106 + ] + } +] \ No newline at end of file diff --git a/train/train498/top_down_image.png b/train/train498/top_down_image.png new file mode 100644 index 0000000000000000000000000000000000000000..11f3bd89cf51fc4394a2f57b5568f65282dbb638 --- /dev/null +++ b/train/train498/top_down_image.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8125ce2de5c49acec410f9e7d13cbf75e0d42f535957aff27253b48f40e4c771 +size 261776